@stevenvo780/st-lang 4.3.0 → 4.5.0

package/dist/tests/planning/planning.test.js

@@ -0,0 +1,397 @@
+"use strict";
+// ============================================================
+// ST Planning — Tests (STRIPS / PDDL light)
+// ============================================================
+Object.defineProperty(exports, "__esModule", { value: true });
+const vitest_1 = require("vitest");
+const planning_1 = require("../../runtime/planning");
+// ──────────────────────────────────────────────────────────────
+// Dominio: Blocks World
+// ──────────────────────────────────────────────────────────────
+//
+// Predicados:
+//   on(?x, ?y)     — bloque x está sobre bloque y
+//   on-table(?x)   — bloque x está sobre la mesa
+//   clear(?x)      — no hay bloque encima de x
+//   holding(?x)    — el brazo robot sostiene x
+//   arm-empty      — el brazo está libre
+//
+// Acciones:
+//   pickup(?x):        clear(?x) ∧ on-table(?x) ∧ arm-empty →
+//                      holding(?x) ∧ ¬on-table(?x) ∧ ¬clear(?x) ∧ ¬arm-empty
+//   putdown(?x):       holding(?x) →
+//                      on-table(?x) ∧ clear(?x) ∧ arm-empty ∧ ¬holding(?x)
+//   stack(?x, ?y):     holding(?x) ∧ clear(?y) →
+//                      on(?x,?y) ∧ clear(?x) ∧ arm-empty ∧ ¬holding(?x) ∧ ¬clear(?y)
+//   unstack(?x, ?y):   on(?x,?y) ∧ clear(?x) ∧ arm-empty →
+//                      holding(?x) ∧ clear(?y) ∧ ¬on(?x,?y) ∧ ¬clear(?x) ∧ ¬arm-empty
+const blocksWorldActions = [
+    {
+        name: 'pickup',
+        parameters: ['?x'],
+        preconditions: ['clear(?x)', 'on-table(?x)', 'arm-empty'],
+        addList: ['holding(?x)'],
+        delList: ['on-table(?x)', 'clear(?x)', 'arm-empty'],
+    },
+    {
+        name: 'putdown',
+        parameters: ['?x'],
+        preconditions: ['holding(?x)'],
+        addList: ['on-table(?x)', 'clear(?x)', 'arm-empty'],
+        delList: ['holding(?x)'],
+    },
+    {
+        name: 'stack',
+        parameters: ['?x', '?y'],
+        preconditions: ['holding(?x)', 'clear(?y)'],
+        addList: ['on(?x,?y)', 'clear(?x)', 'arm-empty'],
+        delList: ['holding(?x)', 'clear(?y)'],
+    },
+    {
+        name: 'unstack',
+        parameters: ['?x', '?y'],
+        preconditions: ['on(?x,?y)', 'clear(?x)', 'arm-empty'],
+        addList: ['holding(?x)', 'clear(?y)'],
+        delList: ['on(?x,?y)', 'clear(?x)', 'arm-empty'],
+    },
+];
+function blocksProblem(initial, goal, blocks = ['a', 'b', 'c']) {
+    return {
+        predicates: ['on', 'on-table', 'clear', 'holding', 'arm-empty'],
+        objects: { block: blocks },
+        actions: blocksWorldActions,
+        initialState: new Set(initial),
+        goal: new Set(goal),
+    };
+}
+// ──────────────────────────────────────────────────────────────
+// 1. substituteVars y ground
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — substituteVars', () => {
+    (0, vitest_1.it)('reemplaza variables ?x por sus valores', () => {
+        (0, vitest_1.expect)((0, planning_1.substituteVars)('on(?x,?y)', { '?x': 'a', '?y': 'b' })).toBe('on(a,b)');
+    });
+    (0, vitest_1.it)('no toca strings sin variables', () => {
+        (0, vitest_1.expect)((0, planning_1.substituteVars)('arm-empty', {})).toBe('arm-empty');
+    });
+    (0, vitest_1.it)('respeta boundaries (no confunde ?x con ?xy)', () => {
+        (0, vitest_1.expect)((0, planning_1.substituteVars)('p(?xy,?x)', { '?x': 'A', '?xy': 'B' })).toBe('p(B,A)');
+    });
+    (0, vitest_1.it)('deja la variable sin tocar si no está en bindings', () => {
+        (0, vitest_1.expect)((0, planning_1.substituteVars)('p(?x)', {})).toBe('p(?x)');
+    });
+});
+(0, vitest_1.describe)('planning — ground', () => {
+    (0, vitest_1.it)('aplica bindings a un schema lifted', () => {
+        const action = {
+            name: 'move',
+            parameters: ['?from', '?to'],
