// Creates a single tree of specified depth.
private static List <Tuple <String, String> > SingleTree(string domainName, string timeStamp, int depth)
{
// Read in the domain file.
Domain domain = Parser.GetDomain(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\domain.pddl", PlanType.StateSpace);
// Read in the problem file.
Problem problem = Parser.GetProblem(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\prob01.pddl");
// Find an initial plan.
Plan plan = FastDownward.Plan(domain, problem);
// Create a stopwatch object.
Stopwatch watch = new Stopwatch();
// Start the stopwatch.
watch.Start();
// Use the state space mediator to build the tree.
StateSpaceNode root = StateSpaceMediator.BuildTree(Planner.FastDownward, domain, problem, plan, plan.Initial as State, depth);
// Stop the stopwatch.
watch.Stop();
// Write the tree to disk using HTML files and return the summary object.
return(WriteTree(domainName, timeStamp, depth, watch, root));
}
public StateSpaceMediatorZombieTest()
{
testDomainName = "zombie";
testDomainDirectory = Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\domain.pddl";
testDomain = Parser.GetDomain(Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\domain.pddl", PlanType.StateSpace);
testProblem = Parser.GetProblem(Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\prob01.pddl");
testPlan = FastDownward.Plan(testDomain, testProblem);
}
public ParserTest()
{
testDomainName = "unit-test";
testDomainDirectory = Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\domain.pddl";
testDomain = Parser.GetDomain(Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\domain.pddl", PlanType.PlanSpace);
testProblem = Parser.GetProblem(Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\prob01.pddl");
testPlan = FastDownward.Plan(testDomain, testProblem);
}
public StateSpaceMediatorArthurTest()
{
testDomainName = "arthur";
testDomainDirectory = Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\domain.pddl";
testDomain = Parser.GetDomain(Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\domain.pddl", PlanType.StateSpace);
testProblem = Parser.GetProblemWithTypes(Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\prob01.pddl", testDomain);
testPlan = FastDownward.Plan(testDomain, testProblem);
}
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 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);
}
// Returns the root of a mediation tree.
public static PlanSpaceNode BuildTree(Domain domain, Problem problem, Plan plan, int depth)
{
// Create the root mediation node.
PlanSpaceNode root = new PlanSpaceNode();
// Assign the node's plan.
root.plan = plan;
// Assign the node's problem.
root.problem = problem;
// Make and populate a list of possible exceptional actions.
root.outgoing = GetExceptionals(domain, problem, plan);
// Return the node if the depth limit has been reached.
if (depth == 0)
{
return(root);
}
// Loop through the possible exceptional actions.
foreach (PlanSpaceEdge action in root.outgoing)
{
// Create a new problem object for the exceptional action.
Problem newProblem = NewProblem(domain, problem, action);
// Find an accommodative solution for the exceptional action.
Plan newPlan = FastDownward.Plan(domain, newProblem);
// Create a new mediation node.
PlanSpaceNode child = BuildTree(domain, newProblem, newPlan, depth - 1);
// Assign the child's parent node.
child.parent = root;
// Assign the child's exceptional action.
child.incoming = action;
// Add the child to the root's children.
root.children[action] = child;
}
// Return the root node.
return(root);
}
// Rewrites history to remove harmful conditional effects.
public static StateSpaceNode RemoveConditionalEffects(Planner planner, Domain domain, Problem problem, Plan plan, State state, StateSpaceEdge edge, int depth)
{
// Store the incoming action.
Operator incoming = edge.Action as Operator;
// Create a new plan object.
Plan newPlan = new Plan();
// Examine each exceptional effect.
foreach (Predicate effect in incoming.ExceptionalEffects)
{
// Create a new domain object.
Domain newDomain = new Domain();
// Save the domain's name.
newDomain.Name = domain.Name;
newDomain.staticStart = domain.staticStart;
// If the current effect is conditional...
if (incoming.IsConditional(effect))
{
// If the conditional effect has not been observed by the player.
// Remove the conditional effect from the domain.
// Copy the current operator templates into a list.
List <IOperator> templates = new List <IOperator>();
foreach (IOperator templ in domain.Operators)
{
templates.Add(templ.Clone() as IOperator);
}
// Create a clone of the incoming action's unbound operator template.
