Headlamp

XPlanning/data/mobilerobot/maps/GHC7-map0.json

@@ -548,5 +548,22 @@
       "to-id": "L22",
       "from-id": "L18"
     }
-  ]
+  ],
+  "lighting": [
+	{
+		"dark": true,
+		"to-id": "L22",
+		"from-id": "L18"	
+	},
+	{
+		"dark": true,
+		"to-id": "L21",
+		"from-id": "L17"
+	},
+	{
+		"dark": true,
+		"to-id": "L24",
+		"from-id": "L27"
+	}
+	]
 }

XPlanning/data/mobilerobot/missions/mission0.json

@@ -24,7 +24,7 @@
 		"objective": "energyConsumption",
 		"scaling-const": 0.3,
 		"min-step-value": 0.0,
-		"max-step-value": 2525
+		"max-step-value": 4185.0
 	}
   ],
   "start-id": "L1"

XPlanning/src/examples/mobilerobot/demo/MobileRobotXMDPLoader.java

@@ -18,12 +18,14 @@
 import examples.mobilerobot.dsm.Mission;
 import examples.mobilerobot.dsm.MobileRobotXMDPBuilder;
 import examples.mobilerobot.dsm.parser.AreaParser;
+import examples.mobilerobot.dsm.parser.DarknessParser;
 import examples.mobilerobot.dsm.parser.IEdgeAttributeParser;
 import examples.mobilerobot.dsm.parser.INodeAttributeParser;
 import examples.mobilerobot.dsm.parser.MapTopologyReader;
 import examples.mobilerobot.dsm.parser.MissionReader;
 import examples.mobilerobot.dsm.parser.OcclusionParser;
 import examples.mobilerobot.models.Area;
+import examples.mobilerobot.models.Darkness;
 import examples.mobilerobot.models.Occlusion;
 import language.exceptions.XMDPException;
 import language.mdp.XMDP;
@@ -44,15 +46,18 @@ public MobileRobotXMDPLoader(File mapsJsonDir) {
 		mMapsJsonDir = mapsJsonDir;
 		AreaParser areaParser = new AreaParser();
 		OcclusionParser occlusionParser = new OcclusionParser();
+		DarknessParser darknessParser = new DarknessParser();
 		Set<INodeAttributeParser<? extends INodeAttribute>> nodeAttributeParsers = new HashSet<>();
 		nodeAttributeParsers.add(areaParser);
 		Set<IEdgeAttributeParser<? extends IEdgeAttribute>> edgeAttributeParsers = new HashSet<>();
 		edgeAttributeParsers.add(occlusionParser);
+		edgeAttributeParsers.add(darknessParser);
 		mMapReader = new MapTopologyReader(nodeAttributeParsers, edgeAttributeParsers);
 
 		// Default node/edge attribute values
 		mDefaultNodeAttributes.put(areaParser.getAttributeName(), DEFAULT_AREA);
 		mDefaultEdgeAttributes.put(occlusionParser.getAttributeName(), DEFAULT_OCCLUSION);
+		mDefaultEdgeAttributes.put(darknessParser.getAttributeName(), Darkness.LIGHT);
 	}
 
 	@Override

XPlanning/src/examples/mobilerobot/dsm/MobileRobotXMDPBuilder.java

@@ -16,13 +16,17 @@
 import examples.mobilerobot.metrics.TravelTimeDomain;
 import examples.mobilerobot.metrics.TravelTimeQFunction;
 import examples.mobilerobot.models.Area;
+import examples.mobilerobot.models.Darkness;
 import examples.mobilerobot.models.Distance;
+import examples.mobilerobot.models.HeadlampActionDescription;
+import examples.mobilerobot.models.HeadlampState;
 import examples.mobilerobot.models.Location;
 import examples.mobilerobot.models.MoveToAction;
 import examples.mobilerobot.models.Occlusion;
 import examples.mobilerobot.models.RobotLocationActionDescription;
 import examples.mobilerobot.models.RobotSpeed;
 import examples.mobilerobot.models.RobotSpeedActionDescription;
+import examples.mobilerobot.models.SetHeadlampAction;
 import examples.mobilerobot.models.SetSpeedAction;
 import language.domain.metrics.CountQFunction;
 import language.domain.metrics.EventBasedMetric;
@@ -78,6 +82,20 @@ public class MobileRobotXMDPBuilder {
 	// SetSpeed action definition
 	private ActionDefinition<SetSpeedAction> setSpeedDef = new ActionDefinition<>("setSpeed", setSpeedHalf,
 			setSpeedFull);
+
+	// --- Headlamp setting --- //
+	private HeadlampState headlampOn = new HeadlampState(true);
+	private HeadlampState headlampOff = new HeadlampState(false);
+
+	// Robot's headlamp state variable
+	private StateVarDefinition<HeadlampState> rHeadlampDef = new StateVarDefinition<>("rHeadlamp", headlampOn, headlampOff);
+
+	// Headlamp-setting actions
+	private SetHeadlampAction setHeadlampOff = new SetHeadlampAction(rHeadlampDef.getStateVar(headlampOff));
+	private SetHeadlampAction setHeadlampOn = new SetHeadlampAction(rHeadlampDef.getStateVar(headlampOn));
+
+	// SetHeadlamp action defintion
+	private ActionDefinition<SetHeadlampAction> setHeadlampDef = new ActionDefinition<>("setHeadlamp", setHeadlampOff, setHeadlampOn);
 	// ------ //
 
