From 85769d6e7777af783dc2ccd32c7478a556da89dc Mon Sep 17 00:00:00 2001
From: Alejandro Suarez Hernandez <asuarez@iri.upc.edu>
Date: Mon, 2 Oct 2017 21:34:25 +0200
Subject: [PATCH] SimpleQuery class
---
src/CMakeLists.txt | 4 +--
src/examples/CMakeLists.txt | 6 ++++
src/examples/queries_test.cpp | 47 ++++++++++++++++++++++++++++
src/examples/types_test.cpp | 16 +++++++++-
src/queries.cpp | 58 +++++++++++++++++++++++++++++++++++
src/queries.h | 47 ++++++++++++++++++++++++++++
src/types.cpp | 3 +-
src/types.h | 6 ++--
8 files changed, 181 insertions(+), 6 deletions(-)
create mode 100644 src/examples/queries_test.cpp
create mode 100644 src/queries.cpp
create mode 100644 src/queries.h
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 8f26028..c60988e 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,7 +1,7 @@
# driver source files
-SET(sources imagine-planner.cpp types.cpp)
+SET(sources imagine-planner.cpp types.cpp queries.cpp)
# application header files
-SET(headers imagine-planner.h types.h)
+SET(headers imagine-planner.h types.h queries.h)
# Boost
FIND_PACKAGE(Boost COMPONENTS system filesystem unit_test_framework REQUIRED)
# Swi-pl
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index 1d47022..27851e0 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -10,4 +10,10 @@ TARGET_LINK_LIBRARIES(types_test
${Boost_SYSTEM_LIBRARY}
${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+ADD_EXECUTABLE(queries_test queries_test.cpp)
+TARGET_LINK_LIBRARIES(queries_test
+ imagine-planner
+ ${Boost_FILESYSTEM_LIBRARY}
+ ${Boost_SYSTEM_LIBRARY}
+ ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
diff --git a/src/examples/queries_test.cpp b/src/examples/queries_test.cpp
new file mode 100644
index 0000000..e520790
--- /dev/null
+++ b/src/examples/queries_test.cpp
@@ -0,0 +1,47 @@
+#define BOOST_TEST_MODULE Types Test
+#define BOOST_TEST_DYN_LINK
+#include <boost/test/unit_test.hpp>
+
+#include "queries.h"
+#include <iostream>
+using namespace imagine_planner;
+
+#if 0 // Set to 1 if __PRETTY_FUNCTION__ macro is not available
+#define __PRETTY_FUNCTION__ __func__
+#endif
+
+#if 1
+#define INFO(x)\
+ std::cout << "\e[1m\e[32m\e[4m" << __PRETTY_FUNCTION__ << " [" << __LINE__ << "]" << "\e[24m: " << x << "\e[0m" << std::endl;
+#else
+#define INFO(x)
+#endif
+
+BOOST_AUTO_TEST_CASE(simple_query_test_sat)
+{
+ PlanState state({Predicate("p","a","b"), Predicate("p","a","c"),
+ Predicate("p","d","a"), Predicate("q","w"), Predicate("q", "s")});
+ INFO(state);
+ SimpleQuery q1(state, Predicate("p", "a", "X"));
+ SimpleQuery q2(state, Predicate("q", "w"));
+ BOOST_REQUIRE(q1.next_solution());
+ BOOST_CHECK_EQUAL(q1.get_solution().to_str(), "{\n X -> b\n}");
+ BOOST_REQUIRE(q1.next_solution());
+ BOOST_CHECK_EQUAL(q1.get_solution().to_str(), "{\n X -> c\n}");
+ BOOST_REQUIRE(not q1.next_solution());
+ BOOST_REQUIRE(q2.next_solution());
+ BOOST_CHECK_EQUAL(q2.get_solution().to_str(), "{}");
+ BOOST_CHECK(not q1.next_solution());
+}
+
+BOOST_AUTO_TEST_CASE(simple_query_test_unsat)
+{
+ PlanState state({Predicate("p","a","b"), Predicate("p","a","c"),
+ Predicate("p","d","a"), Predicate("q","w"), Predicate("q", "s")});
+ INFO(state);
+ SimpleQuery q1(state, Predicate("p", "c", "X"));
+ SimpleQuery q2(state, Predicate("p", "a", "d"));
+ BOOST_REQUIRE(not q1.next_solution());
+ BOOST_REQUIRE(not q2.next_solution());
+}
+
diff --git a/src/examples/types_test.cpp b/src/examples/types_test.cpp
index f2d8c65..e220a3b 100644
--- a/src/examples/types_test.cpp
+++ b/src/examples/types_test.cpp
@@ -241,6 +241,20 @@ BOOST_AUTO_TEST_CASE(substitution_test)
BOOST_AUTO_TEST_CASE(planstate_test)
{
PlanState state({Predicate("p", "x", "y"), Predicate("q", "y"), Predicate("r")});
- INFO(state);
+ PlanState state_(state), state__(state);
+ PlanState state2(state);
+ state__.remove(Predicate("p", "x", "y"));
+ state2.put(Predicate("q", "z"));
+ INFO("state: " << state << " (" << state.hash() << ')');
