From 73af235d8bf6a026ac813fcd5dcead86cff87ca5 Mon Sep 17 00:00:00 2001 From: Zach Knox Date: Thu, 31 Oct 2019 10:34:02 -0400 Subject: [PATCH 01/10] issue-210 replanning updates for actionTree --- lib/planner/reduce-to-minimum-set-of-plans.js | 48 +++----- .../search-algorithms/offline-replanning.js | 114 +++++++++++++++--- lib/planner/write-plans-to-disk.js | 7 +- 3 files changed, 120 insertions(+), 49 deletions(-) diff --git a/lib/planner/reduce-to-minimum-set-of-plans.js b/lib/planner/reduce-to-minimum-set-of-plans.js index 2a3cbc6c..b84ca093 100644 --- a/lib/planner/reduce-to-minimum-set-of-plans.js +++ b/lib/planner/reduce-to-minimum-set-of-plans.js @@ -1,44 +1,26 @@ 'use strict'; -const setOperations = require('../util/set-operations.js'); +const crypto = require('crypto'); +// const setOperations = require('../util/set-operations.js'); module.exports = function reduceToMinimumSetOfPlans(plans, algorithm, callback) { let finalPlans = []; + let hashes = new Set(); - plans.forEach(function(plan, index) { - let planPath; - switch (algorithm) { - case 'actionTree': - planPath = new Set(plan); - break; - default: - planPath = new Set(plan.path); - } - let hasSuperset = false; + if (algorithm.toLowerCase() === 'actiontree') { + plans.forEach(function(plan, index) { + const hash = crypto.createHash('sha256'); + let planString = JSON.stringify(plan); + const planHashDigest = hash.update(planString).digest('base64'); - let plansWithCurrentPlanRemoved = plans.filter(function(plan, filterIndex) { - return index !== filterIndex; - }); + let hasExistingPlan = hashes.has(planHashDigest); - for (let myPlan of plansWithCurrentPlanRemoved) { - let myPlanPath; - switch (algorithm) { - case 'actionTree': - myPlanPath = new Set(myPlan); - break; - default: - myPlanPath = new Set(myPlan.path); - } - if (setOperations.isSuperset(myPlanPath, planPath)) { - hasSuperset = true; - break; + if (!hasExistingPlan) { + hashes.add(planHashDigest); + finalPlans.push(plan); } - } - - if (!hasSuperset) { - finalPlans.push(plan); - } - }); + }); - callback(null, finalPlans); + callback(null, finalPlans); + }; }; diff --git a/lib/planner/search-algorithms/offline-replanning.js b/lib/planner/search-algorithms/offline-replanning.js index e9188634..feffc21e 100644 --- a/lib/planner/search-algorithms/offline-replanning.js +++ b/lib/planner/search-algorithms/offline-replanning.js @@ -1,5 +1,6 @@ 'use strict'; +const crypto = require('crypto'); const Emitter = require('../../util/emitter.js'); const setOperations = require('../../util/set-operations.js'); const _ = require('lodash'); @@ -9,12 +10,15 @@ const configHandler = require('../../util/config/config-handler.js'); let offlineReplanning; module.exports = offlineReplanning = { _plans: [], + _planHashes: new Map(), _satisfiedActions: new Set(), _actionOccurrences: null, _savedPlans: null, _existingPlans: null, _discoveredActions: null, + _actionsNotInAnyPlan: new Set(), _algorithm: null, + _randomSeed: 25, * replan(existingPlans, discoveredActions, algorithm, options) { let next = yield; @@ -22,6 +26,10 @@ module.exports = offlineReplanning = { console.log('\nBeginning offline replanning\n'); }; + if (configHandler.get('replanningSeed')) { + _randomSeed = configHandler.get('replanningSeed'); + } + offlineReplanning._algorithm = algorithm; offlineReplanning._existingPlans = existingPlans; offlineReplanning._discoveredActions = discoveredActions; @@ -38,6 +46,7 @@ module.exports = offlineReplanning = { offlineReplanning._savedPlans = []; let startNodes = yield offlineReplanning.emitAsync('startNodes.get', next); let plan = startNodes[0]; + let newlySatisfiedActions = new Set(); while ( plan.path.length < options.testLength && offlineReplanning._satisfiedActions.size < offlineReplanning._actionOccurrences.size @@ -55,15 +64,56 @@ module.exports = offlineReplanning = { if (backtrackPlan !== null) { plan = backtrackPlan; } else if (!offlineReplanning._satisfiedActions.has(action)) { + newlySatisfiedActions.add(action); offlineReplanning._satisfiedActions.add(action); yield offlineReplanning.emitAsync('offlineReplanning.updateExistingPlansAndActionOccurrences', next); + } else { + let duplicate = offlineReplanning._comparePlan(plan); + while (duplicate !== undefined || offlineReplanning._isDuplicate(plan)) { + // console.log('duplicate of ' + duplicate); + // Backtrack + let {backtrackPlan, newSavedPlans, removed} = + yield offlineReplanning.emitAsync('offlineReplanning.backtrack', + offlineReplanning._savedPlans.length - 2, // last good plan + next); + if (backtrackPlan !== null) { + offlineReplanning._savedPlans = newSavedPlans; + if (configHandler.get('debug')) { + console.log(`Backtracked to: ${backtrackPlan.lastAction}`); + } + plan = backtrackPlan; + + for (let removedAction of removed) { + if (newlySatisfiedActions.has(removedAction)) { + newlySatisfiedActions.delete(removedAction); + offlineReplanning._satisfiedActions.delete(removedAction); + } + } + } else { + throw new SimulatoError.PLANNER.FAILED_TO_BACKTRACK( + 'Unable to backtrack. No suitable backtrack point found' + ); + } + duplicate = offlineReplanning._comparePlan(backtrackPlan); + } } if (backtrackPlan === null && configHandler.get('debug')) { console.log(`Added the following action to the plan: ${action}`); } } - offlineReplanning._savePlan(plan); + + if (plan.path.length === 0) { + break; + } else if (newlySatisfiedActions.size === 0) { + console.log('retrying'); + newlySatisfiedActions.forEach((action) => { + offlineReplanning._satisfiedActions.delete(action); + }); + } else { + console.log('Newly Satisfied: ' + newlySatisfiedActions.size); + offlineReplanning._savePlan(plan); + } } if (offlineReplanning._algorithm.toLowerCase() === 'actiontree') { @@ -139,6 +189,9 @@ module.exports = offlineReplanning = { ); } offlineReplanning._plans.push(plan); + const hash = crypto.createHash('sha256'); + offlineReplanning._planHashes.set(hash.update( + JSON.stringify(plan.path)).digest('base64'), offlineReplanning._plans.length - 1); if (configHandler.get('debug')) { console.log( `Actions covered: ${offlineReplanning._satisfiedActions.size} / ` + @@ -162,7 +215,12 @@ module.exports = offlineReplanning = { if (plan.path.length > 0) { return null; } else { - throw new SimulatoError.PLANNER.NO_STARTING_ACTIONS('No possible actions in starting state'); + // This will trigger if there are actions not covered, which, while a real problem + // shouldn't stop plans from being created. The command line output will still catch + // these issues and show the actions not covered. + console.log(new SimulatoError.PLANNER.NO_STARTING_ACTIONS('No possible actions in starting state')); + + return null; } } return action; @@ -173,7 +231,12 @@ module.exports = offlineReplanning = { let superset; if (offlineReplanning._algorithm.toLowerCase() === 'actiontree') { // actionTree plans _are_ the path - superset = setOperations.isSuperset(offlineReplanning._satisfiedActions, new Set(plan)); + let fixedPlan = plan.map((action) => { + return action.name; + }); + let planset = new Set(fixedPlan); + planset.delete(fixedPlan[0]); + superset = setOperations.isSuperset(offlineReplanning._satisfiedActions, planset); } else { // forwardStateSpaceSearchHeuristic // forwardStateSpaceSearchHeuristic plans contain an object with the plan path superset = setOperations.isSuperset(offlineReplanning._satisfiedActions, new Set(plan.path)); @@ -188,7 +251,7 @@ module.exports = offlineReplanning = { }, _isDuplicate(plan) { for (let aPlan of offlineReplanning._plans) { - if (setOperations.isEqual(aPlan.path, new Set(plan.path))) { + if (setOperations.isEqual(new Set(aPlan.path), new Set(plan.path))) { return true; } } @@ -198,20 +261,26 @@ module.exports = offlineReplanning = { let nonZeroActionCountActions = offlineReplanning._filterZeroActionCountActions(plan.actions); let unsatisfiedActions = setOperations.difference(nonZeroActionCountActions, offlineReplanning._satisfiedActions); + if (nonZeroActionCountActions.size === 0 && plan.path.length === 0) { + for (let action of offlineReplanning._actionOccurrences) { + if (!offlineReplanning._satisfiedActions.has(action[0])) { + console.log(action); + } + } + } let actionWithSameComponent = offlineReplanning._getActionWithSameComponent(plan, unsatisfiedActions); if (actionWithSameComponent) { return actionWithSameComponent; } else if (unsatisfiedActions.size > 0) { - return [...unsatisfiedActions][0]; + const actionIndex = Math.floor(offlineReplanning._random(0, unsatisfiedActions.size - 1)); + return [...unsatisfiedActions][actionIndex]; } let unusedActions = setOperations.difference(nonZeroActionCountActions, new Set(plan.path)); - let mostOccurringUnusedAction = offlineReplanning._getMostOccurringAction(unusedActions); - if (mostOccurringUnusedAction) { - return mostOccurringUnusedAction; - } else if (unusedActions.size > 0) { - return [...unusedActions][0]; + if (unusedActions.size > 0) { + const actionIndex = Math.floor(offlineReplanning._random(0, unusedActions.size - 1)); + return [...unusedActions][actionIndex]; } let leastOccurringActionInPath = offlineReplanning._getLeastOccurringActionInPath(plan, nonZeroActionCountActions); @@ -307,18 +376,20 @@ module.exports = offlineReplanning = { let next = yield; let backtrackPlan = null; let newSavedPlans = null; - + let removed = []; while (index >= 0) { - backtrackPlan = yield offlineReplanning.emitAsync('searchNode.clone', offlineReplanning._savedPlans[index], next); + backtrackPlan = yield offlineReplanning.emitAsync('searchNode.clone', + offlineReplanning._savedPlans[index], next); // TODO: Potentially no need to clone—future improvement? let actions = new Set(backtrackPlan.actions); - actions.delete(offlineReplanning._savedPlans[index + 1].lastAction); + removed.push(offlineReplanning._savedPlans[index + 1].lastAction); + actions.delete(removed[removed.length - 1]); if (actions.size > 0) { newSavedPlans = offlineReplanning._savedPlans.slice(0, index + 1); backtrackPlan.actions = actions; offlineReplanning._savedPlans[index].actions = actions; - return callback(null, {backtrackPlan, newSavedPlans}); + return callback(null, {backtrackPlan, newSavedPlans, removed}); } index--; @@ -326,6 +397,21 @@ module.exports = offlineReplanning = { return callback(null, {backtrackPlan: null, newSavedPlans: null}); }, + _comparePlan(plan) { + const hash = crypto.createHash('sha256'); + let planString = JSON.stringify(plan.path); + const planHashDigest = hash.update(planString).digest('base64'); + + return offlineReplanning._planHashes.get(planHashDigest); + }, + _random(min, max) { + max = max ? max : 1; + min = min ? min : 0; + offlineReplanning._randomSeed = (offlineReplanning._randomSeed * 9301 + 49297) % 233280; + const rand = offlineReplanning._randomSeed / 233280; + + return min + rand * (max - min); + }, }; Emitter.mixIn(offlineReplanning, plannerEventDispatch); diff --git a/lib/planner/write-plans-to-disk.js b/lib/planner/write-plans-to-disk.js index e8a45582..df656478 100644 --- a/lib/planner/write-plans-to-disk.js +++ b/lib/planner/write-plans-to-disk.js @@ -7,11 +7,14 @@ const crypto = require('crypto'); module.exports = function writePlansToDisk(plans) { const outputPath = configHandler.get('outputPath'); + let index = 0; for (let plan of plans) { const sha256 = (x) => crypto.createHash('sha256').update(x, 