IOperator temp = incoming.Template() as Operator;
// Find the incoming action template in the domain list.
Operator template = templates.Find(t => t.Equals(temp)) as Operator;
// Remove the incoming action template from the domain list.
templates.Remove(template);
// Create a clone of the incoming action.
Operator clone = incoming.Clone() as Operator;
// Create a list of conditional effects to remove from the template.
List <IAxiom> remove = new List <IAxiom>();
foreach (IAxiom conditional in clone.Conditionals)
{
if (conditional.Effects.Contains(effect))
{
remove.Add(conditional);
}
}
// Remove each conditional effect from the template.
foreach (IAxiom rem in remove)
{
template.Conditionals.Remove(rem.Template() as IAxiom);
}
// Add the modified template to the domain list.
templates.Add(template);
// Push the modified list to the new domain object.
newDomain.Operators = templates;
// Write new problem and domain files.
Writer.ProblemToPDDL(Parser.GetTopDirectory() + @"Benchmarks/" + domain.Name.ToLower() + @"/probrob.pddl", newDomain, problem, state.Predicates);
Writer.DomainToPDDL(Parser.GetTopDirectory() + @"Benchmarks/" + domain.Name.ToLower() + @"/domrob.pddl", newDomain);
// Find a new plan.
if (planner.Equals(Planner.FastDownward))
{
newPlan = FastDownward.Plan(newDomain, problem);
}
else if (planner.Equals(Planner.Glaive))
{
newPlan = Glaive.Plan(newDomain, problem);
}
// If the modified domain can accommodate the player's action...
if (newPlan.Steps.Count > 0)
{
// Clone the modified incoming action template.
Operator newAction = template.Clone() as Operator;
// Bind the cloned action with the incoming action's bindings.
newAction.Bindings = incoming.Bindings;
// Push the modified action to the edge object.
edge.Action = newAction;
// Expand the tree using the new domain.
return(ExpandTree(planner, newDomain, problem, plan, state, edge, depth));
}
}
}
return(null);
}
// Use this for initialization
void Start()
{
Debug.Log(Screen.width + " " + Screen.height);
int num = UnityEngine.Random.Range(1, 4);
domainName += num.ToString();
Debug.Log(domainName + " " + num);
// Set the path to the top directory.
Parser.path = Path.GetFullPath(".") + "\\";
Debug.Log(Parser.path);
// Parse the domain file.
domain = Parser.GetDomain(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\domain.pddl", PlanType.StateSpace);
// Parse the problem file.
problem = Parser.GetProblem(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\prob01.pddl");
// Find the initial plan.
plan = FastDownward.Plan(domain, problem);
// A test for the planner.
if (plan.Steps.Count > 0)
{
Debug.Log("Planner is working.");
}
else
{
Debug.Log("Planner is not working or no plan exists.");
RestartGame();
}
// Find the first state.
state = plan.GetFirstState();
// Find the level game object.
GameObject level = GameObject.Find("Level");
// Set the state manager.
stateManager = level.GetComponent <StateManager>();
// Set the level generator.
generator = level.GetComponent <LevelGenerator>();
// Set the state manager's predicates.
stateManager.Predicates = state.Predicates;
// Find the UI game object.
GameObject ui = GameObject.Find("UI");
// Set the ui generator.
uiGenerator = ui.GetComponent <UI>();
// Setup the UI.
uiGenerator.GenerateUI();
// Generate the level.
generator.CreateLevel();
// Create the initial node of mediation.
root = StateSpaceMediator.BuildTree(domain, problem, plan, state, 0);
// Initialize the frontier.
frontier = new Hashtable();
// Expand the frontier in a new thread.
frontierThread = new Thread(ExpandFrontier);
// Start the thread.
frontierThread.Start();
// Initialize the camera fade.
iTween.CameraFadeAdd();
// Initialize the valid state.
validState = true;
goal = false;
needUpdate = false;
}
// Creates a child node.
private static StateSpaceNode CreateChild(Planner planner, Domain domain, Problem problem, Plan plan, State state, StateSpaceEdge edge)
{
// Create a new problem object.
Problem newProblem = new Problem();
// Create a new domain object.
