public void NoDice()
{
var planningActions = new List <PlanningAction <string> >()
{
new PlanningAction <string>(
name: "init",
conditions: x => true,
effects: x =>
{
x = "init";
}
),
new PlanningAction <string>(
name: "execute",
conditions: x => x == "init",
effects: x =>
{
x = "finish";
})
};
var plan = new GraphPlan <string>(Enums.PlanningMethod.DepthFirst, planningActions, new StringComparerer());
var actions = plan.MakePlan("init", "init");
actions.PrintToConsole();
}
public void BasicTest()
{
var planningActions = new List <PlanningAction <string> >()
{
new PlanningAction <string>(
name: "init",
conditions: x => true,
effects: x =>
{
x = "init";
}
),
new PlanningAction <string>(
name: "execute",
conditions: x => x == "init",
effects: x =>
{
x = "finish";
})
};
//var actions = plan.Prepare()
// .AddState().Finish()
// .Solve("init", "finish")
// .PrintToConsole();
var plan = new GraphPlan <string>(Enums.PlanningMethod.DepthFirst, planningActions, new StringComparerer());
var actions = plan.MakePlan("init", "finish");
actions.PrintToConsole();
//.Do("init")
}
public void TestSimpleGame()
{
var initState = new SimpleGame.SimpleGameState();
var endState = new SimpleGame.SimpleGameState();
endState.Player.hasAxe = false;
endState.Player.Wood = 20;
endState.axeAvailable = false;
var planningActions = new List <PlanningAction <SimpleGame.SimpleGameState> >()
{
new PlanningAction <SimpleGame.SimpleGameState>(
name: "chopWood",
conditions: x =>
{
return(x.Player.hasAxe);
},
effects: x =>
{
x.Player.Wood++;
if (x.Player.axeLife > 0)
{
x.Player.axeLife--;
}
}
),
new PlanningAction <SimpleGame.SimpleGameState>(
name: "getAxe",
conditions: x =>
{
return(!x.Player.hasAxe && x.axeAvailable);
},
effects: x =>
{
x.Player.hasAxe = true;
x.axeAvailable = false;
}
),
new PlanningAction <SimpleGame.SimpleGameState>(
name: "createAxe",
conditions: x =>
{
return(x.Player.Wood >= 5);
},
effects: x =>
{
x.Player.hasAxe = true;
x.Player.Wood -= 2;
}
)
};
var plan = new GraphPlan <SimpleGame.SimpleGameState>(Enums.PlanningMethod.DepthFirst, planningActions, new GameStateComparer());
var actions = plan.MakePlan(initState, endState);
actions.Do(initState);
}
public static void Main()
{
EntitySet objects = new EntitySet();
objects.addObject("Ax", "Cargo");
objects.addObject("Bx", "Cargo");
objects.addObject("Rx", "Rocket");
objects.addObject("Lx", "Place");
objects.addObject("Px", "Place");
Conjunction init = new Conjunction("At (Ax, Lx) & At (Bx, Lx) & At (Rx, Lx) & HasFuel (Rx)");
Conjunction goal = new Conjunction("At (Ax, Px) & At (Bx, Px)");
OperatorHead opMoveHead = new OperatorHead("move", new ParaList("Rocket ?r, Place ?from, Place ?to"));
Condition opMoveCond = new Condition("?from != ?to");
Conjunction opMovePre = new Conjunction("At (?r, ?from) & HasFuel (?r)");
Conjunction opMoveAdd = new Conjunction("At (?r, ?to)");
Conjunction opMoveDel = new Conjunction("At (?r, ?from) & HasFuel (?r)");
Operator opMove = new Operator(opMoveHead, opMoveCond, opMovePre, opMoveAdd, opMoveDel);
OperatorHead opUnloadHead = new OperatorHead("unload", new ParaList("Rocket ?r, Place ?p, Cargo ?c"));
Condition opUnloadCond = new Condition("");
Conjunction opUnloadPre = new Conjunction("At (?r, ?p) & In (?c, ?r)");
Conjunction opUnloadAdd = new Conjunction("At (?c, ?p)");
Conjunction opUnloadDel = new Conjunction("In (?c, ?r)");
Operator opUnload = new Operator(opUnloadHead, opUnloadCond, opUnloadPre, opUnloadAdd, opUnloadDel);