+            preconditions: ['at(?from)'],
+            addList: ['at(?to)'],
+            delList: ['at(?from)'],
+        };
+        const g = (0, planning_1.ground)(action, { '?from': 'a', '?to': 'b' });
+        (0, vitest_1.expect)(g.preconditions.has('at(a)')).toBe(true);
+        (0, vitest_1.expect)(g.addList.has('at(b)')).toBe(true);
+        (0, vitest_1.expect)(g.delList.has('at(a)')).toBe(true);
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 2. applyAction y goalSatisfied
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — applyAction', () => {
+    (0, vitest_1.it)('borra antes de añadir', () => {
+        const state = new Set(['p', 'q']);
+        const next = (0, planning_1.applyAction)(state, {
+            addList: new Set(['r']),
+            delList: new Set(['p']),
+        });
+        (0, vitest_1.expect)(next.has('p')).toBe(false);
+        (0, vitest_1.expect)(next.has('q')).toBe(true);
+        (0, vitest_1.expect)(next.has('r')).toBe(true);
+    });
+    (0, vitest_1.it)('no muta el estado original', () => {
+        const state = new Set(['p']);
+        (0, planning_1.applyAction)(state, { addList: new Set(['q']), delList: new Set() });
+        (0, vitest_1.expect)(state.has('q')).toBe(false);
+        (0, vitest_1.expect)(state.size).toBe(1);
+    });
+    (0, vitest_1.it)('si un hecho está en addList y delList, queda añadido (del primero)', () => {
+        const state = new Set(['p']);
+        const next = (0, planning_1.applyAction)(state, {
+            addList: new Set(['p']),
+            delList: new Set(['p']),
+        });
+        (0, vitest_1.expect)(next.has('p')).toBe(true);
+    });
+});
+(0, vitest_1.describe)('planning — goalSatisfied', () => {
+    (0, vitest_1.it)('goal vacío siempre satisfecho', () => {
+        (0, vitest_1.expect)((0, planning_1.goalSatisfied)(new Set(['p']), new Set())).toBe(true);
+    });
+    (0, vitest_1.it)('goal ⊆ state → true', () => {
+        (0, vitest_1.expect)((0, planning_1.goalSatisfied)(new Set(['p', 'q', 'r']), new Set(['p', 'r']))).toBe(true);
+    });
+    (0, vitest_1.it)('goal ⊄ state → false', () => {
+        (0, vitest_1.expect)((0, planning_1.goalSatisfied)(new Set(['p']), new Set(['p', 'q']))).toBe(false);
+    });
+});
+(0, vitest_1.describe)('planning — preconditionsSatisfied', () => {
+    (0, vitest_1.it)('todas presentes → true', () => {
+        (0, vitest_1.expect)((0, planning_1.preconditionsSatisfied)(new Set(['a', 'b']), new Set(['a']))).toBe(true);
+    });
+    (0, vitest_1.it)('falta una → false', () => {
+        (0, vitest_1.expect)((0, planning_1.preconditionsSatisfied)(new Set(['a']), new Set(['a', 'b']))).toBe(false);
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 3. groundAll y hashState
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — groundAll', () => {
+    (0, vitest_1.it)('|params|=1, |objs|=3 → 3 instancias', () => {
+        const a = {
+            name: 'p',
+            parameters: ['?x'],
+            preconditions: [],
+            addList: ['p(?x)'],
+            delList: [],
+        };
+        const insts = (0, planning_1.groundAll)(a, { block: ['a', 'b', 'c'] });
+        (0, vitest_1.expect)(insts).toHaveLength(3);
+        const bindings = insts.map((i) => i.bindings['?x']).sort();
+        (0, vitest_1.expect)(bindings).toEqual(['a', 'b', 'c']);
+    });
+    (0, vitest_1.it)('|params|=2, |objs|=3 → 9 instancias (producto cartesiano)', () => {
+        const a = {
+            name: 'p',
+            parameters: ['?x', '?y'],
+            preconditions: [],
+            addList: ['p(?x,?y)'],
+            delList: [],
+        };
+        const insts = (0, planning_1.groundAll)(a, { block: ['a', 'b', 'c'] });
+        (0, vitest_1.expect)(insts).toHaveLength(9);
+    });
+    (0, vitest_1.it)('|params|=0 → 1 instancia ground tal cual', () => {