Domain newDomain = domain;
// Create a new plan object.
Plan newPlan = new Plan();
// Store actions the system takes.
List <IOperator> systemActions = new List <IOperator>();
// If the outgoing action is an exceptional step...
if (edge.ActionType == ActionType.Exceptional)
{
// Count the exceptional edge.
Exceptional++;
// Create a new problem object.
newProblem = NewProblem(newDomain, problem, state, edge.Action);
// Find a new plan.
if (planner.Equals(Planner.FastDownward))
{
newPlan = FastDownward.Plan(newDomain, newProblem);
}
else if (planner.Equals(Planner.Glaive))
{
newPlan = Glaive.Plan(newDomain, newProblem);
}
// If the action was accommodated and the first step of the new plan isn't taken by the player...
if (newPlan.Steps.Count > 0)
{
// Add the action to the system action list.
systemActions = GetSystemActions(newPlan, new List <string> {
problem.Player
}, new List <IOperator>());
// Update the problem object with the system's next move.
newProblem = NewProblem(newDomain, newProblem, new State(newProblem.Initial, newPlan.InitialStep, (Operator)newPlan.Steps.First()), systemActions);
// Update the plan with the system's next move.
newPlan = newPlan.GetPlanUpdate(newProblem, systemActions);
}
else if (CEDeletion)
{
// Try to find a domain revision alibi.
Tuple <Domain, Operator> alibi = ReviseDomain(planner, newDomain, problem, state, edge.Action as Operator);
// If domain revision worked.
if (alibi != null)
{
// Remember the new domain.
newDomain = alibi.First;
// Push the modified action to the edge object.
edge.Action = alibi.Second;
// Create a new problem object.
newProblem = NewProblem(newDomain, problem, state, edge.Action);
// Find a new plan.
if (planner.Equals(Planner.FastDownward))
{
newPlan = FastDownward.Plan(newDomain, newProblem);
}
else if (planner.Equals(Planner.Glaive))
{
newPlan = Glaive.Plan(newDomain, newProblem);
}
// Add the action to the system action list.
systemActions = GetSystemActions(newPlan, new List <string> {
problem.Player
}, new List <IOperator>());
// Update the problem object with the system's next move.
newProblem = NewProblem(newDomain, newProblem, new State(newProblem.Initial, newPlan.InitialStep, (Operator)newPlan.Steps.First()), systemActions);
// Update the plan with the system's next move.
newPlan = newPlan.GetPlanUpdate(newProblem, systemActions);
}
}
}
// Otherwise, if the action is a consistent step...
else if (edge.ActionType == ActionType.Consistent)
{
// Count the consistent edge.
Consistent++;
// Create a new problem object.
newProblem = NewProblem(newDomain, problem, state, edge.Action);
// Add the action to the system action list.
systemActions = GetSystemActions(plan, new List <string> {
problem.Player
}, new List <IOperator>());
// Create a new state.
State newState = new State(newProblem.Initial, state.nextStep, (Operator)plan.Steps.First());
// Create a new problem object.
newProblem = NewProblem(newDomain, newProblem, newState, systemActions);
// Create a new plan.
newPlan = plan.GetPlanUpdate(newProblem, systemActions);
}
// Otherwise, the action is a constituent step...
else
{
// Count the constituent edge.
Constituent++;
// If there are effects of the constituent action...
if (edge.Action.Effects.Count > 0)
{
// Create a new problem object.
newProblem = NewProblem(newDomain, problem, state, edge.Action);
// Create a new plan.
newPlan = plan.GetPlanUpdate(newProblem, edge.Action as Operator);
}
// Otherwise, initialize to the old problem and plan...
else
{
newProblem = problem;
newPlan = plan.Clone() as Plan;
}
// If there are still plan actions...
if (newPlan.Steps.Count > 0)
{
// Add the action to the system action list.
systemActions = GetSystemActions(newPlan, new List <string> {
problem.Player
}, new List <IOperator>());
// Update the problem object with the system's next move.
newProblem = NewProblem(newDomain, newProblem, new State(newProblem.Initial, newPlan.InitialStep, (Operator)newPlan.Steps.First()), systemActions);
// Update the plan with the system's next move.
newPlan = newPlan.GetPlanUpdate(newProblem, systemActions);
}
}
// Add the system actions to the current edge.
edge.SystemActions = systemActions;
// Create an empty child node.