 	// --- QA functions --- //
@@ -130,6 +148,7 @@ private StateSpace buildStateSpace(MapTopology map) throws NodeAttributeNotFound
 		StateSpace stateSpace = new StateSpace();
 		stateSpace.addStateVarDefinition(rLocDef);
 		stateSpace.addStateVarDefinition(rSpeedDef);
+		stateSpace.addStateVarDefinition(rHeadlampDef);
 		return stateSpace;
 	}
 
@@ -139,24 +158,29 @@ private ActionSpace buildActionSpace(MapTopology map) throws MapTopologyExceptio
 
 		// Assume that all locations are reachable
 		for (Location locDest : rLocDef.getPossibleValues()) {
-			MoveToAction moveTo = new MoveToAction(rLocDef.getStateVar(locDest));
-
-			// Derived attributes for each move action are obtained from edges in the map
-			LocationNode node = map.lookUpLocationNode(locDest.getId());
-			Set<Connection> connections = map.getConnections(node);
-			for (Connection conn : connections) {
-				Location locSrc = mLocMap.get(conn.getOtherNode(node));
-
-				// Distance
-				Distance distance = new Distance(conn.getDistance());
-				moveTo.putDistanceValue(distance, rLocDef.getStateVar(locSrc));
-
-				// Occlusion
-				Occlusion occlusion = conn.getConnectionAttribute(Occlusion.class, "occlusion");
-				moveTo.putOcclusionValue(occlusion, rLocDef.getStateVar(locSrc));
+			for (HeadlampState hlState : rHeadlampDef.getPossibleValues()) {
+				MoveToAction moveTo = new MoveToAction(rLocDef.getStateVar(locDest), rHeadlampDef.getStateVar(hlState));
+
+				// Derived attributes for each move action are obtained from edges in the map
+				LocationNode node = map.lookUpLocationNode(locDest.getId());
+				Set<Connection> connections = map.getConnections(node);
+				for (Connection conn : connections) {
+					Location locSrc = mLocMap.get(conn.getOtherNode(node));
+
+					// Distance
+					Distance distance = new Distance(conn.getDistance());
+					moveTo.putDistanceValue(distance, rLocDef.getStateVar(locSrc));
+
+					// Occlusion
+					Occlusion occlusion = conn.getConnectionAttribute(Occlusion.class, "occlusion");
+					moveTo.putOcclusionValue(occlusion, rLocDef.getStateVar(locSrc));
+
+					Darkness darkness = conn.getConnectionAttribute(Darkness.class, "lighting");
+					moveTo.putDarknessValue(darkness, rLocDef.getStateVar(locSrc));
+				}
+
+				moveTos.add(moveTo);
 			}
-
-			moveTos.add(moveTo);
 		}
 
 		// MoveTo action definition
@@ -165,6 +189,7 @@ private ActionSpace buildActionSpace(MapTopology map) throws MapTopologyExceptio
 		ActionSpace actionSpace = new ActionSpace();
 		actionSpace.addActionDefinition(moveToDef);
 		actionSpace.addActionDefinition(setSpeedDef);
+		actionSpace.addActionDefinition(setHeadlampDef);
 		return actionSpace;
 	}
 
@@ -173,6 +198,7 @@ private StateVarTuple buildInitialState(LocationNode startNode) {
 		StateVarTuple initialState = new StateVarTuple();
 		initialState.addStateVar(rLocDef.getStateVar(loc));
 		initialState.addStateVar(rSpeedDef.getStateVar(DEFAULT_SPEED));
+		initialState.addStateVar(rHeadlampDef.getStateVar(headlampOff));
 		return initialState;
 	}
 