'utf8').digest('hex'); - let testName = `simulato`+`--${sha256(JSON.stringify(plan))}.json`; + let planString = JSON.stringify(Array.from(plan)); + let testName = `simulato`+`--${index}--${sha256(planString)}.json`; let filePath = path.resolve(outputPath, testName); - fs.writeFileSync(filePath, JSON.stringify(plan)); + fs.writeFileSync(filePath, planString); + index += 1; } console.log(`Generated and wrote ${plans.length} test(s) to disk`); }; From 6f92cba75349959ae02a7060daa01ddb01813594 Mon Sep 17 00:00:00 2001 From: Zach Knox Date: Mon, 4 Nov 2019 14:17:08 -0500 Subject: [PATCH 02/10] issue-210 working on unit tests --- lib/planner/reduce-to-minimum-set-of-plans.js | 2 + .../search-algorithms/offline-replanning.js | 13 +- lib/util/expected-state.js | 7 + .../reduce-to-minimum-set-of-plans-tests.js | 232 ++++++++++-------- .../offline-replanning-tests.js | 225 ++++++++--------- .../lib/planner/write-plan-to-disk-tests.js | 10 +- 6 files changed, 260 insertions(+), 229 deletions(-) diff --git a/lib/planner/reduce-to-minimum-set-of-plans.js b/lib/planner/reduce-to-minimum-set-of-plans.js index b84ca093..de55d52e 100644 --- a/lib/planner/reduce-to-minimum-set-of-plans.js +++ b/lib/planner/reduce-to-minimum-set-of-plans.js @@ -22,5 +22,7 @@ module.exports = function reduceToMinimumSetOfPlans(plans, algorithm, callback) }); callback(null, finalPlans); + } else { + callback(null, plans); }; }; diff --git a/lib/planner/search-algorithms/offline-replanning.js b/lib/planner/search-algorithms/offline-replanning.js index feffc21e..ed8748f4 100644 --- a/lib/planner/search-algorithms/offline-replanning.js +++ b/lib/planner/search-algorithms/offline-replanning.js @@ -27,7 +27,7 @@ module.exports = offlineReplanning = { }; if (configHandler.get('replanningSeed')) { - _randomSeed = configHandler.get('replanningSeed'); + offlineReplanning._randomSeed = configHandler.get('replanningSeed'); } offlineReplanning._algorithm = algorithm; @@ -106,12 +106,16 @@ module.exports = offlineReplanning = { if (plan.path.length === 0) { break; } else if (newlySatisfiedActions.size === 0) { - console.log('retrying'); + if (configHandler.get('debug')) { + console.log('retrying'); + } newlySatisfiedActions.forEach((action) => { offlineReplanning._satisfiedActions.delete(action); }); } else { - console.log('Newly Satisfied: ' + newlySatisfiedActions.size); + if (configHandler.get('debug')) { + console.log('Newly Satisfied: ' + newlySatisfiedActions.size); + } offlineReplanning._savePlan(plan); } } @@ -218,7 +222,8 @@ module.exports = offlineReplanning = { // This will trigger if there are actions not covered, which, while a real problem // shouldn't stop plans from being created. The command line output will still catch // these issues and show the actions not covered. - console.log(new SimulatoError.PLANNER.NO_STARTING_ACTIONS('No possible actions in starting state')); + const err = new SimulatoError.PLANNER.NO_STARTING_ACTIONS('No possible actions in starting state'); + console.log(err); return null; } diff --git a/lib/util/expected-state.js b/lib/util/expected-state.js index 31a46d96..06009970 100644 --- a/lib/util/expected-state.js +++ b/lib/util/expected-state.js @@ -174,6 +174,13 @@ module.exports = ExpectedState = { ); } + // TODO + // if (dependencies) { + // for (let dependency of dependencies) { + // let stateValue = _.get(this._state, dependency); + // } + // } + this._components.set(component.name, component); if (process.env.PLANNING_MODE) { this._newComponents.push(component.name); diff --git a/test/unit/lib/planner/reduce-to-minimum-set-of-plans-tests.js b/test/unit/lib/planner/reduce-to-minimum-set-of-plans-tests.js index 8ff1cda8..e9c661fa 100644 --- a/test/unit/lib/planner/reduce-to-minimum-set-of-plans-tests.js +++ b/test/unit/lib/planner/reduce-to-minimum-set-of-plans-tests.js @@ -9,6 +9,9 @@ describe('lib/planner/reduce-to-minimum-set-of-plans.js', function() { let callback; let reduceToMinimumSetOfPlans; let algorithm; + let crypto; + let hash; + let digest; beforeEach(function() { mockery.enable({useCleanCache: true}); @@ -20,7 +23,18 @@ describe('lib/planner/reduce-to-minimum-set-of-plans.js', function() { callback = sinon.stub(); algorithm = 'default'; + digest = sinon.stub(); + hash = { + update: sinon.stub().returns({ + digest, + }), + }; + crypto = { + createHash: sinon.stub().returns(hash), + }; + mockery.registerMock('../util/set-operations.js', setOperations); + mockery.registerMock('crypto', crypto); reduceToMinimumSetOfPlans = require('../../../../lib/planner/reduce-to-minimum-set-of-plans.js'); }); @@ -31,118 +45,134 @@ describe('lib/planner/reduce-to-minimum-set-of-plans.js', function() { mockery.disable(); }); - it('should call setOperations.isSuperset 0 times if there is one plan', function() { - let plans = [ - { - path: new Set('action1', 'action2'), - }, - ]; + describe('when the algorithm is actionTree', function() { + describe('for each plan from the passed in plans', function() { + it('should create a hash for each plan', function() { + let plans = [ + { + path: new Set(['action1', 'action2']), + }, + ]; + algorithm = 'actionTree'; - reduceToMinimumSetOfPlans(plans, algorithm, callback); + reduceToMinimumSetOfPlans(plans, algorithm, callback); - expect(setOperations.isSuperset.callCount).to.equal(0); - }); + expect(crypto.createHash.args).to.eql([ + ['sha256'], + ]); + }); - it('should call setOperations.isSuperset 6 times if there are three plans', function() { - let plans = [ - { - path: new Set(['action1', 'action2']), - }, - { - path: new Set(['action1', 'action3']), - }, - { - path: new Set(['action1', 'action4']), - }, - ]; - - reduceToMinimumSetOfPlans(plans, algorithm, callback); - - expect(setOperations.isSuperset.callCount).to.equal(6); - }); + it('should update the hash with the plan string', function() { + let plans = [ + { + path: new Set(['action1', 'action2']), + }, + ]; + algorithm = 'actionTree'; - it('should call the passed in callback once with null and the finalPlans', function() { - let plans = [ - { - path: new Set(['action1', 'action2']), - }, - ]; + reduceToMinimumSetOfPlans(plans, algorithm, callback); - reduceToMinimumSetOfPlans(plans, algorithm, callback); + expect(hash.update.args).to.eql([ + [JSON.stringify({ + path: new Set(['action1', 'action2']), + })], + ]); + }); - expect(callback.args).to.deep.equal([ - [ - null, - [ + it('should create a base64 digest of the hash', function() { + let plans = [ { path: new Set(['action1', 'action2']), }, - ], - ], - ]); - }); - - describe('for each plan in the passed in plans', function() { - it('should call setOperations.isSuperset with the two plan paths', function() { - let plans = [ - { - path: new Set(['action1', 'action2']), - }, - { - path: new Set(['action1', 'action2', 'action3']), - }, - ]; - setOperations.isSuperset.onCall(0).returns(true); - - reduceToMinimumSetOfPlans(plans, algorithm, callback); - - expect(setOperations.isSuperset.args[0]).to.deep.equal([ - new Set(['action1', 'action2', 'action3']), - new Set(['action1', 'action2']), - ]); + ]; + algorithm = 'actionTree'; + + reduceToMinimumSetOfPlans(plans, algorithm, callback); + + expect(digest.args).to.eql([ + ['base64'], + ]); + }); + + describe('when there is not an existing plan', function() { + it('should add the plan to the array of final plans', function() { + let plans = [ + { + path: new Set(['action1', 'action2']), + }, + { + path: new Set(['action2', 'action3']), + }, + ]; + algorithm = 'actionTree'; + + reduceToMinimumSetOfPlans(plans, algorithm, callback); + + expect(callback.args).to.eql([ + [ + null, + { + path: new Set(['action1', 'action2']), + }, + { + path: new Set(['action2', 'action3']), + }, + ], + ]); + }); + }); + + describe('when there is an existing plan', function() { + it('should not add the plan to the array of final plans', function() { + let plans = [ + { + path: new Set(['action1', 'action2']), + }, + { + path: new Set(['action1', 'action2']), + }, + ]; + algorithm = 'actionTree'; + + reduceToMinimumSetOfPlans(plans, algorithm, callback); + + expect(callback.args).to.eql([ + [ + null, + { + path: new Set(['action1', 'action2']), + }, + ], + ]); + }); + }); }); - it('should remove the plan from the list of the plans if setOperation.isSuperset returns true', function() { - let plans = [ - { - path: new Set(['action1', 'action2']), - }, - { - path: new Set(['action1', 'action2', 'action3']), - }, - ]; - setOperations.isSuperset.onCall(0).returns(true); - - reduceToMinimumSetOfPlans(plans, algorithm, callback); - - expect(callback.args[0][1]).to.deep.equal([ - { - path: new Set(['action1', 'action2', 'action3']), - }, - ]); - }); - - it('should not remove the plan from the list of the plans if setOperation.isSuperset returns false', function() { - let plans = [ - { - path: new Set(['action1', 'action2']), - }, - { - path: new Set(['action1', 'action2', 'action3']), - }, - ]; - setOperations.isSuperset.returns(false); - - reduceToMinimumSetOfPlans(plans, algorithm, callback); - - expect(callback.args[0][1]).to.deep.equal([ - { - path: new Set(['action1', 'action2']), - }, - { - path: new Set(['action1', 'action2', 'action3']), - }, - ]); + describe('when the algorithm is not actionTree', function() { + it('should call the callback with the passed in plans', function() { + let plans = [ + { + path: new Set(['action1', 'action2']), + }, + { + path: new Set(['action1', 'action2']), + }, + ]; + + reduceToMinimumSetOfPlans(plans, 'not-action-reee', callback); + + expect(callback.args).to.eql([ + [ + null, + { + path: new Set(['action1', 'action2']), + }, + { + path: new Set(['action1', 'action2']), + }, + ], + ]); + }); }); }); }); diff --git a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js index ad4bdde7..68efb44b 100644 --- a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js +++ b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js @@ -29,6 +29,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); }); @@ -103,6 +104,8 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { let plannerEventDispatch; let configHandler; let next; + let setOperations; + let crypto; let offlineReplanning; beforeEach(function() { @@ -126,11 +129,21 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { sinon.spy(console, 'log'); next = sinon.stub(); + crypto = { + createHash: sinon.stub(), + }; + + setOperations = { + isEqual: sinon.stub(), + isSuperset: sinon.stub(), + }; + mockery.registerMock('../../util/emitter.js', Emitter); - mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', crypto); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', configHandler); + mockery.registerMock('../../util/set-operations.js', setOperations); offlineReplanning = require( '../../../../../lib/planner/search-algorithms/offline-replanning.js' @@ -138,6 +151,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { offlineReplanning._getAction = sinon.stub(); offlineReplanning._savePlan = sinon.stub(); + offlineReplanning._comparePlan = sinon.stub(); }); afterEach(function() { @@ -147,16 +161,25 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.disable(); }); - it('should call configHandler.get once with the string "debug"', function() { + it('should call configHandler.get with the string "debug"', function() { let generator = offlineReplanning.replan(); generator.next(); generator.next(next); - expect(configHandler.get.args).to.deep.equal([ - [ - 'debug', - ], + expect(configHandler.get.args[0]).to.deep.equal([ + 'debug', + ]); + }); + + it('should call configHandler.get with the string "replanningSeed"', function() { + let generator = offlineReplanning.replan(); + + generator.next(); + generator.next(next); + + expect(configHandler.get.args[1]).to.deep.equal([ + 'replanningSeed', ]); }); @@ -619,6 +642,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', configHandler); @@ -916,6 +940,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -1030,6 +1055,9 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { let plannerEventDispatch; let configHandler; let offlineReplanning; + let crypto; + let hash; + let update; beforeEach(function() { mockery.enable({useCleanCache: true}); @@ -1056,16 +1084,26 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { }; sinon.spy(console, 'log'); + update = { + digest: sinon.stub(), + }; + hash = { + update: sinon.stub().returns(update), + }; + crypto = { + createHash: sinon.stub().returns(hash), + }; + mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', configHandler); + mockery.registerMock('crypto', crypto); offlineReplanning = require( '../../../../../lib/planner/search-algorithms/offline-replanning.js' ); - offlineReplanning._isDuplicate = sinon.stub(); }); @@ -1111,6 +1149,30 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { }); describe('if duplicate is falsy', function() { + it('should call createHash with "sha256"', function() { + offlineReplanning._savePlan({path: 'myPath'}); + + expect(crypto.createHash.args).to.eql([ + ['sha256'], + ]); + }); + + it('should update the hash with the plan path', function() { + offlineReplanning._savePlan({path: 'myPath'}); + + expect(hash.update.args).to.eql([ + ['\"myPath\"'], + ]); + }); + + it('should create a base64 digest of the hash', function() { + offlineReplanning._savePlan({path: 'myPath'}); + + expect(update.digest.args).to.eql([ + ['base64'], + ]); + }); + it('should add push the passed in plan on to offlinePlanning._plans', function() { offlineReplanning._savePlan('myPlan'); @@ -1187,6 +1249,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -1316,28 +1379,14 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { }); describe('if plan.path.length is not greater than 0', function() { - it('should throw an error', function() { - offlineReplanning._chooseAction.returns(null); - let plan = { - actions: new Set(['ACTION_THREE']), - lastAction: '', - path: [], - }; - - expect(offlineReplanning._getAction.bind(null, plan)).to.throw(); - }); - it('should call SimulatoError.PLANNER.NO_STARTING_ACTIONS once with an error message', function() { - offlineReplanning._chooseAction.returns(null); let plan = { actions: new Set(['ACTION_THREE']), lastAction: '', path: [], }; - - try { - offlineReplanning._getAction(plan); - } catch (error) { } + offlineReplanning._chooseAction.returns(null); + offlineReplanning._getAction(plan); expect(SimulatoError.PLANNER.NO_STARTING_ACTIONS.args).to.deep.equal([ [ @@ -1346,6 +1395,19 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { ]); }); }); + + it('should return null', function() { + offlineReplanning._chooseAction.returns(null); + let plan = { + actions: new Set(['ACTION_THREE']), + lastAction: '', + path: [], + }; + + let result = offlineReplanning._getAction(plan); + + expect(result).to.equal(null); + }); }); describe('if the action returned from offlineReplanning._choose is not null', function() { @@ -1393,6 +1455,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', setOperations); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -1526,6 +1589,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', setOperations); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -1543,14 +1607,14 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { describe('for each plan in offlineReplanning._plans', function() { it('should call setOperations.isEqual once with aPlan.paht and the passed in plan.path as a set', function() { offlineReplanning._plans = [{path: ['ACTION_ONE']}]; - let plan = {path: ['ACTION_ONE']}; + let plan = {path: ['ACTION_TWO']}; offlineReplanning._isDuplicate(plan); expect(setOperations.isEqual.args).to.deep.equal([ [ - ['ACTION_ONE'], new Set(['ACTION_ONE']), + new Set(['ACTION_TWO']), ], ]); }); @@ -1641,6 +1705,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', setOperations); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -1664,6 +1729,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { let plan = { actions: ['ACTION_ONE'], }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); setOperations.difference.returns(new Set()); offlineReplanning._chooseAction(plan); @@ -1699,6 +1765,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { let plan = { actions: ['ACTION_THREE'], }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); setOperations.difference.returns(new Set(['ACTION_FOUR'])); offlineReplanning._chooseAction(plan); @@ -1718,6 +1785,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { let plan = { actions: ['ACTION_ONE'], }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); setOperations.difference.returns(new Set()); offlineReplanning._getActionWithSameComponent.returns('ACTION_WITH_SAME_COMPONENT'); @@ -1729,6 +1797,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { let plan = { actions: ['ACTION_ONE'], }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); setOperations.difference.returns(new Set()); offlineReplanning._getActionWithSameComponent.returns('ACTION_WITH_SAME_COMPONENT'); @@ -1743,6 +1812,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { let plan = { actions: ['ACTION_ONE'], }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); setOperations.difference.returns(new Set(['ACTION_TWO', 'ACTION_THREE'])); let result = offlineReplanning._chooseAction(plan); @@ -1773,105 +1843,13 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { let plan = { actions: ['ACTION_ONE'], }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); setOperations.difference.returns(new Set()); offlineReplanning._chooseAction(plan); expect(setOperations.difference.callCount).to.equal(2); }); - - it('should call offlineReplanning._getMostOccurringAction once with unusedActions as a parameter', function() { - let plan = { - actions: ['ACTION_ONE'], - }; - setOperations.difference.onCall(0).returns(new Set()); - setOperations.difference.onCall(1).returns(new Set(['UNUSED_ACTION'])); - - offlineReplanning._chooseAction(plan); - - expect(offlineReplanning._getMostOccurringAction.args).to.deep.equal([ - [ - new Set(['UNUSED_ACTION']), - ], - ]); - }); - - describe('if mostOccurringUnusedAction is truthy', function() { - it('should return mostOccurringUnusedAction', function() { - let plan = { - actions: ['ACTION_ONE'], - }; - setOperations.difference.returns(new Set()); - offlineReplanning._getMostOccurringAction.returns('MOST_OCCURRING_UNUSED_ACTION'); - - let result = offlineReplanning._chooseAction(plan); - - expect(result).to.equal('MOST_OCCURRING_UNUSED_ACTION'); - }); - }); - - describe('if mostOccurringUnusedAction is falsy and unusedActions.size is greater than 0', function() { - it('should return the first item in unusedActions set', function() { - let plan = { - actions: ['ACTION_ONE'], - }; - setOperations.difference.onCall(0).returns(new Set()); - setOperations.difference.onCall(1).returns(new Set(['UNUSED_ACTION', 'UNUSED_ACTION_TWO'])); - - let result = offlineReplanning._chooseAction(plan); - - expect(result).to.equal('UNUSED_ACTION'); - }); - }); - - describe('if mostOccurringUnusedAction is falsy and unusedActions.size is not greater than 0', function() { - it('should call offlineReplanning._getLeastOccurringActionInPath once with the passed in plan ' + - 'and nonZeroActionCountActions', function() { - let plan = { - actions: ['ACTION_ONE'], - }; - offlineReplanning._filterZeroActionCountActions.returns(new Set(['NON_ZERO_ACTION_COUNT_ACTION'])); - setOperations.difference.returns(new Set()); - - offlineReplanning._chooseAction(plan); - - expect(offlineReplanning._getLeastOccurringActionInPath.args).to.deep.equal([ - [ - { - actions: ['ACTION_ONE'], - }, - new Set(['NON_ZERO_ACTION_COUNT_ACTION']), - ], - ]); - }); - - describe('if leastOccurringActionInPath is truthy', function() { - it('should return leastOccurringActionInPath', function() { - offlineReplanning._getLeastOccurringActionInPath.returns('LEAST_OCCURRING_ACTION'); - let plan = { - actions: ['ACTION_ONE'], - }; - setOperations.difference.returns(new Set()); - - let result = offlineReplanning._chooseAction(plan); - - expect(result).to.equal('LEAST_OCCURRING_ACTION'); - }); - }); - - describe('if leastOccurringActionInPath is falsy', function() { - it('should return null', function() { - let plan = { - actions: ['ACTION_ONE'], - }; - setOperations.difference.returns(new Set()); - - let result = offlineReplanning._chooseAction(plan); - - expect(result).to.equal(null); - }); - }); - }); }); }); @@ -1899,6 +1877,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -2074,6 +2053,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -2152,6 +2132,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -2248,6 +2229,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -2349,6 +2331,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', lodash); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -2523,6 +2506,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.registerMock('../../util/emitter.js', Emitter); mockery.registerMock('../../util/set-operations.js', {}); mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', plannerEventDispatch); mockery.registerMock('../../util/config/config-handler.js', {}); @@ -2537,7 +2521,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { mockery.disable(); }); - describe('while index is greater than 0 and backtrackPlanFound is falsy', function() { + describe('while index is greater than 0', function() { it('should call offlineReplanning.emitAsync with the event "searchNode.clone", the saved plan at the ' + 'current index and next', function() { offlineReplanning._savedPlans = ['planZero', 'planOne']; @@ -2612,6 +2596,9 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { newSavedPlans: [{}, { actions: new Set(['MY_ACTION_2']), }], + removed: [ + 'MY_ACTION', + ] }, ], ]); diff --git a/test/unit/lib/planner/write-plan-to-disk-tests.js b/test/unit/lib/planner/write-plan-to-disk-tests.js index 2ad903a5..f7b633c5 100644 --- a/test/unit/lib/planner/write-plan-to-disk-tests.js +++ b/test/unit/lib/planner/write-plan-to-disk-tests.js @@ -70,7 +70,7 @@ describe('lib/planner/write-plans-to-disk.js', function() { writePlansToDisk(plans); expect(path.resolve.args).to.deep.equal([ - [`outputPath/`, 'simulato--hashedPlan.json'], + [`outputPath/`, 'simulato--0--hashedPlan.json'], ]); }); @@ -79,15 +79,15 @@ describe('lib/planner/write-plans-to-disk.js', function() { path.resolve.onCall(0).returns('path1'); path.resolve.onCall(1).returns('path2'); let plans = [ - {foo: 'bar'}, - {bar: 'foo'}, + [{foo: 'bar'}], + [{bar: 'foo'}], ]; writePlansToDisk(plans); expect(fs.writeFileSync.args).to.deep.equal([ - ['path1', '{\"foo\":\"bar\"}'], - ['path2', '{\"bar\":\"foo\"}'], + ['path1', '[{\"foo\":\"bar\"}]'], + ['path2', '[{\"bar\":\"foo\"}]'], ]); }); }); From 