StateSpaceNode child = null;
// If there are remaining plan steps...
if (newPlan.Steps.Count > 0)
{
// Build a new tree using the first step of the plan as the next step.
child = StateSpaceSearchTools.CreateNode(planner, newDomain, newProblem, newPlan, new State(newProblem.Initial, newPlan.InitialStep, (Operator)newPlan.Steps.First()));
}
else
{
// Terminate the tree by adding a goal node.
child = StateSpaceSearchTools.CreateNode(planner, newDomain, newProblem, newPlan, new State(newProblem.Initial, newPlan.InitialStep, newPlan.GoalStep));
}
// Store the system actions.
child.systemActions = systemActions;
// Record the action that triggered the node's generation.
child.incoming = edge;
return(child);
}
/// <summary>
/// An online text-based command line game that is a traversal of mediation space.
/// </summary>
/// <param name="domainName">The game domain.</param>
/// <param name="debug">Whether or not debug mode is enabled.</param>
public static void Play()
{
Console.Clear();
string domainName = "";
// Make sure the file exists.
while
(!File.Exists(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\domain.pddl") ||
!File.Exists(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\prob01.pddl"))
{
// Prompt the user for game name.
Console.WriteLine("What would you like to play?");
Console.WriteLine(" Type 'exit' to end program.");
Console.WriteLine(" Type 'path' to modify the directory.");
Console.WriteLine(" Type 'planner' to choose the planner.");
Console.WriteLine(" Type 'help' to print game titles.");
Console.Write(" Type 'debug' to turn debug mode ");
if (debug)
{
Console.WriteLine("off.");
}
else
{
Console.WriteLine("on.");
}
Console.WriteLine();
Console.Write(">");
// Read in the game to load.
domainName = Console.ReadLine().ToLower();
// Print domains if prompted.
if (domainName.Equals("help"))
{
Console.WriteLine();
if (System.IO.Directory.Exists(Parser.GetTopDirectory() + @"Benchmarks\"))
{
foreach (string file in Directory.GetFileSystemEntries(Parser.GetTopDirectory() + @"Benchmarks\"))
{
Console.WriteLine(Path.GetFileName(file));
}
Console.WriteLine();
Console.Write(">");
// Read in the game to load.
domainName = Console.ReadLine().ToLower();
}
else
{
Console.WriteLine(Parser.GetTopDirectory() + @"Benchmarks\ does not exist!");
Console.ReadKey();
domainName = "482990adkdlllifkdlkfjlaoow";
}
}
// Rewrite directory if prompted.
if (domainName.Equals("path"))
{
Console.WriteLine();
Console.WriteLine("Your current game directory is: " + Parser.GetTopDirectory());
Console.WriteLine("Enter new path.");
Console.WriteLine();
Console.Write(">");
string newPath = Console.ReadLine();
Console.WriteLine();
if (Directory.Exists(newPath + @"Benchmarks\"))
{
Parser.path = newPath;
}
else
{
Console.WriteLine("Sorry, " + newPath + @"Benchmarks\" + " does not exist.");
Console.ReadKey();
}
}
// Change the planner if prompted.
if (domainName.Equals("planner"))
{
Console.WriteLine();
Console.WriteLine("Your current planner is: " + planner);
Console.WriteLine("Enter new planner.");
Console.WriteLine();
Console.Write(">");
string newPlanner = Console.ReadLine();
Console.WriteLine();
if (Enum.IsDefined(typeof(Planner), newPlanner))
{
planner = (Planner)Enum.Parse(typeof(Planner), newPlanner, true);
Console.WriteLine("Your planner is now " + planner);
Console.ReadKey();
}
else
{
Console.WriteLine("Sorry, " + newPlanner + " does not exist.");
Console.ReadKey();
}
}
// Exit if prompted.
if (domainName.Equals("exit"))
{
Environment.Exit(0);
}
// Toggle debug if prompted
if (domainName.Equals("debug"))
{
debug = !debug;
}
if
((!File.Exists(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\domain.pddl") ||
!File.Exists(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\prob01.pddl")) &&
!domainName.Equals("debug") && !domainName.Equals("path") && !domainName.Equals("planner") && !domainName.Equals("482990adkdlllifkdlkfjlaoow"))
{
// Prompt that the game doesn't exist.
