/*
* RuntimeCondition - (Name): NewRuntimeCondition
* (ConditionString):
* Static Variables: [NavMasterVar]
* Domain Variables:
*/
void Constraint1475692986360::getConstraint(shared_ptr<ProblemDescriptor> c, shared_ptr<RunningPlan> rp)
{
/*PROTECTED REGION ID(cc1475692986360) ENABLED START*/
ttb::TTBWorldModel* wm = ttb::TTBWorldModel::get();
auto constraint = make_shared<alica::reasoner::ASPTerm>(-1);
//The query id has to be added to any predicate which is added to the program, naming ruleheads and facts!
auto queryId = ((alica::reasoner::ASPSolverWrapper*)wm->getEngine()->getSolver(SolverType::ASPSOLVER))->getQueryCounter();
constraint->setQueryId(queryId);
stringstream ss;
ss << "goalReachable(X) :- reachable(X, Y), goal(X), start(Y), room(X), room(Y).";
constraint->setQueryRule(ss.str());
ss.str("");
// ss << "multiRuleWorks(X, " << queryId << ") :- goal(r1405B, " << queryId << "), room(X).";
// constraint->addRule(ss.str());
// ss.str("");
ss << "goal(r1405B).";
constraint->addFact(ss.str());
ss.str("");
ss << "start(r1411).";
constraint->addFact(ss.str());
constraint->setProgramSection("distributedSystemsRoomsExternal");
constraint->setType(::reasoner::ASPQueryType::Variable);
constraint->setId(1475692986360);
constraint->setExternals(wm->doors.getDoors());
c->setConstraint(dynamic_pointer_cast < alica::SolverTerm > (constraint));
/*PROTECTED REGION END*/
}
TEST_F(AspAlicaEngineWithDomain, ReusePlanFromPlantypeWithoutCycle_PlanBase)
{
ae = new alica::AlicaEngine(new supplementary::AgentIDManager(new supplementary::AgentIDFactory()),
"ReusePlanWithoutCycle", "ReusePlanFromPlantypeWithoutCycle", ".", false);
ae->setIAlicaClock(new alica_dummy_proxy::AlicaSystemClock());
ae->setCommunicator(new alica_dummy_proxy::AlicaDummyCommunication(ae));
// "1" stands for the ASPSolver in this test suite only!
std::vector<char const *> args{"clingo", "-W", "no-atom-undefined", nullptr};
auto solver = new ::reasoner::ASPSolver(args);
auto solverWrapper = new alica::reasoner::ASPSolverWrapper(ae, args);
solverWrapper->init(solver);
solverWrapper->getSolver()->loadFileFromConfig("assistanceBackgroundKnowledgeFile");
ae->addSolver(1, solverWrapper);
EXPECT_TRUE(ae->init(bc, cc, uc, crc)) << "Unable to initialise the ALICA Engine!";
alica::reasoner::ASPSolverWrapper *aspSolver =
dynamic_cast<alica::reasoner::ASPSolverWrapper *>(ae->getSolver(1)); // "1" for ASPSolver
alica::Plan *plan = ae->getPlanBase()->getMasterPlan();
string queryString1 = "brokenPlanBase(donatello)";
auto constraint = make_shared<::reasoner::ASPCommonsTerm>();
constraint->addRule(queryString1);
constraint->setType(::reasoner::ASPQueryType::Facts);
constraint->setProgramSection("assistanceTestFacts");
((::reasoner::ASPSolver *)(aspSolver->getSolver()))->ground({{"assistanceBackground", {}}}, nullptr);
shared_ptr<::reasoner::ASPFactsQuery> queryObject1 =
make_shared<::reasoner::ASPFactsQuery>(((::reasoner::ASPSolver *)(aspSolver->getSolver())), constraint);
((alica::reasoner::ASPSolverWrapper *)(aspSolver->getSolver()))->registerQuery(queryObject1);
// start time measurement for grounding
std::chrono::_V2::system_clock::time_point groundingStart = std::chrono::high_resolution_clock::now();
if (!((alica::reasoner::ASPSolverWrapper *)(aspSolver->getSolver()))->validatePlan(plan))
{
cout << "ASPAlicaTest: No Model found!" << endl;
}
else
{
((alica::reasoner::ASPSolverWrapper *)(aspSolver->getSolver()))->printStats();
}
std::chrono::_V2::system_clock::time_point end = std::chrono::high_resolution_clock::now();
cout << "Measured Grounding Time: "
<< std::chrono::duration_cast<chrono::milliseconds>(end - groundingStart).count() << " ms" << endl;
EXPECT_FALSE(queryObject1->factsExistForAllModels()) << "The plan base of agent donatello should not be broken.";
cout << queryObject1->toString() << endl;
}
/*
* RuntimeCondition - (Name): NewRuntimeCondition
* (ConditionString):
* Static Variables: [PlanVar]
* Domain Variables:
*/
void Constraint1480766551805::getConstraint(shared_ptr<ProblemDescriptor> c, shared_ptr<RunningPlan> rp)
{
/*PROTECTED REGION ID(cc1480766551805) ENABLED START*/
ttb::TTBWorldModel* wm = ttb::TTBWorldModel::get();
auto constraint = make_shared<alica::reasoner::ASPTerm>();
//The query id has to be added to any predicate which is added to the program, naming ruleheads and facts!
auto queryId =
((alica::reasoner::ASPSolverWrapper*)wm->getEngine()->getSolver(SolverType::ASPSOLVER))->getQueryCounter();
constraint->setQueryId(queryId);
stringstream ss;
ss << "goalReachable(X) :- reachable(X, Y), goal(X), start(Y), room(X), room(Y).";
constraint->setQueryRule(ss.str());
ss.str("");
ss << "goal(100).";
constraint->addFact(ss.str());
ss.str("");
ss << "start(0).";
constraint->addFact(ss.str());
constraint->setProgramSection("asprccgen");
constraint->setType(::reasoner::ASPQueryType::Variable);
constraint->setId(1480766551805);
c->setConstraint(dynamic_pointer_cast < alica::SolverTerm > (constraint));
/*PROTECTED REGION END*/
}