+        const a = {
+            name: 'noop',
+            parameters: [],
+            preconditions: ['p'],
+            addList: ['q'],
+            delList: [],
+        };
+        const insts = (0, planning_1.groundAll)(a, { block: ['a'] });
+        (0, vitest_1.expect)(insts).toHaveLength(1);
+        const first = insts[0];
+        if (!first)
+            return;
+        (0, vitest_1.expect)(first.grounded.preconditions.has('p')).toBe(true);
+    });
+});
+(0, vitest_1.describe)('planning — hashState determinista', () => {
+    (0, vitest_1.it)('mismo conjunto → mismo hash, orden de inserción irrelevante', () => {
+        const s1 = new Set(['p', 'q', 'r']);
+        const s2 = new Set(['r', 'p', 'q']);
+        (0, vitest_1.expect)((0, planning_1.hashState)(s1)).toBe((0, planning_1.hashState)(s2));
+    });
+    (0, vitest_1.it)('conjuntos distintos → hashes distintos', () => {
+        (0, vitest_1.expect)((0, planning_1.hashState)(new Set(['p']))).not.toBe((0, planning_1.hashState)(new Set(['q'])));
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 4. BFS — Blocks World casos básicos
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — BFS blocks world simple (1 step)', () => {
+    (0, vitest_1.it)('apilar A sobre B desde brazo sosteniendo A: 1 paso (stack)', () => {
+        // Estado: holding(a), on-table(b), clear(b), clear(c), on-table(c)
+        // Goal: on(a,b)
+        const problem = blocksProblem(['holding(a)', 'on-table(b)', 'clear(b)', 'on-table(c)', 'clear(c)'], ['on(a,b)']);
+        const plan = (0, planning_1.bfsPlan)(problem);
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        const p = plan;
+        (0, vitest_1.expect)(p.length).toBe(1);
+        const step0 = p.actions[0];
+        if (!step0)
+            return;
+        (0, vitest_1.expect)(step0.action.name).toBe('stack');
+        (0, vitest_1.expect)(step0.bindings['?x']).toBe('a');
+        (0, vitest_1.expect)(step0.bindings['?y']).toBe('b');
+    });
+});
+(0, vitest_1.describe)('planning — BFS blocks world stack invertida', () => {
+    (0, vitest_1.it)('A sobre B sobre C → C sobre B sobre A (plan multi-step)', () => {
+        // Estado inicial: pila a-b-c (a arriba), c en mesa.
+        // Goal: pila c-b-a (c arriba), a en mesa.
+        const initial = ['on(a,b)', 'on(b,c)', 'on-table(c)', 'clear(a)', 'arm-empty'];
+        const goal = ['on(c,b)', 'on(b,a)', 'on-table(a)'];
+        const problem = blocksProblem(initial, goal);
+        const plan = (0, planning_1.bfsPlan)(problem, { maxDepth: 12 });
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        const p = plan;
+        (0, vitest_1.expect)(p.length).toBeGreaterThan(1);
+        // Validamos ejecutando el plan desde el inicial.
+        let state = new Set(initial);
+        for (const step of p.actions) {
+            const g = (0, planning_1.ground)(step.action, step.bindings);
+            (0, vitest_1.expect)((0, planning_1.preconditionsSatisfied)(state, g.preconditions)).toBe(true);
+            state = (0, planning_1.applyAction)(state, g);
+        }
+        (0, vitest_1.expect)((0, planning_1.goalSatisfied)(state, new Set(goal))).toBe(true);
+    });
+});
+(0, vitest_1.describe)('planning — BFS goal ya satisfecho', () => {
+    (0, vitest_1.it)('plan vacío cuando goal ⊆ initialState', () => {
+        const problem = blocksProblem(['on-table(a)', 'clear(a)', 'arm-empty'], ['on-table(a)']);
+        const plan = (0, planning_1.bfsPlan)(problem);
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        (0, vitest_1.expect)(plan.length).toBe(0);
+        (0, vitest_1.expect)(plan.cost).toBe(0);
+    });
+});
+(0, vitest_1.describe)('planning — BFS imposible', () => {
+    (0, vitest_1.it)('null cuando no hay acciones aplicables que lleven al goal', () => {
+        // Sin acciones, goal ≠ initial → null.