Console.WriteLine();
Console.WriteLine("I'm sorry, but I can't find " + domainName.ToUpper());
Console.WriteLine();
Console.ReadKey();
}
// Clear the console screen.
Console.Clear();
}
// Parse the domain file.
domain = Parser.GetDomain(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\domain.pddl", PlanType.StateSpace);
// Parse the problem file.
problem = Parser.GetProblemWithTypes(Parser.GetTopDirectory() + @"Benchmarks\" + domainName + @"\prob01.pddl", domain);
// Find the initial plan.
if (planner.Equals(Planner.FastDownward))
{
plan = FastDownward.Plan(domain, problem);
}
else if (planner.Equals(Planner.Glaive))
{
plan = Glaive.Plan(domain, problem);
}
// Welcome the player to the game.
Console.WriteLine("Welcome to " + domain.Name);
// Find the first state.
state = plan.GetFirstState();
// Create the initial node of mediation space.
root = StateSpaceMediator.BuildTree(planner, domain, problem, plan, state, 0);
// Initialize a stopwatch for debugging.
Stopwatch watch = new Stopwatch();
// Present information about the player.
command = "look";
arguments = new List <string> {
"me"
};
Look();
Console.WriteLine();
// Present the initial state.
command = "";
Look();
// Loop while this is false.
bool exit = false;
while (!exit)
{
// Initialize the frontier.
frontier = new Hashtable();
// Expand the frontier in a new thread.
frontierThread = new Thread(ExpandFrontier);
// Start the thread.
frontierThread.Start();
// Ask for input.
Console.WriteLine();
Console.Write(">");
input = Console.ReadLine();
// If in debug mode, start the stop watch.
if (debug)
{
watch.Reset();
watch.Start();
}
// Parse the command and its arguments.
command = ParseCommand(input).ToLower();
arguments = ParseArguments(input);
// Interpret the command.
switch (command)
{
case "exit":
exit = true;
break;
case "clear":
Console.Clear();
break;
case "cls":
Console.Clear();
break;
case "look":
Look();
break;
case "help":
Help();
break;
case "wait":
Console.Clear();
Wait();
break;
default:
OneArg();
break;
}
// If debugging, write the current plan and the elapsed time.
if (debug && plan.Steps.Count > 0 && !command.Equals("clear") && !command.Equals("cls"))
{
Console.Out.WriteLine();
Console.WriteLine("Narrative Trajectory:");
int longestName = 0;
foreach (Operator step in plan.Steps)
{
if (step.TermAt(0).Length > longestName)
{
longestName = step.TermAt(0).Length;
}
}
string lastName = "";
foreach (Operator step in plan.Steps)
{
if (!step.TermAt(0).Equals(lastName))
{
lastName = step.TermAt(0);
Console.Out.Write("".PadLeft(5) + UppercaseFirst(step.TermAt(0)) + "".PadLeft(longestName - step.TermAt(0).Length + 1));
}
else
{
Console.Out.Write("".PadLeft(5) + "".PadLeft(longestName + 1));
}
string[] splitName = step.Name.Split('-');
Console.Out.Write(splitName[0] + "s ");
for (int i = 1; i < step.Name.Count(x => x == '-') + 1; i++)
{
Console.Out.Write(UppercaseFirst(step.TermAt(i)) + " ");
}
Console.Out.WriteLine();
}
Console.Out.WriteLine();
Console.Write("Elapsed time: ");
Console.Out.Write(watch.ElapsedMilliseconds);
Console.WriteLine("ms");
}
// Check for goal state.
if (root.Goal)
{
Console.WriteLine("GOAL STATE");
Console.ReadKey();
exit = true;
}
// Check for incompatible state.
else if (root.Incompatible)
{
Console.WriteLine("UNWINNABLE STATE");
Console.ReadKey();
exit = true;
}
if (exit)
{
Console.Clear();
}
// Kill the frontier thread (this should be okay).
frontierThread.Abort();
}
Game.Play();
}
