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[19] Update unittest for action cost support
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Resolves #19
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@chillray @nirlipo
chillray authored and nirlipo committed Aug 26, 2024
1 parent eb5926a commit 33704d1
Showing 1 changed file with 101 additions and 78 deletions.
179 changes: 101 additions & 78 deletions server/unit_test/test_cases.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,18 @@
import Solver, Initialise
import Transfer


class TestStringMethods(unittest.TestCase):
# Empty animation profile for test case
animation_profile_test = {"objects": {"default": {},
"predefine": {},
"custom": {}},
"predicates_rules": {},
"visual": {},
"imageTable": {"m_keys": [],
"m_values": []},
"cost_keyword": None
}

# Initial test case
def test_upper(self):
Expand Down Expand Up @@ -48,16 +59,16 @@ def test_planimation_process(self):

url_link = ''

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain_ap.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain_ap.pddl'), 'r', encoding='utf-8-sig') as f:
animation_content = f.read()

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain.pddl'), 'r', encoding='utf-8-sig') as f:
domain_content = f.read().lower()
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'problem.pddl'), 'r', encoding='utf-8-sig') as f:

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'problem.pddl'), 'r', encoding='utf-8-sig') as f:
problem_content = f.read().lower()

plan = Plan_generator.get_plan(domain_content, problem_content, url_link)
Expand All @@ -68,28 +79,30 @@ def test_planimation_process(self):

animation_profile = json.loads(Animation_parser.get_animation_profile(animation_content, object_list))

stages = get_stages(plan, problem_dic, problem_content, predicates_list)
stages = get_stages(plan, problem_dic, problem_content, predicates_list, animation_profile)

result = Solver.get_visualisation_dic(stages, animation_profile, plan['result']['plan'], problem_dic)
objects_dic = Initialise.initialise_objects(stages["objects"], animation_profile)
final = Transfer.generate_visualisation_file(result, list(objects_dic.keys()), animation_profile, plan['result']['plan'])
final = Transfer.generate_visualisation_file(result, list(objects_dic.keys()), animation_profile,
plan['result']['plan'])

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "test.vfg"), "w") as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "test.vfg"), "w") as f:
json.dump(final, f)

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "test.vfg"), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "test.vfg"), 'r', encoding='utf-8-sig') as f:
output_content = f.read()

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "expect_output.vfg"), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "expect_output.vfg"), 'r', encoding='utf-8-sig') as f:
expected_content = f.read()

# Check that the generated vfg file is the same as the expected output
self.assertTrue(filecmp.cmp(os.path.abspath(os.path.dirname(__file__) + '/test_files/' + 'test.vfg')
, os.path.abspath(os.path.dirname(__file__) + '/test_files/' + 'expect_output.vfg'), shallow=False)
, msg="The generated vfg file is different from the expected output.")
, os.path.abspath(os.path.dirname(__file__) + '/test_files/' + 'expect_output.vfg'),
shallow=False)
, msg="The generated vfg file is different from the expected output.")

def test_domain_parser(self):
""" Test case for testing the domain parser functions
Expand All @@ -103,24 +116,24 @@ def test_domain_parser(self):
complex_predicates_list(JSON): The JSON structure generated by the Domain_parser.
"""

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain.pddl'), 'r', encoding='utf-8-sig') as f:
simple_domain_content = f.read().lower()

simple_predicates_list = Domain_parser.get_domain_json(simple_domain_content)
# simple domain predicates:
# (:predicates
# (connected ?x ?y - place)
# (at-robot ?x - place)
# (visited ?x - place))
# (at-robot ?x - place)
# (visited ?x - place))
simple_expected_predicates = {'connected': 2, 'at-robot': 1, 'visited': 1}

# Check that the generated simple predicates list is the same as the expected list
self.assertTrue(simple_predicates_list == simple_expected_predicates
, msg="The generated simple predicates list is different from the expected list")
, msg="The generated simple predicates list is different from the expected list")

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + '4_ops_domain.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + '4_ops_domain.pddl'), 'r', encoding='utf-8-sig') as f:
complex_domain_content = f.read().lower()

complex_predicates_list = Domain_parser.get_domain_json(complex_domain_content)
Expand Down Expand Up @@ -150,12 +163,12 @@ def test_problem_parser(self):
complex_problem_list(JSON): The JSON structure generated by the Problem_parser.
"""

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + '4_ops_problem.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + '4_ops_problem.pddl'), 'r', encoding='utf-8-sig') as f:
simple_problem_content = f.read().lower()