+        const problem = {
+            predicates: ['p'],
+            objects: { o: ['a'] },
+            actions: [],
+            initialState: new Set(['p']),
+            goal: new Set(['q']),
+        };
+        const plan = (0, planning_1.bfsPlan)(problem);
+        (0, vitest_1.expect)(plan).toBeNull();
+    });
+    (0, vitest_1.it)('null cuando el goal es inalcanzable (preconditions nunca se cumplen)', () => {
+        const action = {
+            name: 'needs-magic',
+            parameters: [],
+            preconditions: ['magic'], // nunca presente
+            addList: ['goal-fact'],
+            delList: [],
+        };
+        const problem = {
+            predicates: ['magic', 'goal-fact'],
+            objects: {},
+            actions: [action],
+            initialState: new Set(['p']),
+            goal: new Set(['goal-fact']),
+        };
+        (0, vitest_1.expect)((0, planning_1.bfsPlan)(problem)).toBeNull();
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 5. BFS vs A* — mismo plan length
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — BFS vs A* coherencia', () => {
+    (0, vitest_1.it)('mismo length en blocks-world simple', () => {
+        const initial = ['on-table(a)', 'clear(a)', 'on-table(b)', 'clear(b)', 'arm-empty'];
+        const goal = ['on(a,b)'];
+        const problem = blocksProblem(initial, goal);
+        const bfs = (0, planning_1.bfsPlan)(problem);
+        const astar = (0, planning_1.aStarPlan)(problem);
+        (0, vitest_1.expect)(bfs).not.toBeNull();
+        (0, vitest_1.expect)(astar).not.toBeNull();
+        (0, vitest_1.expect)(bfs.length).toBe(astar.length);
+    });
+    (0, vitest_1.it)('mismo length en problema más profundo', () => {
+        const initial = ['on(a,b)', 'on-table(b)', 'clear(a)', 'arm-empty'];
+        const goal = ['on(b,a)'];
+        const problem = blocksProblem(initial, goal, ['a', 'b']);
+        const bfs = (0, planning_1.bfsPlan)(problem, { maxDepth: 10 });
+        const astar = (0, planning_1.aStarPlan)(problem, { maxDepth: 10 });
+        (0, vitest_1.expect)(bfs).not.toBeNull();
+        (0, vitest_1.expect)(astar).not.toBeNull();
+        (0, vitest_1.expect)(bfs.length).toBe(astar.length);
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 6. Heurísticas
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — goalCountHeuristic', () => {
+    (0, vitest_1.it)('cuenta hechos faltantes', () => {
+        (0, vitest_1.expect)((0, planning_1.goalCountHeuristic)(new Set(['a']), new Set(['a', 'b', 'c']))).toBe(2);
+        (0, vitest_1.expect)((0, planning_1.goalCountHeuristic)(new Set(['a', 'b', 'c']), new Set(['a']))).toBe(0);
+    });
+});
+(0, vitest_1.describe)('planning — fastForwardHeuristic', () => {
+    (0, vitest_1.it)('0 cuando goal ya satisfecho', () => {
+        const h = (0, planning_1.fastForwardHeuristic)(new Set(['a', 'b']), new Set(['a']), []);
+        (0, vitest_1.expect)(h).toBe(0);
+    });
+    (0, vitest_1.it)('Infinity cuando no hay forma de alcanzar el goal', () => {
+        // Sin acciones que produzcan 'q'.
+        const h = (0, planning_1.fastForwardHeuristic)(new Set(['a']), new Set(['q']), []);
+        (0, vitest_1.expect)(h).toBe(Infinity);
+    });
+    (0, vitest_1.it)('aproxima la distancia en niveles', () => {
+        // Cadena a → b → c → d. Inicial: {a}. Goal: {d}.