610e4231fa75d834b1c2a4b2400563bc784eae5c Mon Sep 17 00:00:00 2001 From: Zach Knox Date: Mon, 4 Nov 2019 15:43:42 -0500 Subject: [PATCH 03/10] issue-210 continuing on unit tests --- .../search-algorithms/offline-replanning.js | 4 +- .../reduce-to-minimum-set-of-plans-tests.js | 38 +++++++++++-------- .../offline-replanning-tests.js | 4 +- 3 files changed, 28 insertions(+), 18 deletions(-) diff --git a/lib/planner/search-algorithms/offline-replanning.js b/lib/planner/search-algorithms/offline-replanning.js index ed8748f4..158933fe 100644 --- a/lib/planner/search-algorithms/offline-replanning.js +++ b/lib/planner/search-algorithms/offline-replanning.js @@ -47,10 +47,12 @@ module.exports = offlineReplanning = { let startNodes = yield offlineReplanning.emitAsync('startNodes.get', next); let plan = startNodes[0]; let newlySatisfiedActions = new Set(); + let looped = false; while ( plan.path.length < options.testLength && offlineReplanning._satisfiedActions.size < offlineReplanning._actionOccurrences.size ) { + looped = true; let action = offlineReplanning._getAction(plan); if (action === null) { break; @@ -105,7 +107,7 @@ module.exports = offlineReplanning = { if (plan.path.length === 0) { break; - } else if (newlySatisfiedActions.size === 0) { + } else if (looped && newlySatisfiedActions.size === 0) { if (configHandler.get('debug')) { console.log('retrying'); } diff --git a/test/unit/lib/planner/reduce-to-minimum-set-of-plans-tests.js b/test/unit/lib/planner/reduce-to-minimum-set-of-plans-tests.js index e9c661fa..0a646e07 100644 --- a/test/unit/lib/planner/reduce-to-minimum-set-of-plans-tests.js +++ b/test/unit/lib/planner/reduce-to-minimum-set-of-plans-tests.js @@ -105,18 +105,22 @@ describe('lib/planner/reduce-to-minimum-set-of-plans.js', function() { }, ]; algorithm = 'actionTree'; + digest.onCall(0).returns('first'); + digest.onCall(1).returns('second'); reduceToMinimumSetOfPlans(plans, algorithm, callback); expect(callback.args).to.eql([ [ null, - { - path: new Set(['action1', 'action2']), - }, - { - path: new Set(['action2', 'action3']), - }, + [ + { + path: new Set(['action1', 'action2']), + }, + { + path: new Set(['action2', 'action3']), + }, + ], ], ]); }); @@ -139,9 +143,11 @@ describe('lib/planner/reduce-to-minimum-set-of-plans.js', function() { expect(callback.args).to.eql([ [ null, - { - path: new Set(['action1', 'action2']), - }, + [ + { + path: new Set(['action1', 'action2']), + }, + ], ], ]); }); @@ -164,12 +170,14 @@ describe('lib/planner/reduce-to-minimum-set-of-plans.js', function() { expect(callback.args).to.eql([ [ null, - { - path: new Set(['action1', 'action2']), - }, - { - path: new Set(['action1', 'action2']), - }, + [ + { + path: new Set(['action1', 'action2']), + }, + { + path: new Set(['action1', 'action2']), + }, + ], ], ]); }); diff --git a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js index 68efb44b..8d5db612 100644 --- a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js +++ b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js @@ -1472,7 +1472,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { describe('for each plan in offlineReplanning._existingPlans', function() { describe('if offlineReplanning._algorithm is actiontree', function() { - it('should call setOperations.isSuperset once with offlineReplanning._satisfiedActions ' + + it.only('should call setOperations.isSuperset once with offlineReplanning._satisfiedActions ' + 'and plan as a set', function() { offlineReplanning._algorithm = 'actionTree'; offlineReplanning._existingPlans = [['ACTION_ONE']]; @@ -2598,7 +2598,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { }], removed: [ 'MY_ACTION', - ] + ], }, ], ]); From 9ed622c557ae49c952e59bf8f1e2c50080c1e2f0 Mon Sep 17 00:00:00 2001 From: Zach Knox Date: Mon, 4 Nov 2019 16:04:49 -0500 Subject: [PATCH 04/10] issue-210 passing unit tests still some coverage work to do --- .../lib/planner/search-algorithms/offline-replanning-tests.js | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js index 8d5db612..08ece99b 100644 --- a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js +++ b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js @@ -1472,10 +1472,10 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { describe('for each plan in offlineReplanning._existingPlans', function() { describe('if offlineReplanning._algorithm is actiontree', function() { - it.only('should call setOperations.isSuperset once with offlineReplanning._satisfiedActions ' + + it('should call setOperations.isSuperset once with offlineReplanning._satisfiedActions ' + 'and plan as a set', function() { offlineReplanning._algorithm = 'actionTree'; - offlineReplanning._existingPlans = [['ACTION_ONE']]; + offlineReplanning._existingPlans = [['entrypoint',{name: 'ACTION_ONE'}]]; offlineReplanning._satisfiedActions = new Set(['ACTION_ONE']); offlineReplanning._pruneExistingPlans(); From 99ff263c6fa5259f4328407a6957aa3858c595a7 Mon Sep 17 00:00:00 2001 From: Zach Knox Date: Wed, 6 Nov 2019 13:51:27 -0500 Subject: [PATCH 05/10] issue-210 'replan' unit test coverage --- .../search-algorithms/offline-replanning.js | 3 - .../offline-replanning-tests.js | 578 ++++++++++++++++-- 2 files changed, 544 insertions(+), 37 deletions(-) diff --git a/lib/planner/search-algorithms/offline-replanning.js b/lib/planner/search-algorithms/offline-replanning.js index 158933fe..a67d45df 100644 --- a/lib/planner/search-algorithms/offline-replanning.js +++ b/lib/planner/search-algorithms/offline-replanning.js @@ -111,9 +111,6 @@ module.exports = offlineReplanning = { if (configHandler.get('debug')) { console.log('retrying'); } - newlySatisfiedActions.forEach((action) => { - offlineReplanning._satisfiedActions.delete(action); - }); } else { if (configHandler.get('debug')) { console.log('Newly Satisfied: ' + newlySatisfiedActions.size); diff --git a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js index 08ece99b..8aaccff9 100644 --- a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js +++ b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js @@ -256,27 +256,6 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { ]); }); - it('should call offlineReplanning._savePlan with the startNode plan', function() { - let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; - offlineReplanning._satisfiedActions = new Set(); - offlineReplanning._plans = ['aPlan']; - offlineReplanning._getAction.returns(null); - let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', 'algorithm', {testLength: 1}); - - generator.next(); - generator.next(next); - generator.next({actionOccurrences: new Map([['MY_ACTION', 1]])}); - generator.next(startNodes); - - expect(offlineReplanning._savePlan.args).to.deep.equal([ - [ - { - path: ['MY_ACTION'], - }, - ], - ]); - }); - describe('while the plan.path.length is less than the options.testLength and offlineReplanning.' + '_satisfiedActions. size is less than offlineReplanning._actionOccurrences.size', function() { it('should call offlineReplanning._getAction once with the first plan in startNodes', function() { @@ -503,34 +482,66 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { }); }); - describe('if the returned backtrackPlan is null and configHandler.get returns true', function() { - it('should call console.log with a message containing the recently added action', function() { + describe('if the returned backtrackPlan is null and offlineReplanning._satisfiedActions does ' + + 'not have the action', function() { + it('should add the action to' + + 'offlineReplanning._satisfiedActions', function() { let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; - offlineReplanning._satisfiedActions = new Set(); + offlineReplanning._satisfiedActions = new Set(['SATISFIED_ACTION']); offlineReplanning._plans = ['aPlan']; offlineReplanning._getAction.returns('NEXT_ACTION'); - configHandler.get.returns(true); let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', 'algorithm', {testLength: 4}); generator.next(); generator.next(next); - generator.next({actionOccurrences: new Map([['MY_ACTION', 1]])}); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); generator.next(startNodes); generator.next(); generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); generator.next(null); + + expect(offlineReplanning._satisfiedActions).to.eql(new Set(['SATISFIED_ACTION', 'NEXT_ACTION'])); + }); + + it('should call offlineReplanning.emitAsync next with the event' + + '"offlineReplanning.updateExistingPlansAndActionOccurrences"', function() { + let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; + offlineReplanning._satisfiedActions = new Set(['SATISFIED_ACTION']); + offlineReplanning._plans = ['aPlan']; + offlineReplanning._getAction.returns('NEXT_ACTION'); + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 4}); + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); + generator.next(startNodes); + generator.next(); + generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); + generator.next(null); - expect(console.log.args[1]).to.deep.equal([ - 'Added the following action to the plan: NEXT_ACTION', - ]); + expect(offlineReplanning.emitAsync.args[5][0]).to.equal( + 'offlineReplanning.updateExistingPlansAndActionOccurrences' + ); }); }); - describe('if the returned backtrackPlan is null and offlineReplanning._satisfiedActions does ' + - 'not have the action', function() { - it('should call offlineReplanning.emitAsync next with the event "planner.applyEffects"', function() { + describe('when backtrackPlan is null and offlineReplanning._satisfiedActions has' + + ' the action', function() { + it('should call offlineReplanning._comparePlan with the current plan', function() { let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; offlineReplanning._satisfiedActions = new Set(['NEXT_ACTION']); offlineReplanning._plans = ['aPlan']; @@ -552,9 +563,405 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); generator.next(null); - expect(offlineReplanning.emitAsync.args[5][0]).to.equal('planner.applyEffects'); + expect(offlineReplanning._comparePlan.args).to.eql([ + [{ + actions: [ + 'MY_ACTION_3', + 'MY_ACTION_4', + ], + path: [ + 'MY_ACTION', + 'NEXT_ACTION', + 'NEXT_ACTION', + ], + }], + ]); + }); + + describe('while a duplicate is found', function() { + it('should call offlineReplanning.emitAsync with the event "offlineReplanning.' + + '_backtrack" and the index of the last good plan', function() { + let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; + offlineReplanning._satisfiedActions = new Set(['NEXT_ACTION']); + offlineReplanning._plans = ['aPlan']; + offlineReplanning._getAction.returns('NEXT_ACTION'); + offlineReplanning._comparePlan.onCall(0).returns(true); + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 4}); + + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); + generator.next(startNodes); + generator.next(); + generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); + generator.next(null); + + expect(offlineReplanning.emitAsync.args[5][0]).to.equal( + 'offlineReplanning.backtrack' + ); + }); + + describe('when backtrackPlan is not null', function() { + it('should call configHandler.get with the string "debug"', function() { + let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; + offlineReplanning._satisfiedActions = new