@@ -182,6 +208,10 @@ private StateVarTuple buildGoal(LocationNode goalNode) {
 		goal.addStateVar(rLocDef.getStateVar(loc));
 		return goal;
 	}
+
+	private boolean isDark(Connection conn) throws MapTopologyException{
+		return conn.getConnectionAttribute(Darkness.class, "lighting") == Darkness.DARK;
+	}
 
 	private TransitionFunction buildTransitionFunction(MapTopology map) throws XMDPException, MapTopologyException {
 		// MoveTo:
@@ -190,19 +220,23 @@ private TransitionFunction buildTransitionFunction(MapTopology map) throws XMDPE
 
 		for (MoveToAction moveTo : moveToDef.getActions()) {
 			Location locDest = moveTo.getDestination();
+			HeadlampState hlState = moveTo.getHeadlampState();
 
 			// Source location for each move action from the map
 			LocationNode node = map.lookUpLocationNode(locDest.getId());
 			Set<Connection> connections = map.getConnections(node);
 			for (Connection conn : connections) {
 				Location locSrc = mLocMap.get(conn.getOtherNode(node));
 				preMoveTo.add(moveTo, rLocDef, locSrc);
+				if (isDark(conn) && !hlState.getValue()) {
+					preMoveTo.add(moveTo, rHeadlampDef, headlampOn);
+				}
 			}
 		}
 
 		// Action description for rLoc
 		RobotLocationActionDescription rLocActionDesc = new RobotLocationActionDescription(moveToDef, preMoveTo,
-				rLocDef);
+				rLocDef, rHeadlampDef);
 
 		// PSO
 		FactoredPSO<MoveToAction> moveToPSO = new FactoredPSO<>(moveToDef, preMoveTo);
@@ -217,14 +251,28 @@ private TransitionFunction buildTransitionFunction(MapTopology map) throws XMDPE
 		// Action description for rSpeed
 		RobotSpeedActionDescription rSpeedActionDesc = new RobotSpeedActionDescription(setSpeedDef, preSetSpeed,
 				rSpeedDef);
-
+		
 		// PSO
 		FactoredPSO<SetSpeedAction> setSpeedPSO = new FactoredPSO<>(setSpeedDef, preSetSpeed);
 		setSpeedPSO.addActionDescription(rSpeedActionDesc);
+
+		// SetHeadlamp
+		// Precondition
+		Precondition<SetHeadlampAction> preSetHeadlamp = new Precondition<>(setHeadlampDef);
+		preSetHeadlamp.add(setHeadlampOn, rHeadlampDef, headlampOff);
+		preSetHeadlamp.add(setHeadlampOff, rHeadlampDef, headlampOn);
+
+		// Action description for rHeadlamp
+		HeadlampActionDescription rHeadlampActionDesc = new HeadlampActionDescription(setHeadlampDef, preSetHeadlamp, rHeadlampDef);
+
+		// PSO
+		FactoredPSO<SetHeadlampAction> setHeadlampPSO = new FactoredPSO<>(setHeadlampDef, preSetHeadlamp);
+		setHeadlampPSO.addActionDescription(rHeadlampActionDesc);
 
 		TransitionFunction transFunction = new TransitionFunction();
 		transFunction.add(moveToPSO);
 		transFunction.add(setSpeedPSO);
+		transFunction.add(setHeadlampPSO);
 		return transFunction;
 	}
 
@@ -256,9 +304,10 @@ private QSpace buildQFunctions() {
 				metric);
 
 		// Energy Consumption
-		EnergyConsumptionDomain energyDomain = new EnergyConsumptionDomain(rLocDef, rSpeedDef, moveToDef);
+		EnergyConsumptionDomain energyDomain = new EnergyConsumptionDomain(rLocDef, rSpeedDef, rHeadlampDef, moveToDef);
 		EnergyConsumptionQFunction energyQFunction = new EnergyConsumptionQFunction(energyDomain);
-
+
+
 		QSpace qSpace = new QSpace();
 		qSpace.addQFunction(timeQFunction);
 		qSpace.addQFunction(collisionQFunction);

XPlanning/src/examples/mobilerobot/dsm/parser/DarknessParser.java

@@ -0,0 +1,25 @@
+package examples.mobilerobot.dsm.parser;
+
+import org.json.simple.JSONObject;
+
+import examples.mobilerobot.models.Darkness;
+
+public class DarknessParser implements IEdgeAttributeParser<Darkness> {
+
+	@Override
+	public String getAttributeName() {
+		return "lighting";
+	}
+
+	@Override
+	public String getJSONObjectKey() {
+		return "lighting";
+	}
+
+	@Override
+	public Darkness parseAttribute(JSONObject edgeObject) {
+		Boolean dark = (Boolean )edgeObject.getOrDefault("dark", false);
+		return dark ? Darkness.DARK : Darkness.LIGHT;
+	}
+
+}