OperatorHead opLoadHead = new OperatorHead("load", new ParaList("Rocket ?r, Place ?p, Cargo ?c"));
Condition opLoadCond = new Condition("");
Conjunction opLoadPre = new Conjunction("At (?r, ?p) & At (?c, ?p)");
Conjunction opLoadAdd = new Conjunction("In (?c, ?r)");
Conjunction opLoadDel = new Conjunction("At (?c, ?p)");
Operator opLoad = new Operator(opLoadHead, opLoadCond, opLoadPre, opLoadAdd, opLoadDel);
OperatorSet opSet = new OperatorSet();
opSet.Operators.Add(opMove);
opSet.Operators.Add(opUnload);
opSet.Operators.Add(opLoad);
GraphPlan graph = new GraphPlan(objects, init, goal, opSet);
bool res = graph.CreateGraph();
//Assert.IsTrue(res);
res = graph.SearchGoal();
//Assert.IsTrue(res);
List <string> plan = graph.GetPlan();
foreach (string step in plan)
{
System.Console.WriteLine(step);
}
}
public void Init()
{
var restoreServer = PlanningActions.ServerActions.Plan_RestoreServer();
var server_online = PlanningActions.ServerActions.Plan_GoOnline();
var restoration = PlanningActions.ServerActions.Plan_WaitingForRestoration();
var actions = new IPlanningAction <Models.Server>[] { restoreServer, server_online, restoration };
planner = new GraphPlan <Models.Server>(Enums.PlanningMethod.DepthFirst, actions, new ServerComparer());
}
public static bool DijkstraWithPlan <V, E>(
this Graph <V, E> graph,
int from,
int to,
WeightCalculator <E> calculator,
out GraphPlan <V, E> path,
ExplorationCallbacks <V, E> callbacks = default
)
{
return(graph.AStarWithPlan(from, to, ZeroHeuristics, calculator, out path, callbacks));
}
public void GraphPlanTest_Robot()
{
EntitySet objects = new EntitySet();
objects.addObject("green", "Color");
objects.addObject("red", "Color");
objects.addObject("sec1", "Section");
Conjunction init = new Conjunction("CurrentColor (green)");
Conjunction goal = new Conjunction("Painted (sec1, red)");
OperatorHead opPaintHead = new OperatorHead("Paint", new ParaList("Section ?sec, Color ?clr"));
Condition opPaintCond = new Condition("");
Conjunction opPaintPre = new Conjunction("CurrentColor (?clr)");
Conjunction opPaintAdd = new Conjunction("Painted (?sec, ?clr)");
Conjunction opPaintDel = new Conjunction("");
Operator opPaint = new Operator(opPaintHead, opPaintCond, opPaintPre, opPaintAdd, opPaintDel);
OperatorHead opChangeColorHead = new OperatorHead("ChangeColor", new ParaList("Color ?old, Color ?new"));
Condition opChangeColorCond = new Condition("?old != ?new");
Conjunction opChangeColorPre = new Conjunction("CurrentColor (?old)");
Conjunction opChangeColorAdd = new Conjunction("CurrentColor (?new)");
Conjunction opChangeColorDel = new Conjunction("CurrentColor (?old)");
Operator opChangeColor = new Operator(opChangeColorHead, opChangeColorCond, opChangeColorPre, opChangeColorAdd, opChangeColorDel);
OperatorSet opSet = new OperatorSet();
opSet.Operators.Add(opPaint);
opSet.Operators.Add(opChangeColor);
GraphPlan graph = new GraphPlan(objects, init, goal, opSet);
bool res = graph.CreateGraph();
Assert.IsTrue(res);
res = graph.SearchGoal();
Assert.IsTrue(res);
List <string> plan = graph.GetPlan();
//foreach (string step in plan)
//{
// System.Console.WriteLine(step);
//}
Assert.AreEqual(2, plan.Count);
Assert.AreEqual("ChangeColor ( green, red )", plan[0]);
Assert.AreEqual("Paint ( sec1, red )", plan[1]);
}
public void GraphPlanTest_Blocks()
{
EntitySet objects = new EntitySet();
objects.addObject("b1", "Block");