Set(['NEXT_ACTION']); + offlineReplanning._plans = ['aPlan']; + offlineReplanning._getAction.returns('NEXT_ACTION'); + offlineReplanning._comparePlan.onCall(0).returns(true); + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 4}); + + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); + generator.next(startNodes); + generator.next(); + generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); + generator.next(null); + generator.next({ + backtrackPlan: { + path: [], + }, + newSavedPlans: 'newSavedPlans', + removed: 'removed'}); + + expect(configHandler.get.args[0]).to.deep.equal([ + 'debug', + ]); + }); + + describe('when configHandler.get returns true', function() { + it('should call console.log with a message about backtracking', function() { + let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; + offlineReplanning._satisfiedActions = new Set(['NEXT_ACTION']); + offlineReplanning._plans = ['aPlan']; + offlineReplanning._getAction.returns('NEXT_ACTION'); + offlineReplanning._comparePlan.onCall(0).returns(true); + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 4}); + configHandler.get.returns(true); + + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); + generator.next(startNodes); + generator.next(); + generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); + generator.next(null); + generator.next({ + backtrackPlan: { + path: [], + lastAction: 'lastAction', + }, + newSavedPlans: 'newSavedPlans', + removed: 'removed'}); + + expect(console.log.args[1]).to.deep.equal([ + 'Backtracked to: lastAction', + ]); + }); + }); + + describe('for each removed action', function() { + describe('when newlySatisfiedActions has the action being removed', function() { + it('should remove the action from' + + 'offlineReplanning._satisfiedActions ', function() { + let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; + offlineReplanning._satisfiedActions = new Set([]); + offlineReplanning._plans = ['aPlan']; + offlineReplanning._getAction.returns('MY_ACTION'); + offlineReplanning._comparePlan.onCall(0).returns(true); + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 4}); + configHandler.get.returns(true); + + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); + generator.next(startNodes); + generator.next(); + generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); + generator.next(null); + generator.next(); + generator.next(); + generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); + generator.next(null); + generator.next({ + backtrackPlan: { + path: [], + lastAction: 'lastAction', + }, + newSavedPlans: 'newSavedPlans', + removed: [ + 'MY_ACTION', + ]}); + + expect(offlineReplanning._satisfiedActions).to.deep.equal(new Set([])); + }); + }); + }); + }); + }); + + describe('when backtrackPlan is null', function() { + it('should throw an error', function() { + let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; + offlineReplanning._satisfiedActions = new Set(['NEXT_ACTION']); + offlineReplanning._plans = ['aPlan']; + offlineReplanning._getAction.returns('NEXT_ACTION'); + offlineReplanning._comparePlan.onCall(0).returns(true); + + try { + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 4}); + configHandler.get.returns(true); + + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); + generator.next(startNodes); + generator.next(); + generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); + generator.next(null); + generator.next({ + backtrackPlan: null, + newSavedPlans: 'newSavedPlans', + removed: 'removed'}); + + fail(); + } catch (e) { + expect(e).to.be.an('Error'); + } + }); }); + + it('should call offlineReplanning._comparePlan with the new backtrackPlan', function() { + let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; + offlineReplanning._satisfiedActions = new Set(['NEXT_ACTION']); + offlineReplanning._plans = ['aPlan']; + offlineReplanning._getAction.returns('NEXT_ACTION'); + offlineReplanning._comparePlan.onCall(0).returns(true); + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 4}); + configHandler.get.returns(true); + + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); + generator.next(startNodes); + generator.next(); + generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); + generator.next(null); + generator.next({ + backtrackPlan: { + path: 'NEW_PLAN', + }, + newSavedPlans: 'newSavedPlans', + removed: 'removed'}); + + expect(offlineReplanning._comparePlan.args[1]).to.eql([ + {path: 'NEW_PLAN'}, + ]); + }); + }); + }); + }); + + describe('when the plan path length is zero', function() { + it('should not save a plan', function() { + let startNodes = [{path: []}]; + offlineReplanning._satisfiedActions = new Set(['NEXT_ACTION']); + offlineReplanning._plans = ['aPlan']; + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 0}); + configHandler.get.returns(true); + + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), }); + generator.next(startNodes); + + expect(offlineReplanning._savePlan.args).to.eql([]); + }); + + it('should not retry planning', function() { + let startNodes = [{path: []}]; + offlineReplanning._satisfiedActions = new Set(['NEXT_ACTION']); + offlineReplanning._plans = ['aPlan']; + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 0}); + configHandler.get.returns(true); + + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); + generator.next(startNodes); + + // Tests that 'retrying' is not logged + expect(console.log.args).to.eql([ + [ + '\nBeginning offline replanning\n', + ] + ]); + }); + }); + + describe('when the newlySatisfiedActions size is zero', function() { + it('should call configHandler.get with the string "debug"', function() { + let startNodes = [{path: ['NEXT_ACTION']}]; + offlineReplanning._satisfiedActions = new Set(['NEXT_ACTION']); + offlineReplanning._getAction.returns('NEXT_ACTION'); + offlineReplanning._plans = ['aPlan']; + try { + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 2}); + configHandler.get.returns(true); + + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); + generator.next(startNodes); + generator.next(); + generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); + generator.next(null); + generator.next(startNodes); + } finally { + expect(configHandler.get.args[3]).to.deep.equal([ + 'debug', + ]); + } + }); + + describe('if configHandler.get returns a truthy value', function() { + it('should call console.log once with a message about beginning planning', function() { + let startNodes = [{path: ['NEXT_ACTION']}]; + offlineReplanning._satisfiedActions = new Set(['NEXT_ACTION']); + offlineReplanning._getAction.returns('NEXT_ACTION'); + offlineReplanning._plans = ['aPlan']; + try { + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', + 'algorithm', {testLength: 2}); + configHandler.get.returns(true); + + generator.next(); + generator.next(next); + generator.next({ + actionOccurrences: new Map([ + ['MY_ACTION', 1], + ['MY_ACTION_2', 3], + ['NEXT_ACTION', 1], + ]), + }); + generator.next(startNodes); + generator.next(); + generator.next({applicableActions: ['MY_ACTION_3', 'MY_ACTION_4']}); + generator.next(null); + generator.next(startNodes); + } finally { + expect(console.log.args[2]).to.deep.equal([ + 'retrying', + ]); + } + }); + }); + }); + + describe('when the plan path length is good', function() { + it('should call configHandler.get with the startNode plan', function() { + let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; + offlineReplanning._satisfiedActions = new Set(); + offlineReplanning._plans = ['aPlan']; + offlineReplanning._getAction.returns(null); + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', 'algorithm', {testLength: 1}); + + generator.next(); + generator.next(next); + generator.next({actionOccurrences: new Map([['MY_ACTION', 1]])}); + generator.next(startNodes); + + expect(offlineReplanning._savePlan.args).to.deep.equal([ + [ + { + path: ['MY_ACTION'], + }, + ], + ]); + }); + + it('should call offlineReplanning._savePlan with the startNode plan', function() { + let startNodes = [{path: ['MY_ACTION']}, {path: ['MY_ACTION_2']}]; + offlineReplanning._satisfiedActions = new Set(); + offlineReplanning._plans = ['aPlan']; + offlineReplanning._getAction.returns(null); + let generator = offlineReplanning.replan('existingPlans', 'discoveredActions', 'algorithm', {testLength: 1}); + + generator.next(); + generator.next(next); + generator.next({actionOccurrences: new Map([['MY_ACTION', 1]])}); + generator.next(startNodes); + + expect(offlineReplanning._savePlan.args).to.deep.equal([ + [ + { + path: ['MY_ACTION'], + }, + ], + ]); }); }); }); @@ -1475,7 +1882,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { it('should call setOperations.isSuperset once with offlineReplanning._satisfiedActions ' + 'and plan as a set', function() { offlineReplanning._algorithm = 'actionTree'; - offlineReplanning._existingPlans = [['entrypoint',{name: 'ACTION_ONE'}]]; + offlineReplanning._existingPlans = [['entrypoint', {name: 'ACTION_ONE'}]]; offlineReplanning._satisfiedActions = new Set(['ACTION_ONE']); offlineReplanning._pruneExistingPlans(); @@ -2763,4 +3170,107 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { }); }); }); + + describe('_comparePlan', function() { + let update; + let hash; + let crypto; + let Emitter; + let offlineReplanning; + + beforeEach(function() { + mockery.enable({useCleanCache: true}); + mockery.registerAllowable( + '../../../../../lib/planner/search-algorithms/offline-replanning.js' + ); + + update = { + digest: sinon.stub(), + }; + hash = { + update: sinon.stub().returns(update), + }; + crypto = { + createHash: sinon.stub().returns(hash), + }; + + Emitter = { + mixIn: function(myObject) { + myObject.on = sinon.stub(); + myObject.emitAsync = sinon.stub(); + myObject.runOn = sinon.stub(); + }, + }; + + mockery.registerMock('../../util/emitter.js', Emitter); + mockery.registerMock('../../util/set-operations.js', {}); + mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', crypto); + mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', {}); + mockery.registerMock('../../util/config/config-handler.js', {}); + + offlineReplanning = require( + '../../../../../lib/planner/search-algorithms/offline-replanning.js' + ); + }); + + afterEach(function() { + mockery.resetCache(); + mockery.deregisterAll(); + mockery.disable(); + }); + + it('should call createHash with "sha256"', function() { + let plan = {path: 'myPath'}; + offlineReplanning._comparePlan(plan); + + expect(crypto.createHash.args).to.eql([ + ['sha256'], + ]); + }); + + it('should update the hash with the plan path', function() { + let plan = {path: 'myPath'}; + offlineReplanning._comparePlan(plan); + + expect(hash.update.args).to.eql([ + ['\"myPath\"'], + ]); + }); + + it('should create a base64 digest of the hash', function() { + let plan = {path: 'myPath'}; + offlineReplanning._comparePlan(plan); + + expect(update.digest.args).to.eql([ + ['base64'], + ]); + }); + + describe('when the hash is in offlineReplanning._planHashes', function() { + it('should return the plan hash', function() { + let plan = {path: 'myPath'}; + offlineReplanning._planHashes = new Map(); + offlineReplanning._planHashes.set('myHash', 'myPlan'); + update.digest.returns('myHash'); + + const compared = offlineReplanning._comparePlan(plan); + + expect(compared).to.eql('myPlan'); + }); + }); + + describe('when the hash is