+ INFO("state_: " << state_ << " (" << state_.hash() << ')');
+ INFO("state__: " << state__ << " (" << state__.hash() << ')');
+ INFO("state2: " << state2 << " (" << state2.hash() << ')');
+ BOOST_CHECK_EQUAL(state, state_);
+ BOOST_CHECK_NE(state, state__);
+ BOOST_CHECK_NE(state, state2);
+ BOOST_CHECK(state.subset_of(state2));
+ BOOST_CHECK(state__.subset_of(state));
+ BOOST_CHECK(not state.subset_of(state__));
+ BOOST_CHECK(not state2.subset_of(state));
}
diff --git a/src/queries.cpp b/src/queries.cpp
new file mode 100644
index 0000000..b6ddecd
--- /dev/null
+++ b/src/queries.cpp
@@ -0,0 +1,58 @@
+#include "queries.h"
+
+namespace imagine_planner
+{
+
+bool SimpleQuery::unify(const Predicate& goal)
+{
+ assignment_.clear();
+ if (goal.arity() != target_.arity()) return false;
+ if (goal.get_name() != target_.get_name()) return false;
+ for (int idx = 0; idx < goal.arity(); ++idx)
+ {
+ const TermWrapper& term1 = target_.get_arguments()[idx];
+ const TermWrapper& term2 = goal.get_arguments()[idx];
+ if (term1.is_ground())
+ {
+ if (term1 != term2) return false;
+ }
+ else if (const Term* assig = assignment_.get(term1.to_str()))
+ {
+ if (*assig != *term2.get_term()) return false;
+ }
+ else
+ {
+ assignment_.put(term1.to_str(), term2);
+ }
+ }
+ return true;
+}
+
+SimpleQuery::SimpleQuery(const PlanState& state, const Predicate& target) :
+ state_(state), target_(target)
+{
+ cursor_ = state_.begin();
+}
+
+bool SimpleQuery::next_solution()
+{
+ if (cursor_ != state_.end() and target_.is_ground())
+ {
+ cursor_ = state_.end();
+ return state_.has(target_);
+ }
+
+ while (cursor_ != state_.end())
+ {
+ if (unify(*cursor_))
+ {
+ ++cursor_;
+ return true;
+ }
+ ++cursor_;
+ }
+ return false;
+}
+
+}
+
diff --git a/src/queries.h b/src/queries.h
new file mode 100644
index 0000000..2750220
--- /dev/null
+++ b/src/queries.h
@@ -0,0 +1,47 @@
+#ifndef _LIBIMAGINE_PLANNER_QUERIES_H_
+#define _LIBIMAGINE_PLANNER_QUERIES_H_
+
+#include "types.h"
+
+namespace imagine_planner
+{
+
+class Query
+{
+ public:
+ virtual ~Query() {};
+
+ virtual bool next_solution() =0;
+
+ virtual const Substitution& get_solution() const=0;
+};
+
+class SimpleQuery : public Query
+{
+ private:
+ const PlanState& state_;
+ Predicate target_;
+ Substitution assignment_;
+ PlanState::CIter cursor_;
+
+ bool unify(const Predicate& goal);
+
+ public:
+ SimpleQuery(const PlanState& state, const Predicate& target);
+
+ virtual bool next_solution() override;
+
+ const Substitution& get_solution() const { return assignment_; }
+
+};
+
+class NotQuery : public Query
+{
+ private:
+ Query q_;
+};
+
+} /* end namespace imagine-planner */
+
+#endif
+
diff --git a/src/types.cpp b/src/types.cpp
index 7ed05af..704e501 100644
--- a/src/types.cpp
+++ b/src/types.cpp
@@ -109,6 +109,8 @@ TermWrapper::~TermWrapper()
delete term_;
}
+TermV create_term_v() { return TermV(); }
+
// Predicate
Predicate::Predicate(const std::string& name, const TermV& arguments) :
@@ -306,7 +308,6 @@ std::size_t PlanState::hash() const
return acc;
}
-
bool PlanState::subset_of(const PlanState& other) const
{
if (predicates_.size() > other.predicates_.size()) return false;
diff --git a/src/types.h b/src/types.h
index ce5a13a..24b9f45 100644
--- a/src/types.h
+++ b/src/types.h
@@ -191,7 +191,7 @@ class TermWrapper : public Stringifiable,
typedef std::vector<TermWrapper> TermV;
-TermV create_term_v() { return TermV(); }
+TermV create_term_v();
template <typename First, typename... Args>
TermV create_term_v(const First& fst, Args... args)
@@ -261,6 +261,8 @@ class Substitution : public Stringifiable
void remove(const std::string& varname);
+ void clear() { sigma_.clear(); }
+
void operator+=(const Substitution& other);
void operator-=(const Substitution& other);
@@ -355,6 +357,6 @@ struct hash<imagine_planner::Hashable>
std::size_t operator()(const imagine_planner::Hashable& hashable) const;
};
-}
+} /* end std namespace */
#endif
--
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