objects.addObject("b2", "Block");
objects.addObject("b3", "Block");
objects.addObject("Table", "Block");
Conjunction init = new Conjunction("ON (b1, b2) & ON (b2, Table) & ON (b3, Table) & Clear (b1) & Clear (b3) & Clear (Table)");
Conjunction goal = new Conjunction("ON (b3, Table) & ON (b2, b3) & ON (b1, b2)");
OperatorHead opMoveHead = new OperatorHead("Move", new ParaList("Block ?obj, Block ?from, Block ?to"));
Condition opMoveCond = new Condition("?obj != ?from & ?obj != ?to & ?from != ?to & ?to != Table");
Conjunction opMovePre = new Conjunction("ON (?obj, ?from) & Clear (?obj) & Clear (?to)");
Conjunction opMoveAdd = new Conjunction("ON (?obj, ?to) & Clear (?from)");
Conjunction opMoveDel = new Conjunction("ON (?obj, ?from) & Clear (?to)");
Operator opMove = new Operator(opMoveHead, opMoveCond, opMovePre, opMoveAdd, opMoveDel);
OperatorHead opMoveToTableHead = new OperatorHead("MoveToTable", new ParaList("Block ?obj, Block ?from"));
Condition opMoveToTableCond = new Condition("?obj != ?from & ?obj != Table & ?from != Table");
Conjunction opMoveToTablePre = new Conjunction("Clear (?obj) & ON (?obj, ?from)");
Conjunction opMoveToTableAdd = new Conjunction("ON (?obj, Table) & Clear (?from)");
Conjunction opMoveToTableDel = new Conjunction("ON (?obj, ?from)");
Operator opMoveToTable = new Operator(opMoveToTableHead, opMoveToTableCond, opMoveToTablePre, opMoveToTableAdd, opMoveToTableDel);
OperatorSet opSet = new OperatorSet();
opSet.Operators.Add(opMove);
opSet.Operators.Add(opMoveToTable);
GraphPlan graph = new GraphPlan(objects, init, goal, opSet);
bool res = graph.CreateGraph();
Assert.IsTrue(res);
res = graph.SearchGoal();
Assert.IsTrue(res);
List <string> plan = graph.GetPlan();
Assert.AreEqual(3, plan.Count);
Assert.AreEqual("MoveToTable ( b1, b2 )", plan[0]);
Assert.AreEqual("Move ( b2, Table, b3 )", plan[1]);
Assert.AreEqual("Move ( b1, Table, b2 )", plan[2]);
}
public void SimpleState_hanoi_tower_solver_test()
{
//A1 1 B1 | C1 |
//A2 2 B2 | C2 |
//A3 3 B3 | C3 |
//A4 4 B4 | C4 |
//A5 5 B5 | C5 |
//A6 6 B6 | C6 |
//A7 7 B7 | C7 |
// / \ / \ / \
var initialState = new State
{
{ "A1", 1 },
{ "A2", 2 },
{ "A3", 3 },
{ "A4", 4 },
{ "A5", 5 },
{ "A6", 6 },
{ "A7", 7 },
};
var goalState = new State
{
{ "C1", 1 },
{ "C2", 2 },
{ "C3", 3 },
{ "C4", 4 },
{ "C5", 5 },
{ "C6", 6 },
{ "C7", 7 },
};
var planningActions = new List <IPlanningAction <State> >
{
new PlanningAction <State>(
name: "Move from A to B",
conditions: state => Validate(state, "A", "B"),
effects: state => Move(state, "A", "B")),
new PlanningAction <State>(
name: "Move from A to C",
conditions: state => Validate(state, "A", "C"),
effects: state => Move(state, "A", "C")),
new PlanningAction <State>(
name: "Move from B to A",
conditions: state => Validate(state, "B", "A"),
effects: state => Move(state, "B", "A")),
new PlanningAction <State>(
name: "Move from B to C",
conditions: state => Validate(state, "B", "C"),
effects: state => Move(state, "B", "C")),
new PlanningAction <State>(
name: "Move from C to A",
conditions: state => Validate(state, "C", "A"),
effects: state => Move(state, "C", "A")),
new PlanningAction <State>(
name: "Move from C to B",
conditions: state => Validate(state, "C", "B"),
effects: state => Move(state, "C", "B")),
};
var plan = new GraphPlan <State>(Enums.PlanningMethod.DepthFirst, planningActions.ToArray(), new StateComparer())
.MakePlan(initialState, goalState)
.PrintToConsole();
}