not in offlineReplanning._planHashes', function() { + it('should return undefined', function() { + let plan = {path: 'myPath'}; + offlineReplanning._planHashes = new Map(); + offlineReplanning._planHashes.set('myHash', 'myPlan'); + update.digest.returns('notMyHash'); + + const compared = offlineReplanning._comparePlan(plan); + + expect(compared).to.eql(undefined); + }); + }); + }); }); From 9a74fb19de19e3ffc808554b451886b81a3257e5 Mon Sep 17 00:00:00 2001 From: Zach Knox Date: Wed, 6 Nov 2019 15:22:39 -0500 Subject: [PATCH 06/10] issue-210 full coverage for offlineReplanning --- .../search-algorithms/offline-replanning.js | 8 +- .../offline-replanning-tests.js | 213 +++++++++++++++++- 2 files changed, 210 insertions(+), 11 deletions(-) diff --git a/lib/planner/search-algorithms/offline-replanning.js b/lib/planner/search-algorithms/offline-replanning.js index a67d45df..8300b1e9 100644 --- a/lib/planner/search-algorithms/offline-replanning.js +++ b/lib/planner/search-algorithms/offline-replanning.js @@ -265,13 +265,7 @@ module.exports = offlineReplanning = { let nonZeroActionCountActions = offlineReplanning._filterZeroActionCountActions(plan.actions); let unsatisfiedActions = setOperations.difference(nonZeroActionCountActions, offlineReplanning._satisfiedActions); - if (nonZeroActionCountActions.size === 0 && plan.path.length === 0) { - for (let action of offlineReplanning._actionOccurrences) { - if (!offlineReplanning._satisfiedActions.has(action[0])) { - console.log(action); - } - } - } + let actionWithSameComponent = offlineReplanning._getActionWithSameComponent(plan, unsatisfiedActions); if (actionWithSameComponent) { return actionWithSameComponent; diff --git a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js index 8aaccff9..ec34ef61 100644 --- a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js +++ b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js @@ -850,7 +850,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { expect(console.log.args).to.eql([ [ '\nBeginning offline replanning\n', - ] + ], ]); }); }); @@ -2124,6 +2124,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { offlineReplanning._getActionWithSameComponent = sinon.stub(); offlineReplanning._getMostOccurringAction = sinon.stub(); offlineReplanning._getLeastOccurringActionInPath = sinon.stub(); + offlineReplanning._random = sinon.stub(); }); afterEach(function() { @@ -2215,16 +2216,31 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { }); describe('if actionWithSameComponent is falsy and unsatisfiedActions.size is greater than 0', function() { - it('should return the first item in the unsatisfiedACtions set', function() { + it('should call offlineReplanning._random with a min and max value', function() { let plan = { actions: ['ACTION_ONE'], }; offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); setOperations.difference.returns(new Set(['ACTION_TWO', 'ACTION_THREE'])); - let result = offlineReplanning._chooseAction(plan); + offlineReplanning._chooseAction(plan); - expect(result).to.equal('ACTION_TWO'); + expect(offlineReplanning._random.args).to.eql([ + [0, 1], + ]); + }); + + it('should return the unusedAction at the index returned by offlineReplanning._random', function() { + let plan = { + actions: ['ACTION_ONE'], + }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); + setOperations.difference.returns(new Set(['ACTION_TWO', 'ACTION_THREE'])); + offlineReplanning._random.returns(1); + + const chosen = offlineReplanning._chooseAction(plan); + + expect(chosen).to.eql('ACTION_THREE'); }); }); @@ -2257,6 +2273,91 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { expect(setOperations.difference.callCount).to.equal(2); }); + + describe('if unusedActions.size is greater than zero', function() { + it('should call offlineReplanning._random with a min and max value', function() { + let plan = { + actions: ['ACTION_ONE'], + }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); + setOperations.difference.onCall(0).returns(new Set()); + setOperations.difference.onCall(1).returns(new Set(['UNUSED', 'UNUSED2'])); + + offlineReplanning._chooseAction(plan); + + expect(offlineReplanning._random.args).to.eql([ + [0, 1], + ]); + }); + + it('should return the unusedAction at the index returned by offlineReplanning._random', function() { + let plan = { + actions: ['ACTION_ONE'], + }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); + setOperations.difference.onCall(0).returns(new Set()); + setOperations.difference.onCall(1).returns(new Set(['UNUSED', 'UNUSED2'])); + offlineReplanning._random.returns(1); + + const chosen = offlineReplanning._chooseAction(plan); + + expect(chosen).to.eql('UNUSED2'); + }); + }); + + describe('if unusedActions.size is not greater than zero', function() { + it('should call offlineReplanning._getLeastOccurringActionInPath' + + 'with the plan and nonZeroCountActions', function() { + let plan = { + actions: ['ACTION_ONE'], + }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); + setOperations.difference.returns(new Set([])); + + offlineReplanning._chooseAction(plan); + + expect(offlineReplanning._getLeastOccurringActionInPath.args).to.eql([ + [ + { + actions: ['ACTION_ONE'], + }, + new Set(['ACTION_ONE', 'ACTION_TWO']), + ], + ]); + }); + + describe('when leastOccurringActionInPath is a truthy value', function() { + it('should return the leastOccurringActionInPath', function() { + let plan = { + actions: ['ACTION_ONE'], + }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); + setOperations.difference.returns(new Set([])); + offlineReplanning._getLeastOccurringActionInPath.returns('LEAST_OCCURRING'); + + const chosen = offlineReplanning._chooseAction(plan); + + expect(chosen).to.eql('LEAST_OCCURRING'); + }); + }); + + describe('when leastOccurringActionInPath is a falsey value', function() { + it('should return null', function() { + it('should return the leastOccurringActionInPath', function() { + let plan = { + actions: ['ACTION_ONE'], + }; + offlineReplanning._filterZeroActionCountActions.returns(new Set(['ACTION_ONE', 'ACTION_TWO'])); + setOperations.difference.returns(new Set([])); + offlineReplanning._getLeastOccurringActionInPath.returns(false); + + const chosen = offlineReplanning._chooseAction(plan); + + expect(chosen).to.eql(null); + }); + }); + }); + }); }); }); @@ -3273,4 +3374,108 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { }); }); }); + + describe('_random', function() { + let Emitter; + let offlineReplanning; + + beforeEach(function() { + mockery.enable({useCleanCache: true}); + mockery.registerAllowable( + '../../../../../lib/planner/search-algorithms/offline-replanning.js' + ); + + Emitter = { + mixIn: function(myObject) { + myObject.on = sinon.stub(); + myObject.emitAsync = sinon.stub(); + myObject.runOn = sinon.stub(); + }, + }; + + mockery.registerMock('../../util/emitter.js', Emitter); + mockery.registerMock('../../util/set-operations.js', {}); + mockery.registerMock('lodash', {}); + mockery.registerMock('crypto', {}); + mockery.registerMock('../planner-event-dispatch/planner-event-dispatch.js', {}); + mockery.registerMock('../../util/config/config-handler.js', {}); + + offlineReplanning = require( + '../../../../../lib/planner/search-algorithms/offline-replanning.js' + ); + }); + + afterEach(function() { + mockery.resetCache(); + mockery.deregisterAll(); + mockery.disable(); + }); + + it('should set offlineReplanning._randomSeed', function() { + offlineReplanning._randomSeed = 8675309; + + offlineReplanning._random(0, 100); + + expect(offlineReplanning._randomSeed).to.eql(112386); + }); + + // This function only does math. These test verifies + // that, for a given seed, it will always return the + // same result. + it('should return a value', function() { + offlineReplanning._randomSeed = 8675309; + + const result = offlineReplanning._random(0, 100); + + expect(result).to.eql(48.17644032921811); + }); + + describe('when max is a truthy value', function() { + it('should keep the given max value', function() { + offlineReplanning._randomSeed = 8675309; + + let min = 0; + let max = 2; + const result = offlineReplanning._random(min, max); + + expect(result).to.eql(0.9635288065843621); + }); + }); + + describe('when max is a falsey value', function() { + it('should set max to 1', function() { + offlineReplanning._randomSeed = 8675309; + + let min = 0; + let max = false; + const result = offlineReplanning._random(min, max); + + expect(result).to.eql(0.48176440329218106); + }); + }); + + describe('when min is a truthy value', function() { + it('should keep given min value', function() { + offlineReplanning._randomSeed = 8675309; + + let min = 3; + let max = 22; + const result = offlineReplanning._random(min, max); + + expect(result).to.eql(12.15352366255144); + }); + }); + + describe('when min is a falsey value', function() { + it('should set min to 0', function() { + offlineReplanning._randomSeed = 8675309; + + let min = false; + let max = 22; + const result = offlineReplanning._random(min, max); + + expect(result).to.eql(10.598816872427983); + }); + }); + }); }); From b50a60466295c6f7292eeda8863a4da965d1162a Mon Sep 17 00:00:00 2001 From: Zach Knox Date: Fri, 8 Nov 2019 09:29:06 -0500 Subject: [PATCH 07/10] issue-210 updated comments and added changelog --- CHANGELOG.md | 8 ++++++++ lib/planner/reduce-to-minimum-set-of-plans.js | 1 - lib/planner/search-algorithms/offline-replanning.js | 4 +--- lib/util/expected-state.js | 7 ------- package.json | 2 +- 5 files changed, 10 insertions(+), 12 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index ea899257..8b63b4f3 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,6 +2,14 @@ ## Pending Version +## 0.9.0 + +* Zach Knox + * Update offlineReplanning to support actionTree algorithm + * This uses some randomness to help stop the algorithm from going down the same path all the time. This randomness can be seeded from the config with `replanningSeed`. + * If you plan to use replanning with your existing actionTree models, you will likely need to update your models to better reflect how your website works. + * Updated reduce-to-minimum-set-of-plans to compare hashes of plans. In the past, it was comparing sets in a way which would never detect duplicates. + ## 0.8.7 * Mike Millgate diff --git a/lib/planner/reduce-to-minimum-set-of-plans.js b/lib/planner/reduce-to-minimum-set-of-plans.js index de55d52e..c02bccac 100644 --- a/lib/planner/reduce-to-minimum-set-of-plans.js +++ b/lib/planner/reduce-to-minimum-set-of-plans.js @@ -1,7 +1,6 @@ 'use strict'; const crypto = require('crypto'); -// const setOperations = require('../util/set-operations.js'); module.exports = function reduceToMinimumSetOfPlans(plans, algorithm, callback) { let finalPlans = []; diff --git a/lib/planner/search-algorithms/offline-replanning.js b/lib/planner/search-algorithms/offline-replanning.js index 8300b1e9..025f1917 100644 --- a/lib/planner/search-algorithms/offline-replanning.js +++ b/lib/planner/search-algorithms/offline-replanning.js @@ -72,8 +72,6 @@ module.exports = offlineReplanning = { } else { let duplicate = offlineReplanning._comparePlan(plan); while (duplicate !