1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146

use std::collections::{HashSet};
use std::fs;

#[macro_use] extern crate serde_derive;
extern crate serde;
use toml;

#[macro_use] pub mod macros;
pub mod proposition;
pub mod action;
pub mod plangraph;
pub mod solver;
mod layer;
mod pairset;

use crate::proposition::Proposition;
use crate::action::Action;
use crate::plangraph::{PlanGraph, Solution};
use crate::solver::{GraphPlanSolver, SimpleSolver};

#[derive(Deserialize)]
struct Config {
    initial: Vec<String>,
    goals: Vec<String>,
    actions: Vec<ConfigAction>
}

#[derive(Deserialize)]
struct ConfigAction {
    name: String,
    reqs: Vec<String>,
    effects: Vec<String>,
}


pub struct GraphPlan<T: GraphPlanSolver> {
    pub solver: T,
    pub plangraph: PlanGraph,
}

impl<T: GraphPlanSolver> GraphPlan<T> {
    pub fn new(initial_props: HashSet<&Proposition>,
           goals: HashSet<&Proposition>,
           actions: HashSet<&Action>,
           solver: T) -> GraphPlan<T> {
        let pg = PlanGraph::new(initial_props, goals, actions);
        GraphPlan {
            solver: solver,
            plangraph: pg
        }
    }

    pub fn search(&mut self) -> Option<Solution>{
        self.plangraph.search_with(&self.solver)
    }
}

impl GraphPlan<SimpleSolver> {
    pub fn from_toml_string(string: String) -> GraphPlan<SimpleSolver> {
        let config: Config = toml::from_str(&string).expect("Fail");
        let initial_props: HashSet<Proposition> = config.initial
            .iter()
            .map(|i| Proposition::new(i.to_owned().replace("not_", ""),
                                      i.starts_with("not_")))
            .collect();
        let goals: HashSet<Proposition> = config.goals
            .iter()
            .map(|i| Proposition::new(i.to_owned().replace("not_", ""),
                                      i.starts_with("not_")))
            .collect();
        let actions: HashSet<Action> = config.actions
            .iter()
            .map(|i| {
                let reqs: HashSet<Proposition> = i.reqs.iter()
                    .map(|r| Proposition::new(r.clone().replace("not_", ""),
                                              r.starts_with("not_")))
                    .collect();
                let effects: HashSet<Proposition> = i.effects.iter()
                    .map(|e| Proposition::new(e.clone().replace("not_", ""),
                                              e.starts_with("not_")))
                    .collect();
                Action::new(
                    i.name.to_string(),
                    reqs.iter().collect(),
                    effects.iter().collect()
                )
            })
            .collect();
        let solver = SimpleSolver::new();
        GraphPlan::new(
            initial_props.iter().collect(),
            goals.iter().collect(),
            actions.iter().collect(),
            solver
        )
    }

    pub fn from_toml(filepath: String) -> GraphPlan<SimpleSolver> {
        let string = fs::read_to_string(filepath).expect("Failed to read file");
        GraphPlan::from_toml_string(string)
    }
}

#[cfg(test)]
mod integration_test {
    use crate::GraphPlan;
    use crate::proposition::Proposition;
    use crate::action::Action;
    use crate::solver::SimpleSolver;

    #[test]
    fn integration() {
        let p1 = Proposition::from_str("tired");
        let not_p1 = p1.negate();
        let p2 = Proposition::from_str("dog needs to pee");
        let not_p2 = p2.negate();
        let p3 = Proposition::from_str("caffeinated");

        let a1 = Action::new(
            String::from("coffee"),
            hashset!{&p1},
            hashset!{&p3, &not_p1}
        );

        let a2 = Action::new(
            String::from("walk dog"),
            hashset!{&p2, &p3},
            hashset!{&not_p2},
        );

        let mut pg = GraphPlan::new(
            hashset!{&p1, &p2},
            hashset!{&not_p1, &not_p2, &p3},
            hashset!{&a1, &a2},
            SimpleSolver::new()
        );
        assert!(pg.search() != None, "Solution should not be None");
    }

    #[test]
    fn load_from_toml_config() {
        let path = String::from("resources/rocket_domain.toml");
        let mut pg: GraphPlan<SimpleSolver> = GraphPlan::from_toml(path);
        assert!(pg.search() != None, "Solution should not be None");
    }
}