+        const actions = [
+            { name: 'a2b', parameters: [], preconditions: ['a'], addList: ['b'], delList: ['a'] },
+            { name: 'b2c', parameters: [], preconditions: ['b'], addList: ['c'], delList: ['b'] },
+            { name: 'c2d', parameters: [], preconditions: ['c'], addList: ['d'], delList: ['c'] },
+        ];
+        const h = (0, planning_1.fastForwardHeuristic)(new Set(['a']), new Set(['d']), actions);
+        // Sin delete-list: cada nivel añade el siguiente. d aparece en nivel 3.
+        (0, vitest_1.expect)(h).toBe(3);
+    });
+    (0, vitest_1.it)('makeFFHeuristic guía A* a una solución', () => {
+        const initial = ['on-table(a)', 'clear(a)', 'on-table(b)', 'clear(b)', 'arm-empty'];
+        const goal = ['on(a,b)'];
+        const problem = blocksProblem(initial, goal);
+        const heuristic = (0, planning_1.makeFFHeuristic)(problem);
+        const plan = (0, planning_1.aStarPlan)(problem, { heuristic });
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        (0, vitest_1.expect)(plan.length).toBeGreaterThan(0);
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 7. A* con costos variables
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — A* con costFunction', () => {
+    (0, vitest_1.it)('prefiere camino más barato aunque tenga más pasos', () => {
+        // Dominio juguete: del estado {s} al goal {g} por dos caminos:
+        //   - cheap1; cheap2; cheap3 (cada uno cuesta 1, total 3)
+        //   - heavy           (un paso, costo 100)
+        // A* con cost variable debe preferir la cadena de 3 pasos.
+        const actions = [
+            { name: 'cheap1', parameters: [], preconditions: ['s'], addList: ['t1'], delList: ['s'] },
+            { name: 'cheap2', parameters: [], preconditions: ['t1'], addList: ['t2'], delList: ['t1'] },
+            { name: 'cheap3', parameters: [], preconditions: ['t2'], addList: ['g'], delList: ['t2'] },
+            { name: 'heavy', parameters: [], preconditions: ['s'], addList: ['g'], delList: ['s'] },
+        ];
+        const problem = {
+            predicates: ['s', 't1', 't2', 'g'],
+            objects: {},
+            actions,
+            initialState: new Set(['s']),
+            goal: new Set(['g']),
+        };
+        const costFunction = (step) => step.action.name === 'heavy' ? 100 : 1;
+        const plan = (0, planning_1.aStarPlan)(problem, { costFunction });
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        const p = plan;
+        (0, vitest_1.expect)(p.cost).toBe(3);
+        (0, vitest_1.expect)(p.length).toBe(3);
+    });
+});
+// ──────────────────────────────────────────────────────────────
+// 8. Plan ejecutable end-to-end
+// ──────────────────────────────────────────────────────────────
+(0, vitest_1.describe)('planning — plan ejecutable paso a paso', () => {
+    (0, vitest_1.it)('cada acción del plan es aplicable y lleva al goal', () => {
+        const initial = ['on-table(a)', 'clear(a)', 'on-table(b)', 'clear(b)', 'arm-empty'];
+        const goal = ['on(a,b)'];
+        const problem = blocksProblem(initial, goal);
+        const plan = (0, planning_1.aStarPlan)(problem, { heuristic: (0, planning_1.makeFFHeuristic)(problem) });
+        (0, vitest_1.expect)(plan).not.toBeNull();
+        const p = plan;
+        let state = new Set(initial);
+        for (const step of p.actions) {
+            const g = (0, planning_1.ground)(step.action, step.bindings);
+            (0, vitest_1.expect)((0, planning_1.preconditionsSatisfied)(state, g.preconditions)).toBe(true);
+            state = (0, planning_1.applyAction)(state, g);
+        }
+        (0, vitest_1.expect)((0, planning_1.goalSatisfied)(state, new Set(goal))).toBe(true);
+    });
+});
+//# sourceMappingURL=planning.test.js.map

package/dist/tests/planning/planning.test.js.map

@@ -0,0 +1 @@
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package/dist/tests/profile-bridge/translations.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=translations.test.d.ts.map

package/dist/tests/profile-bridge/translations.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"translations.test.d.ts","sourceRoot":"","sources":["../../../src/tests/profile-bridge/translations.test.ts"],"names":[],"mappings":""}