XPlanning/src/examples/mobilerobot/metrics/EnergyConsumptionDomain.java

@@ -1,44 +1,52 @@
 package examples.mobilerobot.metrics;
 
+import examples.mobilerobot.models.HeadlampState;
 import examples.mobilerobot.models.Location;
 import examples.mobilerobot.models.MoveToAction;
 import examples.mobilerobot.models.RobotSpeed;
 import language.domain.metrics.TransitionStructure;
 import language.domain.models.ActionDefinition;
 import language.domain.models.StateVarDefinition;
+
 /**
  * Defines the domain for the energy quality domain
  * 
- * The energy consumption quality is calculated based on the robot's location and speed,
- * gets information from the MoveToAction, and effects the robot's location (because MoveToAction does)
+ * The energy consumption quality is calculated based on the robot's location and speed, gets information from the
+ * MoveToAction, and effects the robot's location (because MoveToAction does)
  * 
  *
  */
 public class EnergyConsumptionDomain extends TransitionStructure<MoveToAction> {
 
-
 	private StateVarDefinition<Location> mrLocDef;
 	private StateVarDefinition<RobotSpeed> mrSpeedDef;
+	private StateVarDefinition<HeadlampState> mrHeadlampDef;
 
 	public EnergyConsumptionDomain(StateVarDefinition<Location> rLocDef, StateVarDefinition<RobotSpeed> rSpeedDef,
-			ActionDefinition<MoveToAction> moveToDef) {
-		
+			StateVarDefinition<HeadlampState> rHeadlampDef, ActionDefinition<MoveToAction> moveToDef) {
+
 		this.mrLocDef = rLocDef;
 		this.mrSpeedDef = rSpeedDef;
+		this.mrHeadlampDef = rHeadlampDef;
 		addSrcStateVarDef(rLocDef);
 		addSrcStateVarDef(rSpeedDef);
-
+		addSrcStateVarDef(rHeadlampDef);
+
 		setActionDef(moveToDef);
-		
+
 		addDestStateVarDef(rLocDef);
 	}
-	
+
 	public StateVarDefinition<Location> getLocationStateVar() {
 		return mrLocDef;
 	}
-	
+
 	public StateVarDefinition<RobotSpeed> getSpeedStateVar() {
 		return mrSpeedDef;
 	}
+
+	public StateVarDefinition<HeadlampState> getHeadlampStateVar() {
+		return mrHeadlampDef;
+	}
 
 }

XPlanning/src/examples/mobilerobot/metrics/EnergyConsumptionQFunction.java

@@ -1,6 +1,7 @@
 package examples.mobilerobot.metrics;
 
 import examples.mobilerobot.models.Distance;
+import examples.mobilerobot.models.HeadlampState;
 import examples.mobilerobot.models.Location;
 import examples.mobilerobot.models.MoveToAction;
 import examples.mobilerobot.models.RobotSpeed;
@@ -24,6 +25,7 @@ public class EnergyConsumptionQFunction implements IStandardMetricQFunction<Move
 
 	public static final double BASE_DISCHARGE_RATE = 20.0;
 	public static final double SPEED_INCREASE_DISCHARGE_RATE = 1.5;
+	public static final double HEADLAMP_DISCHARGE_RATE = 20.0;
 
 	private EnergyConsumptionDomain mDomain;
 
@@ -52,8 +54,13 @@ public double getValue(Transition<MoveToAction, EnergyConsumptionDomain> transit
 
 		RobotSpeed speed = transition.getSrcStateVarValue(RobotSpeed.class, mDomain.getSpeedStateVar());
 
+		// If the headlamp is on, then need to discharge at a higher rate
+		HeadlampState hl = transition.getSrcStateVarValue(HeadlampState.class, mDomain.getHeadlampStateVar());
+
 		double consumption = distance.getDistance() / speed.getSpeed() * 
-				(BASE_DISCHARGE_RATE + speed.getSpeed() * SPEED_INCREASE_DISCHARGE_RATE * 10);
+				(BASE_DISCHARGE_RATE 
+						+ speed.getSpeed() * SPEED_INCREASE_DISCHARGE_RATE * 10
+						+ (hl.getValue() ? HEADLAMP_DISCHARGE_RATE : 0));
 
 		return consumption;
 	}

XPlanning/src/examples/mobilerobot/models/Darkness.java

@@ -0,0 +1,8 @@
+package examples.mobilerobot.models;
+
+import examples.mobilerobot.dsm.IEdgeAttribute;
+import language.domain.models.IActionAttribute;
+
+public enum Darkness implements IEdgeAttribute, IActionAttribute {
+	LIGHT, DARK
+}