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + '4_ops_domain.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + '4_ops_domain.pddl'), 'r', encoding='utf-8-sig') as f:
simple_domain_content = f.read().lower()

simple_predicates_list = Domain_parser.get_domain_json(simple_domain_content)
Expand All @@ -172,30 +185,30 @@ def test_problem_parser(self):
{'goal': [
{'name': 'on', 'objectNames': ['a', 'b']},
{'name': 'on', 'objectNames': ['b', 'c']}],
'goal-condition': ['and']}]
'goal-condition': ['and']}]

# Check that the generated simple problem list is the same as the expected output
self.assertTrue(simple_problem_list == simple_expected_problem
, msg="The generated simple problem list is different from the expected output")
, msg="The generated simple problem list is different from the expected output")

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'problem.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'problem.pddl'), 'r', encoding='utf-8-sig') as f:
complex_problem_content = f.read().lower()
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain.pddl'), 'r', encoding='utf-8-sig') as f:

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain.pddl'), 'r', encoding='utf-8-sig') as f:
complex_domain_content = f.read().lower()

complex_predicates_list = Domain_parser.get_domain_json(complex_domain_content)
complex_problem_list = get_problem_dic(complex_problem_content, complex_predicates_list)

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "complex_expected_problem.json"), "r") as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "complex_expected_problem.json"), "r") as f:
complex_expected_problem = json.load(f)

# Check that the generated complex problem list is the same as the expected output
self.assertTrue(complex_expected_problem == complex_problem_list
, msg="The generated complex problem list is different from the expected output")
, msg="The generated complex problem list is different from the expected output")

def test_predicates_generator(self):
""" Test case for testing the predicates generator function
Expand All @@ -213,12 +226,12 @@ def test_predicates_generator(self):
complex_stages(stage): The stage structure generated by the Predicates_parser.
"""

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + '4_ops_domain.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + '4_ops_domain.pddl'), 'r', encoding='utf-8-sig') as f:
simple_domain_content = f.read().lower()

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + '4_ops_problem.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + '4_ops_problem.pddl'), 'r', encoding='utf-8-sig') as f:
simple_problem_content = f.read().lower()

with open(os.path.abspath(os.path.dirname(__file__)
Expand All @@ -228,22 +241,23 @@ def test_predicates_generator(self):
simple_predicates_list = Domain_parser.get_domain_json(simple_domain_content)
simple_problem_dic = get_problem_dic(simple_problem_content, simple_predicates_list)
simple_object_list = get_object_list(simple_problem_content)
simple_stages = get_stages(simple_plan, simple_problem_dic, simple_problem_content, simple_predicates_list)

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "simple_expected_stages.json"), "r") as f:
simple_stages = get_stages(simple_plan, simple_problem_dic, simple_problem_content, simple_predicates_list,
self.animation_profile_test)

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "simple_expected_stages.json"), "r") as f:
simple_expected_stages = json.load(f)

# Check that the generated simple stages are the same as the expected output
self.assertTrue(simple_stages == simple_expected_stages
, msg="The generated simple stages are different from the expected output")
, msg="The generated simple stages are different from the expected output")

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain.pddl'), 'r', encoding='utf-8-sig') as f:
complex_domain_content = f.read().lower()
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'problem.pddl'), 'r', encoding='utf-8-sig') as f:

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'problem.pddl'), 'r', encoding='utf-8-sig') as f:
complex_problem_content = f.read().lower()

with open(os.path.abspath(os.path.dirname(__file__)
Expand All @@ -253,19 +267,19 @@ def test_predicates_generator(self):
complex_predicates_list = Domain_parser.get_domain_json(complex_domain_content)
complex_problem_dic = get_problem_dic(complex_problem_content, complex_predicates_list)
complex_object_list = get_object_list(complex_problem_content)
complex_stages = get_stages(complex_plan, complex_problem_dic, complex_problem_content, complex_predicates_list)

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "complex_expected_stages.json"), "r") as f:
complex_stages = get_stages(complex_plan, complex_problem_dic, complex_problem_content, complex_predicates_list,
self.animation_profile_test)
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "complex_expected_stages.json"), "r") as f:
complex_expected_stages = json.load(f)

# Check that the generated complex stages are the same as the expected output
self.assertTrue(complex_stages == complex_expected_stages
, msg="The generated complex stages are different from the expected output")
, msg="The generated complex stages are different from the expected output")

def test_solver(self):
""" Test case for testing the solver functions
Expected Input:
domain_ap.pddl, problem.pddl: The animation and problem PDDL files.
expected_initialised_obj_dict.json: The expected output JSON file.
Expand All @@ -275,47 +289,56 @@ def test_solver(self):
expected_obj_name_prop(object): The object generated by the solver functions.
"""

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain_ap.pddl'), 'r', encoding='utf-8-sig') as f:
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'domain_ap.pddl'), 'r', encoding='utf-8-sig') as f:
animation_content = f.read()
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'problem.pddl'), 'r', encoding='utf-8-sig') as f:

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + 'problem.pddl'), 'r', encoding='utf-8-sig') as f:
problem_content = f.read().lower()

object_list = get_object_list(problem_content)
animation_profile = json.loads(Animation_parser.get_animation_profile(animation_content, object_list))
initialised_obj_dict = Initialise.initialise_objects(object_list, animation_profile)
with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "expected_initialised_obj_dict.json"), "r") as f:

with open(os.path.abspath(os.path.dirname(__file__)
+ '/test_files/' + "expected_initialised_obj_dict.json"), "r") as f:
expected_initialised_obj_dict = json.load(f)

# Check that the generated object dict is the same as the expected output
self.assertTrue(initialised_obj_dict == expected_initialised_obj_dict
, msg="The generated object dict is different from the expected output")
, msg="The generated object dict is different from the expected output")

# testing check rule
true_predicate = {'name': 'at-robot', 'objectNames': ['loc1_1']}
false_predicate = {'name': 'at-robot', 'objectNames': ['loc1_2']}
objects_dic = {
'loc1_1': {'prefabimage': 'img-square', 'showname': False, 'x': 100, 'y': 100, 'color': {'r': 0.0, 'g': 0.0, 'b': 1.0, 'a': 1.0}, 'width': 80, 'height': 80, 'depth': 1, 'name': 'loc1_1'},
'loc1_2': {'prefabimage': 'img-square', 'showname': False, 'x': 100, 'y': False, 'color': {'r': 0.0, 'g': 0.0, 'b': 1.0, 'a': 1.0}, 'width': 80, 'height': 80, 'depth': 1, 'name': 'loc1_2'},
'robot': {'prefabimage': 'img-robot', 'showname': False, 'x': 100, 'y': 100, 'color': {'r': 0.9804, 'g': 0.6353, 'b': 0.7098, 'a': 1.0}, 'width': 40, 'height': 40, 'depth': 2, 'name': 'robot'}}
'loc1_1': {'prefabimage': 'img-square', 'showname': False, 'x': 100, 'y': 100,
'color': {'r': 0.0, 'g': 0.0, 'b': 1.0, 'a': 1.0}, 'width': 80, 'height': 80, 'depth': 1,
'name': 'loc1_1'},
'loc1_2': {'prefabimage': 'img-square', 'showname': False, 'x': 100, 'y': False,
'color': {'r': 0.0, 'g': 0.0, 'b': 1.0, 'a': 1.0}, 'width': 80, 'height': 80, 'depth': 1,
'name': 'loc1_2'},
'robot': {'prefabimage': 'img-robot', 'showname': False, 'x': 100, 'y': 100,
'color': {'r': 0.9804, 'g': 0.6353, 'b': 0.7098, 'a': 1.0}, 'width': 40, 'height': 40, 'depth': 2,
'name': 'robot'}}
predicates_rules = {'at-robot':
{'rules': ['rule1', 'rule2', 'rule3'],
'rule1': {'left': {'robot': ['x']},'value': {'equal': {'?x': 'x'}}},
'rule1': {'left': {'robot': ['x']}, 'value': {'equal': {'?x': 'x'}}},
'rule2': {'left': {'robot': ['y']}, 'value': {'equal': {'?x': 'y'}}},
'rule3': {'left': {'?x': ['color']}, 'value': {'equal': {'r': 0.9804, 'g': 0.6353, 'b': 0.7098, 'a': 1.0}}},
'rule3': {'left': {'?x': ['color']},
'value': {'equal': {'r': 0.9804, 'g': 0.6353, 'b': 0.7098, 'a': 1.0}}},
'require': {'?x': ['x', 'y']},
'objects': ['?x'],
'custom_obj': ['robot']}}

# Check that the solver working with the expected predicate, objects dict and predicates rules
self.assertTrue(Solver.check_rule_complete(true_predicate, objects_dic, predicates_rules)
, msg="The input predicate list, objects dict and predicates rules didn't match the expected input params for the solver")
,
msg="The input predicate list, objects dict and predicates rules didn't match the expected input params for the solver")
self.assertFalse(Solver.check_rule_complete(false_predicate, objects_dic, predicates_rules)
, msg="The input params to the solver are fake data, but they match the expected input for the solver")
,
msg="The input params to the solver are fake data, but they match the expected input for the solver")

# test get obj name
property_dic = {'?x': ['property1', 'property2']}
Expand All @@ -325,7 +348,7 @@ def test_solver(self):

# Check that the generated object is the same as the expected output
self.assertTrue(expected_obj_name_prop == obj_name_prop
, msg="The generated object is different from the expected output")
, msg="The generated object is different from the expected output")


if __name__ == '__main__':
Expand Down

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