From 2262740d7d8766d5c1eca92acc912d4086c68325 Mon Sep 17 00:00:00 2001
From: Gustavo <g.rezendesilva@tudelft.nl>
Date: Mon, 2 Sep 2024 12:19:43 -0300
Subject: [PATCH] add test problem_expert.exist_precidate

---
 .../test/pddl/domain_simple_derived.pddl      | 91 +++++++++++++++++++
 .../test/unit/problem_expert_test.cpp         | 66 ++++++++++++++
 2 files changed, 157 insertions(+)
 create mode 100644 plansys2_problem_expert/test/pddl/domain_simple_derived.pddl

diff --git a/plansys2_problem_expert/test/pddl/domain_simple_derived.pddl b/plansys2_problem_expert/test/pddl/domain_simple_derived.pddl
new file mode 100644
index 00000000..6a2a9880
--- /dev/null
+++ b/plansys2_problem_expert/test/pddl/domain_simple_derived.pddl
@@ -0,0 +1,91 @@
+(define (domain simple)
+(:requirements :strips :typing :adl :fluents :durative-actions :derived-predicates)
+
+;; Types ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(:types
+person - object
+message - object
+robot - object
+room - object
+room_with_teleporter - room
+);; end Types ;;;;;;;;;;;;;;;;;;;;;;;;;
+
+;; Predicates ;;;;;;;;;;;;;;;;;;;;;;;;;
+(:predicates
+
+(robot_talk ?r - robot ?m - message ?p - person)
+(robot_near_person ?r - robot ?p - person)
+(robot_at ?r - robot ?ro - room)
+(person_at ?p - person ?ro - room)
+(is_teleporter_enabled ?r - room_with_teleporter)
+(is_teleporter_destination ?r - room)
+(inferred-robot_at ?r - robot ?ro - room)
+(inferred-person_at ?p - person ?ro - room)
+);; end Predicates ;;;;;;;;;;;;;;;;;;;;
+;; Functions ;;;;;;;;;;;;;;;;;;;;;;;;;
+(:functions
+    (room_distance ?r1 - room ?r2 - room)
+);; end Functions ;;;;;;;;;;;;;;;;;;;;
+
+;; Derived predicates ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(:derived (inferred-robot_at ?r - robot ?ro - room)
+  (and
+    (robot_at ?r ?ro)
+  )
+)
+(:derived (inferred-person_at ?p - person ?ro - room)
+  (and
+    (person_at ?p ?ro)
+  )
+)
+
+;; Actions ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
+(:durative-action move
+    :parameters (?r - robot ?r1 ?r2 - room)
+    :duration ( = ?duration (* (room_distance ?r1 ?r2) 0.5))
+    :condition (and
+        (at start(robot_at ?r ?r1)))
+    :effect (and
+        (at start(not(robot_at ?r ?r1)))
+        (at end(robot_at ?r ?r2))
+    )
+)
+
+(:action teleport
+    :parameters (?r - robot ?r1 - room_with_teleporter ?r2 - room)
+    :precondition (and
+            (robot_at ?r ?r1)
+            (is_teleporter_enabled ?r1)
+            (is_teleporter_destination ?r2)
+            )
+    :effect (and
+        (not(robot_at ?r ?r1))
+        (robot_at ?r ?r2)
+    )
+)
+
+(:durative-action talk
+    :parameters (?r - robot ?from ?p - person ?m - message)
+    :duration ( = ?duration 5)
+    :condition (and
+        (over all(robot_near_person ?r ?p))
+    )
+    :effect (and
+        (at end(robot_talk ?r ?m ?p))
+    )
+)
+
+(:durative-action approach
+    :parameters (?r - robot ?ro - room ?p - person)
+    :duration ( = ?duration 5)
+    :condition (and
+        (over all(robot_at ?r ?ro))
+        (over all(person_at ?p ?ro))
+        (at end(person_at ?p ?ro))
+    )
+    :effect (and
+        (at end(robot_near_person ?r ?p))
+    )
+)
+
+);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;
diff --git a/plansys2_problem_expert/test/unit/problem_expert_test.cpp b/plansys2_problem_expert/test/unit/problem_expert_test.cpp
index 906a8fe3..0ffeea32 100644
--- a/plansys2_problem_expert/test/unit/problem_expert_test.cpp
+++ b/plansys2_problem_expert/test/unit/problem_expert_test.cpp
@@ -747,6 +747,72 @@ TEST(problem_expert, is_goal_satisfied)
   ASSERT_TRUE(problem_expert.isGoalSatisfied(goal));
 }
 
+TEST(problem_expert, exist_predicate)
+{
+  std::string pkgpath = ament_index_cpp::get_package_share_directory("plansys2_problem_expert");
+  std::ifstream domain_ifs(pkgpath + "/pddl/domain_simple_derived.pddl");
+  std::string domain_str((
+      std::istreambuf_iterator<char>(domain_ifs)),
+    std::istreambuf_iterator<char>());
+
+  auto domain_expert = std::make_shared<plansys2::DomainExpert>(domain_str);
+  plansys2::ProblemExpert problem_expert(domain_expert);
+
+  std::ifstream problem_ifs(pkgpath + "/pddl/problem_simple_1.pddl");
+  std::string problem_str((
+      std::istreambuf_iterator<char>(problem_ifs)),
+    std::istreambuf_iterator<char>());
+  ASSERT_TRUE(problem_expert.addProblem(problem_str));
+
+  ASSERT_TRUE(
+    problem_expert.existPredicate(
+      parser::pddl::fromStringPredicate(
+        "(robot_at leia kitchen)")));
+  ASSERT_TRUE(
+    problem_expert.existPredicate(
+      parser::pddl::fromStringPredicate(
+        "(inferred-robot_at leia kitchen)")));
+  ASSERT_TRUE(
+    problem_expert.existPredicate(
+      parser::pddl::fromStringPredicate(
+        "(person_at jack bedroom)")));
+  ASSERT_TRUE(
+    problem_expert.existPredicate(
+      parser::pddl::fromStringPredicate(
+        "(inferred-person_at jack bedroom)")));
+  ASSERT_FALSE(
+    problem_expert.existPredicate(
+      parser::pddl::fromStringPredicate(
+        "(inferred-person_at jack kitchen)")));
+  ASSERT_FALSE(
+    problem_expert.existPredicate(
+      parser::pddl::fromStringPredicate(
+        "(inferred-robot_at leia bedroom)")));
+
+  problem_expert.removePredicate(
+    parser::pddl::fromStringPredicate("(robot_at leia kitchen)"));
+  problem_expert.removePredicate(
+    parser::pddl::fromStringPredicate("(person_at jack bedroom)"));
+
+  ASSERT_FALSE(
+    problem_expert.existPredicate(
+      parser::pddl::fromStringPredicate(
+        "(inferred-person_at jack bedroom)")));
+  ASSERT_FALSE(
+    problem_expert.existPredicate(
+      parser::pddl::fromStringPredicate(
+        "(inferred-robot_at leia kitchen)")));
+  ASSERT_FALSE(
+    problem_expert.existPredicate(
+      parser::pddl::fromStringPredicate(
+        "(person_at jack bedroom)")));
+  ASSERT_FALSE(
+    problem_expert.existPredicate(
+      parser::pddl::fromStringPredicate(
+        "(robot_at leia kitchen)")));
+
+}
+
 int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);