== undefined || offlineReplanning._isDuplicate(plan)) { - // console.log('duplicate of ' + duplicate); - // Backtrack let {backtrackPlan, newSavedPlans, removed} = yield offlineReplanning.emitAsync('offlineReplanning.backtrack', offlineReplanning._savedPlans.length - 2, // last good plan @@ -109,7 +107,7 @@ module.exports = offlineReplanning = { break; } else if (looped && newlySatisfiedActions.size === 0) { if (configHandler.get('debug')) { - console.log('retrying'); + console.log('Retrying replanning for plan ' + offlineReplanning._plans.length); } } else { if (configHandler.get('debug')) { diff --git a/lib/util/expected-state.js b/lib/util/expected-state.js index 06009970..31a46d96 100644 --- a/lib/util/expected-state.js +++ b/lib/util/expected-state.js @@ -174,13 +174,6 @@ module.exports = ExpectedState = { ); } - // TODO - // if (dependencies) { - // for (let dependency of dependencies) { - // let stateValue = _.get(this._state, dependency); - // } - // } - this._components.set(component.name, component); if (process.env.PLANNING_MODE) { this._newComponents.push(component.name); diff --git a/package.json b/package.json index 2d34c724..9375a380 100644 --- a/package.json +++ b/package.json @@ -1,6 +1,6 @@ { "name": "simulato", - "version": "0.8.7", + "version": "0.9.0", "description": "A model based testing tool", "main": "index.js", "bin": { From b1b67577fe9f75876dd3394b3e94cd9a8effddfb Mon Sep 17 00:00:00 2001 From: Zach Knox Date: Fri, 8 Nov 2019 09:31:12 -0500 Subject: [PATCH 08/10] issue-210 updates package lock --- package-lock.json | 6123 ++++++++++++++++++++++----------------------- 1 file changed, 3057 insertions(+), 3066 deletions(-) diff --git a/package-lock.json b/package-lock.json index e98a12ff..ebdf994e 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,6 +1,6 @@ { "name": "simulato", - "version": "0.8.7", + "version": "0.9.0", "lockfileVersion": 1, "requires": true, "dependencies": { @@ -10,7 +10,7 @@ "integrity": "sha512-27d4lZoomVyo51VegxI20xZPuSHusqbQag/ztrBC7wegWoQ1nLREPVSKSW8byhTlzTKyNE4ifaTA6lCp7JjpFw==", "dev": true, "requires": { - "@babel/highlight": "7.5.0" + "@babel/highlight": "^7.0.0" } }, "@babel/core": { @@ -19,20 +19,20 @@ "integrity": "sha512-oDpASqKFlbspQfzAE7yaeTmdljSH2ADIvBlb0RwbStltTuWa0+7CCI1fYVINNv9saHPa1W7oaKeuNuKj+RQCvA==", "dev": true, "requires": { - 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"find-up": "2.1.0", - "read-pkg": "2.0.0" + "find-up": "^2.0.0", + "read-pkg": "^2.0.0" } }, "resolve": { @@ -5095,7 +5079,7 @@ "integrity": "sha512-B/dOmuoAik5bKcD6s6nXDCjzUKnaDvdkRyAk6rsmsKLipWj4797iothd7jmmUhWTfinVMU+wc56rYKsit2Qy4w==", "dev": true, "requires": { - "path-parse": "1.0.6" + "path-parse": "^1.0.6" } } } @@ -5106,14 +5090,14 @@ "integrity": "sha512-cjN2ObWrRz0TTw7vEcGQrx+YltMvZoOEx4hWU8eEERDnBIU00OTq7Vr+jA7DFKxiwLNv4tTh5Pq2GUNEa8b6+w==", "dev": true, "requires": { - "aria-query": "3.0.0", - "array-includes": "3.0.3", - "ast-types-flow": "0.0.7", - "axobject-query": "2.0.2", - "damerau-levenshtein": "1.0.5", - "emoji-regex": "7.0.3", - "has": "1.0.3", - "jsx-ast-utils": "2.2.3" + "aria-query": "^3.0.0", + "array-includes": "^3.0.3", + "ast-types-flow": "^0.0.7", + "axobject-query": "^2.0.2", + "damerau-levenshtein": "^1.0.4", + "emoji-regex": "^7.0.2", + "has": "^1.0.3", + "jsx-ast-utils": "^2.0.1" } }, "eslint-plugin-react": { @@ -5122,13 +5106,13 @@ "integrity": "sha512-1puHJkXJY+oS1t467MjbqjvX53uQ05HXwjqDgdbGBqf5j9eeydI54G3KwiJmWciQ0HTBacIKw2jgwSBSH3yfgQ==", "dev": true, "requires": { - 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"is-plain-object": "2.0.4" + "is-plain-object": "^2.0.4" } } } @@ -5457,9 +5441,9 @@ "integrity": "sha512-hMQ4CX1p1izmuLYyZqLMO/qGNw10wSv9QDCPfzXfyFrOaCSSoRfqE1Kf1s5an66J5JZC62NewG+mK49jOCtQew==", "dev": true, "requires": { - "chardet": "0.7.0", - "iconv-lite": "0.4.24", - "tmp": "0.0.33" + "chardet": "^0.7.0", + "iconv-lite": "^0.4.24", + "tmp": "^0.0.33" }, "dependencies": { "tmp": { @@ -5468,7 +5452,7 @@ "integrity": "sha512-jRCJlojKnZ3addtTOjdIqoRuPEKBvNXcGYqzO6zWZX8KfKEpnGY5jfggJQ3EjKuu8D4bJRr0y+cYJFmYbImXGw==", "dev": true, "requires": { - "os-tmpdir": "1.0.2" + "os-tmpdir": "~1.0.2" } } } @@ -5479,14 +5463,14 @@ "integrity": "sha512-Nmb6QXkELsuBr24CJSkilo6UHHgbekK5UiZgfE6UHD3Eb27YC6oD+bhcT+tJ6cl8dmsgdQxnWlcry8ksBIBLpw==", "dev": true, "requires": { - "array-unique": "0.3.2", - "define-property": "1.0.0", - "expand-brackets": "2.1.4", - "extend-shallow": "2.0.1", - "fragment-cache": "0.2.1", - "regex-not": "1.0.2", - "snapdragon": "0.8.2", - "to-regex": "3.0.2" + "array-unique": "^0.3.2", + "define-property": "^1.0.0", + "expand-brackets": "^2.1.4", + "extend-shallow": "^2.0.1", + "fragment-cache": "^0.2.1", + "regex-not": "^1.0.0", + "snapdragon": "^0.8.1", + "to-regex": "^3.0.1" }, "dependencies": { "define-property": { @@ -5495,7 +5479,7 @@ "integrity": "sha1-dp66rz9KY6rTr56NMEybvnm/sOY=", "dev": true, "requires": { - "is-descriptor": "1.0.2" + "is-descriptor": "^1.0.0" } }, "extend-shallow": { @@ -5504,7 +5488,7 @@ "integrity": "sha1-Ua99YUrZqfYQ6huvu5idaxxWiQ8=", "dev": true, "requires": { - "is-extendable": "0.1.1" + "is-extendable": "^0.1.0" } }, "is-accessor-descriptor": { @@ -5513,7 +5497,7 @@ "integrity": "sha512-m5hnHTkcVsPfqx3AKlyttIPb7J+XykHvJP2B9bZDjlhLIoEq4XoK64Vg7boZlVWYK6LUY94dYPEE7Lh0ZkZKcQ==", "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-data-descriptor": { @@ -5522,7 +5506,7 @@ "integrity": "sha512-jbRXy1FmtAoCjQkVmIVYwuuqDFUbaOeDjmed1tOGPrsMhtJA4rD9tkgA0F1qJ3gRFRXcHYVkdeaP50Q5rE/jLQ==", "dev": true, "requires": { - "kind-of": "6.0.2" + "kind-of": "^6.0.0" } }, "is-descriptor": { @@ -5531,9 +5515,9 @@ "integrity": "sha512-2eis5WqQGV7peooDyLmNEPUrps9+SXX5c9pL3xEB+4e9HnGuDa7mB7kHxHw4CbqS9k1T2hOH3miL8n8WtiYVtg==", "dev": true, "requires": { - "is-accessor-descriptor": "1.0.0", - "is-data-descriptor": "1.0.0", - "kind-of": "6.0.2" + "is-accessor-descriptor": "^1.0.0", + "is-data-descriptor": "^1.0.0", + "kind-of": "^6.0.2" } }, "kind-of": { @@ -5561,12 +5545,12 @@ "integrity": "sha512-g1KuQwHOZAmOZMuBtHdxDtju+T2RT8jgCC9aANsbpdiDDTSnjgfuVsIBNKbUeJI3oKMRExcfNDtJl4OhbffMsw==", "dev": true, "requires": { - 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"glob": "7.1.5" + "glob": "^7.1.3" } } } @@ -5742,9 +5726,9 @@ "dev": true }, "flatten": { - "version": "1.0.2", - "resolved": "https://registry.npmjs.org/flatten/-/flatten-1.0.2.tgz", - "integrity": "sha1-2uRqnXj74lKSJYzB54CkHZXAN4I=", + "version": "1.0.3", + "resolved": "https://registry.npmjs.org/flatten/-/flatten-1.0.3.tgz", + "integrity": "sha512-dVsPA/UwQ8+2uoFe5GHtiBMu48dWLTdsuEd7CKGlZlD78r1TTWBvDuFaFGKCo/ZfEr95Uk56vZoX86OsHkUeIg==", "dev": true }, "flush-write-stream": { @@ -5753,8 +5737,8 @@ "integrity": "sha512-3Z4XhFZ3992uIq0XOqb9AreonueSYphE6oYbpt5+3u06JWklbsPkNv3ZKkP9Bz/r+1MWCaMoSQ28P85+1Yc77w==", "dev": true, "requires": { - "inherits": "2.0.4", - "readable-stream": "2.3.6" + "inherits": "^2.0.3", + "readable-stream": "^2.3.6" } }, "follow-redirects": { @@ -5763,7 +5747,7 @@ "integrity": "sha512-CRcPzsSIbXyVDl0QI01muNDu69S8trU4jArW9LpOt2WtC6LyUJetcIrmfHsRBx7/Jb6GHJUiuqyYxPooFfNt6A==", "dev": true, "requires": { - "debug": "3.2.6" + "debug": "^3.0.0" } }, "for-in": { @@ -5778,7 +5762,7 @@ "integrity": "sha1-UmXGgaTylNq78XyVCbZ2OqhFEM4=", "dev": true, "requires": { - 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"map-cache": "0.2.2" + "map-cache": "^0.2.2" } }, "fresh": { @@ -5841,8 +5825,8 @@ "integrity": "sha1-i/tVAr3kpNNs/e6gB/zKIdfjgq8=", "dev": true, "requires": { - "inherits": "2.0.4", - "readable-stream": "2.3.6" + "inherits": "^2.0.1", + "readable-stream": "^2.0.0" } }, "fs-extra": { @@ -5851,9 +5835,9 @@ "integrity": "sha512-YJDaCJZEnBmcbw13fvdAM9AwNOJwOzrE4pqMqBq5nFiEqXUqHwlK4B+3pUw6JNvfSPtX05xFHtYy/1ni01eGCw==", "dev": true, "requires": { - "graceful-fs": "4.2.3", - "jsonfile": "4.0.0", - "universalify": "0.1.2" + "graceful-fs": "^4.1.2", + "jsonfile": "^4.0.0", + "universalify": "^0.1.0" } }, "fs-write-stream-atomic": { @@ -5862,10 +5846,10 @@ "integrity": "sha1-tH31NJPvkR33VzHnCp3tAYnbQMk=", "dev": true, "requires": { - "graceful-fs": "4.2.3", - "iferr": "0.1.5", - "imurmurhash": "0.1.4", - "readable-stream": "2.3.6" + "graceful-fs": "^4.1.2", + "iferr": "^0.1.5", + "imurmurhash": "^0.1.4", + "readable-stream": "1 || 2" } }, "fs.realpath": { @@ -5880,8 +5864,8 @@ "dev": true, "optional": true, "requires": { - "nan": "2.14.0", - "node-pre-gyp": "0.10.3" + "nan": "^2.9.2", + "node-pre-gyp": "^0.10.0" }, "dependencies": { "abbrev": { @@ -5907,8 +5891,8 @@ "dev": true, "optional": true, "requires": { - "delegates": "1.0.0", - "readable-stream": "2.3.6" + "delegates": "^1.0.0", + "readable-stream": "^2.0.6" } }, "balanced-match": { @@ -5921,7 +5905,7 @@ "bundled": true, "dev": true, "requires": { - "balanced-match": "1.0.0", + "balanced-match": "^1.0.0", "concat-map": "0.0.1" } }, @@ -5985,7 +5969,7 @@ "dev": true, "optional": true, "requires": { - "minipass": "2.3.5" + "minipass": "^2.2.1" } }, "fs.realpath": { @@ -6000,14 +5984,14 @@ "dev": true, "optional": true, "requires": { - "aproba": "1.2.0", - "console-control-strings": "1.1.0", - "has-unicode": "2.0.1", - "object-assign": "4.1.1", - "signal-exit": "3.0.2", - "string-width": "1.0.2", - "strip-ansi": "3.0.1", - "wide-align": "1.1.3" + "aproba": "^1.0.3", + "console-control-strings": "^1.0.0", + "has-unicode": "^2.0.0", + "object-assign": "^4.1.0", + "signal-exit": "^3.0.0", + "string-width": "^1.0.1", + "strip-ansi": "^3.0.1", + "wide-align": "^1.1.0" } }, "glob": { @@ -6016,12 +6000,12 @@ "dev": true, "optional": true, "requires": { - "fs.realpath": "1.0.0", - "inflight": "1.0.6", - "inherits": "2.0.3", - "minimatch": "3.0.4", - "once": "1.4.0", - "path-is-absolute": "1.0.1" + "fs.realpath": "^1.0.0", + "inflight": "^1.0.4", + "inherits": "2", + "minimatch": "^3.0.4", + "once": "^1.3.0", + "path-is-absolute": "^1.0.0" } }, "has-unicode": { @@ -6036,7 +6020,7 @@ "dev": true, "optional": true, "requires": { - "safer-buffer": "2.1.2" + "safer-buffer": ">= 2.1.2 < 3" } }, "ignore-walk": { @@ -6045,7 +6029,7 @@ "dev": true, "optional": true, "requires": { - "minimatch": "3.0.4" + "minimatch": "^3.0.4" } }, "inflight": { @@ -6054,8 +6038,8 @@ "dev": true, "optional": true, "requires": { - "once": "1.4.0", - "wrappy": "1.0.2" + "once": "^1.3.0", + "wrappy": "1" } }, "inherits": { @@ -6074,7 +6058,7 @@ "bundled": true, "dev": true, "requires": { - "number-is-nan": "1.0.1" + "number-is-nan": "^1.0.0" } }, "isarray": { @@ -6088,7 +6072,7 @@ "bundled": true, "dev": true, "requires": { - "brace-expansion": "1.1.11" + "brace-expansion": "^1.1.7" } }, "minimist": { @@ -6101,8 +6085,8 @@ "bundled": true, "dev": true, "requires": { - "safe-buffer": "5.1.2", - "yallist": "3.0.3" + "safe-buffer": "^5.1.2", + "yallist": "^3.0.0" } }, "minizlib": { @@ -6111,7 +6095,7 @@ "dev": true, "optional": true, "requires": { - "minipass": "2.3.5" + "minipass": "^2.2.1" } }, "mkdirp": { @@ -6134,9 +6118,9 @@ "dev": true, "optional": true, "requires": { - "debug": "2.6.9", - "iconv-lite": "0.4.24", - "sax": "1.2.4" + "debug": "^2.1.2", + "iconv-lite": "^0.4.4", + "sax": "^1.2.4" } }, "node-pre-gyp": { @@ -6145,16 +6129,16 @@ "dev": true, "optional": true, "requires": { - "detect-libc": "1.0.3", - "mkdirp": "0.5.1", - "needle": "2.2.4", - "nopt": "4.0.1", - "npm-packlist": "1.2.0", - "npmlog": "4.1.2", - "rc": "1.2.8", - "rimraf": "2.6.3", - "semver": "5.6.0", - "tar": "4.4.8" + "detect-libc": "^1.0.2", + "mkdirp": "^0.5.1", + "needle": "^2.2.1", + "nopt": "^4.0.1", + "npm-packlist": "^1.1.6", + "npmlog": "^4.0.2", + "rc": "^1.2.7", + "rimraf": "^2.6.1", + "semver": "^5.3.0", + "tar": "^4" } }, "nopt": { @@ -6163,8 +6147,8 @@ "dev": true, "optional": true, "requires": { - "abbrev": "1.1.1", - "osenv": "0.1.5" + "abbrev": "1", + "osenv": "^0.1.4" } }, "npm-bundled": { @@ -6179,8 +6163,8 @@ "dev": true, "optional": true, "requires": { - "ignore-walk": "3.0.1", - "npm-bundled": "1.0.5" + "ignore-walk": "^3.0.1", + "npm-bundled": "^1.0.1" } }, "npmlog": { @@ -6189,10 +6173,10 @@ "dev": true, "optional": true, "requires": { - "are-we-there-yet": "1.1.5", - "console-control-strings": "1.1.0", - "gauge": "2.7.4", - "set-blocking": "2.0.0" + "are-we-there-yet": "~1.1.2", + "console-control-strings": "~1.1.0", + "gauge": "~2.7.3", + "set-blocking": "~2.0.0" } }, "number-is-nan": { @@ -6211,7 +6195,7 @@ "bundled": true, "dev": true, "requires": { - "wrappy": "1.0.2" + "wrappy": "1" } }, "os-homedir": { @@ -6232,8 +6216,8 @@ "dev": true, "optional": true, "requires": { - "os-homedir": "1.0.2", - "os-tmpdir": "1.0.2" + "os-homedir": "^1.0.0", + "os-tmpdir": "^1.0.0" } }, "path-is-absolute": { @@ -6254,10 +6238,10 @@ "dev": true, "optional": true, "requires": { - "deep-extend": "0.6.0", - 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"safe-buffer": "5.1.2" + "safe-buffer": "~5.1.0" } }, "strip-ansi": { @@ -6351,7 +6335,7 @@ "bundled": true, "dev": true, "requires": { - "ansi-regex": "2.1.1" + "ansi-regex": "^2.0.0" } }, "strip-json-comments": { @@ -6366,13 +6350,13 @@ "dev": true, "optional": true, "requires": { - "chownr": "1.1.1", - "fs-minipass": "1.2.5", - "minipass": "2.3.5", - "minizlib": "1.2.1", - "mkdirp": "0.5.1", - "safe-buffer": "5.1.2", - "yallist": "3.0.3" + "chownr": "^1.1.1", + "fs-minipass": "^1.2.5", + "minipass": "^2.3.4", + "minizlib": "^1.1.1", + "mkdirp": "^0.5.0", + "safe-buffer": "^5.1.2", + "yallist": "^3.0.2" } }, "util-deprecate": { @@ -6387,7 +6371,7 @@ "dev": true, "optional": true, "requires": { - "string-width": "1.0.2" + "string-width": "^1.0.2 || 2" } }, "wrappy": { @@ -6436,7 +6420,7 @@ "integrity": "sha512-GMat4EJ5161kIy2HevLlr4luNjBgvmj413KaQA7jt4V8B4RDsfpHk7WQ9GVqfYyyx8OS/L66Kox+rJRNklLK7w==", "dev": true, "requires": { - "pump": "3.0.0" + "pump": "^3.0.0" } }, "get-value": { @@ -6451,20 +6435,20 @@ "integrity": "sha1-Xv+OPmhNVprkyysSgmBOi6YhSfo=", "dev": true, "requires": { - 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"workbox-core": "4.3.1" + "workbox-core": "^4.3.1" } }, "workbox-precaching": { @@ -14356,7 +14347,7 @@ "integrity": "sha512-piSg/2csPoIi/vPpp48t1q5JLYjMkmg5gsXBQkh/QYapCdVwwmKlU9mHdmy52KsDGIjVaqEUMFvEzn2LRaigqQ==", "dev": true, "requires": { - "workbox-core": "4.3.1" + "workbox-core": "^4.3.1" } }, "workbox-range-requests": { @@ -14365,7 +14356,7 @@ "integrity": "sha512-S+HhL9+iTFypJZ/yQSl/x2Bf5pWnbXdd3j57xnb0V60FW1LVn9LRZkPtneODklzYuFZv7qK6riZ5BNyc0R0jZA==", "dev": true, "requires": { - "workbox-core": "4.3.1" + "workbox-core": "^4.3.1" } }, "workbox-routing": { @@ -14374,7 +14365,7 @@ "integrity": "sha512-FkbtrODA4Imsi0p7TW9u9MXuQ5P4pVs1sWHK4dJMMChVROsbEltuE79fBoIk/BCztvOJ7yUpErMKa4z3uQLX+g==", "dev": true, "requires": { - "workbox-core": "4.3.1" + "workbox-core": "^4.3.1" } }, "workbox-strategies": { @@ -14383,7 +14374,7 @@ "integrity": "sha512-F/+E57BmVG8dX6dCCopBlkDvvhg/zj6VDs0PigYwSN23L8hseSRwljrceU2WzTvk/+BSYICsWmRq5qHS2UYzhw==", "dev": true, "requires": { - "workbox-core": "4.3.1" + "workbox-core": "^4.3.1" } }, "workbox-streams": { @@ -14392,7 +14383,7 @@ "integrity": "sha512-4Kisis1f/y0ihf4l3u/+ndMkJkIT4/6UOacU3A4BwZSAC9pQ9vSvJpIi/WFGQRH/uPXvuVjF5c2RfIPQFSS2uA==", "dev": true, "requires": { - "workbox-core": "4.3.1" + "workbox-core": "^4.3.1" } }, "workbox-sw": { @@ -14407,9 +14398,9 @@ "integrity": "sha512-YZsiA+y/ns/GdWRaBsfYv8dln1ebWtGnJcTOg1ppO0pO1tScAHX0yGtHIjndxz3L/UUhE8b0NQE9KeLNwJwA5A==", "dev": true, "requires": { - "@babel/runtime": "7.6.3", - "json-stable-stringify": "1.0.1", - "workbox-build": "4.3.1" + "@babel/runtime": "^7.0.0", + "json-stable-stringify": "^1.0.1", + "workbox-build": "^4.2.0" } }, "workbox-window": { @@ -14418,7 +14409,7 @@ "integrity": "sha512-C5gWKh6I58w3GeSc0wp2Ne+rqVw8qwcmZnQGpjiek8A2wpbxSJb1FdCoQVO+jDJs35bFgo/WETgl1fqgsxN0Hg==", "dev": true, "requires": { - "workbox-core": "4.3.1" + "workbox-core": "^4.3.1" } }, "worker-farm": { @@ -14427,7 +14418,7 @@ "integrity": "sha512-rvw3QTZc8lAxyVrqcSGVm5yP/IJ2UcB3U0graE3LCFoZ0Yn2x4EoVSqJKdB/T5M+FLcRPjz4TDacRf3OCfNUzw==", "dev": true, "requires": { - "errno": "0.1.7" + "errno": "~0.1.7" } }, "worker-rpc": { @@ -14436,7 +14427,7 @@ "integrity": "sha512-P1WjMrUB3qgJNI9jfmpZ/htmBEjFh//6l/5y8SD9hg1Ef5zTTVVoRjTrTEzPrNBQvmhMxkoTsjOXN10GWU7aCg==", "dev": true, "requires": { - "microevent.ts": "0.1.1" + "microevent.ts": "~0.1.1" } }, "wrap-ansi": { @@ -14445,9 +14436,9 @@ "integrity": "sha512-QC1/iN/2/RPVJ5jYK8BGttj5z83LmSKmvbvrXPNCLZSEb32KKVDJDl/MOt2N01qU2H/FkzEa9PKto1BqDjtd7Q==", "dev": true, "requires": { - "ansi-styles": "3.2.1", - "string-width": "3.1.0", - "strip-ansi": "5.2.0" + "ansi-styles": "^3.2.0", + "string-width": "^3.0.0", + "strip-ansi": "^5.0.0" }, "dependencies": { "string-width": { @@ -14456,9 +14447,9 @@ "integrity": "sha512-vafcv6KjVZKSgz06oM/H6GDBrAtz8vdhQakGjFIvNrHA6y3HCF1CInLy+QLq8dTJPQ1b+KDUqDFctkdRW44e1w==", "dev": true, "requires": { - "emoji-regex": "7.0.3", - "is-fullwidth-code-point": "2.0.0", - "strip-ansi": "5.2.0" + "emoji-regex": "^7.0.1", + "is-fullwidth-code-point": "^2.0.0", + "strip-ansi": "^5.1.0" } }, "strip-ansi": { @@ -14467,7 +14458,7 @@ "integrity": "sha512-DuRs1gKbBqsMKIZlrffwlug8MHkcnpjs5VPmL1PAh+mA30U0DTotfDZ0d2UUsXpPmPmMMJ6W773MaA3J+lbiWA==", "dev": true, "requires": { - "ansi-regex": "4.1.0" + "ansi-regex": "^4.1.0" } } } @@ -14483,7 +14474,7 @@ "integrity": "sha512-/lg70HAjtkUgWPVZhZcm+T4hkL8Zbtp1nFNOn3lRrxnlv50SRBv7cR7RqR+GMsd3hUXy9hWBo4CHTbFTcOYwig==", "dev": true, "requires": { - "mkdirp": "0.5.1" + "mkdirp": "^0.5.1" } }, "write-file-atomic": { @@ -14492,9 +14483,9 @@ "integrity": "sha512-TGHFeZEZMnv+gBFRfjAcxL5bPHrsGKtnb4qsFAws7/vlh+QfwAaySIw4AXP9ZskTTh5GWu3FLuJhsWVdiJPGvg==", "dev": true, "requires": { - "graceful-fs": "4.2.3", - "imurmurhash": "0.1.4", - "signal-exit": "3.0.2" + "graceful-fs": "^4.1.11", + "imurmurhash": "^0.1.4", + "signal-exit": "^3.0.2" } }, "ws": { @@ -14503,7 +14494,7 @@ "integrity": "sha512-jaHFD6PFv6UgoIVda6qZllptQsMlDEJkTQcybzzXDYM1XO9Y8em691FGMPmM46WGyLU4z9KMgQN+qrux/nhlHA==", "dev": true, "requires": { - "async-limiter": "1.0.1" + "async-limiter": "~1.0.0" } }, "xml": { @@ -14523,9 +14514,9 @@ "resolved": "https://registry.npmjs.org/xml2js/-/xml2js-0.4.22.tgz", "integrity": "sha512-MWTbxAQqclRSTnehWWe5nMKzI3VmJ8ltiJEco8akcC6j3miOhjjfzKum5sId+CWhfxdOs/1xauYr8/ZDBtQiRw==", "requires": { - "sax": "1.2.4", - "util.promisify": "1.0.0", - "xmlbuilder": "11.0.1" + "sax": ">=0.6.0", + "util.promisify": "~1.0.0", + "xmlbuilder": "~11.0.0" }, "dependencies": { "xmlbuilder": { @@ -14576,16 +14567,16 @@ "integrity": "sha512-2eehun/8ALW8TLoIl7MVaRUrg+yCnenu8B4kBlRxj3GJGDKU1Og7sMXPNm1BYyM1DOJmTZ4YeN/Nwxv+8XJsUA==", "dev": true, "requires": { - "cliui": "5.0.0", - "find-up": "3.0.0", - "get-caller-file": "2.0.5", - "require-directory": "2.1.1", - "require-main-filename": "2.0.0", - "set-blocking": "2.0.0", - "string-width": "3.1.0", - "which-module": "2.0.0", - "y18n": "4.0.0", - "yargs-parser": "13.1.1" + "cliui": "^5.0.0", + "find-up": "^3.0.0", + "get-caller-file": "^2.0.1", + "require-directory": "^2.1.1", + "require-main-filename": "^2.0.0", + "set-blocking": "^2.0.0", + "string-width": "^3.0.0", + "which-module": "^2.0.0", + "y18n": "^4.0.0", + "yargs-parser": "^13.1.1" }, "dependencies": { "string-width": { @@ -14594,9 +14585,9 @@ "integrity": "sha512-vafcv6KjVZKSgz06oM/H6GDBrAtz8vdhQakGjFIvNrHA6y3HCF1CInLy+QLq8dTJPQ1b+KDUqDFctkdRW44e1w==", "dev": true, "requires": { - "emoji-regex": "7.0.3", - "is-fullwidth-code-point": "2.0.0", - "strip-ansi": "5.2.0" + "emoji-regex": "^7.0.1", + "is-fullwidth-code-point": "^2.0.0", + "strip-ansi": "^5.1.0" } }, "strip-ansi": { @@ -14605,7 +14596,7 @@ "integrity": "sha512-DuRs1gKbBqsMKIZlrffwlug8MHkcnpjs5VPmL1PAh+mA30U0DTotfDZ0d2UUsXpPmPmMMJ6W773MaA3J+lbiWA==", "dev": true, "requires": { - "ansi-regex": "4.1.0" + "ansi-regex": "^4.1.0" } } } @@ -14616,8 +14607,8 @@ "integrity": "sha512-oVAVsHz6uFrg3XQheFII8ESO2ssAf9luWuAd6Wexsu4F3OtIW0o8IribPXYrD4WC24LWtPrJlGy87y5udK+dxQ==", "dev": true, "requires": { - "camelcase": "5.3.1", - "decamelize": "1.2.0" + "camelcase": "^5.0.0", + "decamelize": "^1.2.0" } } } From 8e51da1373907715280988382c00dd733ba161ea Mon Sep 17 00:00:00 2001 From: Zach Knox Date: Fri, 8 Nov 2019 09:48:54 -0500 Subject: [PATCH 09/10] issue-210 passing tests --- .../lib/planner/search-algorithms/offline-replanning-tests.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js index ec34ef61..e9aaed0d 100644 --- a/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js +++ b/test/unit/lib/planner/search-algorithms/offline-replanning-tests.js @@ -914,7 +914,7 @@ describe('lib/planner/search-algorithms/offline-replanning.js', function() { generator.next(startNodes); } finally { expect(console.log.args[2]).to.deep.equal([ - 'retrying', + 'Retrying replanning for plan 1', ]); } }); From 1d71de6720f357ce7c8c3d87e8d0af933d0134f2 Mon Sep 17 00:00:00 2001 From: Zach Knox Date: Fri, 8 Nov 2019 13:53:26 -0500 Subject: [PATCH 10/10] issue-210 updated docs for replanning --- docs/pages/documentation/configuration-file.md | 8 +++++++- lib/planner/search-algorithms/offline-replanning.js | 1 - 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/docs/pages/documentation/configuration-file.md b/docs/pages/documentation/configuration-file.md index 427fc783..6e3a1c5c 100644 --- a/docs/pages/documentation/configuration-file.md +++ b/docs/pages/documentation/configuration-file.md @@ -190,7 +190,7 @@ This section documents utilization of the configuration file in place of CLI opt ### plannerAlgorithm * The algorithm to use when the planner generates tests - * Supported algorithms: `forwardStateSpaceSearchHeuristic` + * Supported algorithms: `actionTree`, `forwardStateSpaceSearchHeuristic` * Example: `algorithm: forwardStateSpaceSearchHeuristic` ### plannerTestLength @@ -199,6 +199,12 @@ This section documents utilization of the configuration file in place of CLI opt * The replanning step will most likely greatly reduce the number of generated tests * Example: `plannerTestLength: 75` +### replanningSeed + * Seed provided to the replanning algorithm's random number generator + * Using seeded random numbers allows for consisten plans between generation runs + * If replanning is not enabled with `plannerTestLength`, this value has no effect + * Example: `replanningSeed: 867.5309` + ### debug * Adds node debugging flag to spawned child processes * Default is `false` diff --git a/lib/planner/search-algorithms/offline-replanning.js b/lib/planner/search-algorithms/offline-replanning.js index 025f1917..d33e57ab 100644 --- a/lib/planner/search-algorithms/offline-replanning.js +++ b/lib/planner/search-algorithms/offline-replanning.js @@ -16,7 +16,6 @@ module.exports = offlineReplanning = { _savedPlans: null, _existingPlans: null, _discoveredActions: null, - _actionsNotInAnyPlan: new Set(), _algorithm: null, _randomSeed: 25, * replan(existingPlans, discoveredActions, algorithm, options) {