Update precommit configurations and testing suite (#46)

.github/workflows/main.yml

@@ -3,14 +3,31 @@ name: Main Workflow
 on: [push]
 
 jobs:
+  basic_checks:
+    runs-on: ubuntu-latest
+    name: Basic Checks
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.8"
+
+      - name: Precommit checks
+        uses: pre-commit/action@v3.0.1
+
   build:
     runs-on: ubuntu-20.04
+    name: Build & Test
 
     steps:
       - uses: actions/checkout@v3
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: "3.8"
 
@@ -19,22 +36,5 @@ jobs:
           python3 -m pip install --upgrade pip
           python3 -m pip install -e ".[engines]"
 
-      - name: Install dependencies
-        run: |
-          python3 -m pip install --upgrade pip
-          python3 -m pip install black mypy pylint isort pytest
-
-      - name: Check formatting with Black
-        run: python3 -m black --check . --config pyproject.toml
-
-      - name: Check types with MyPy
-        run: python3 -m mypy up_esb/ --config-file pyproject.toml --ignore-missing-imports
-
-      - name: Check code quality with Pylint
-        run: python3 -m pylint up_esb/ --rcfile pyproject.toml --fail-under=8.0
-
-      - name: Check imports with isort
-        run: python3 -m isort --check-only . --settings-path pyproject.toml
-
       - name: Run tests with pytest
         run: python3 -m pytest -v tests/

.pre-commit-config.yaml

@@ -9,7 +9,7 @@ repos:
       - id: end-of-file-fixer
       - id: trailing-whitespace
   - repo: https://github.com/psf/black
-    rev: 23.11.0
+    rev: 24.3.0
     hooks:
       - id: black
         args: [--config=pyproject.toml]
@@ -26,14 +26,14 @@ repos:
             --disable=import-error,
           ]
   - repo: https://github.com/pycqa/isort
-    rev: 5.12.0
+    rev: 5.13.2
     hooks:
       - id: isort
         files: "\\.(py)$"
         args: [--settings-path=pyproject.toml]
 
   - repo: https://github.com/pre-commit/mirrors-mypy
-    rev: "v1.7.1" # Use the sha / tag you want to point at
+    rev: "v1.9.0" # Use the sha / tag you want to point at
     hooks:
       - id: mypy
         files: "up_esb/.*\\.py$"

setup.py

@@ -1,4 +1,5 @@
 """Setup script for the package."""
+
 #!/usr/bin/env python
 import setuptools
 

tests/__init__.py

@@ -85,7 +85,7 @@ def get_example_plans() -> Union[List[SequentialPlan], List[TimeTriggeredPlan]]:
     plans = {}
     for element in example_problems:
         if element in available_plans:
-            plans[element] = example_problems[element].plan
+            plans[element] = example_problems[element].valid_plans[-1]
 
     return plans
 

tests/test_graph.py

@@ -19,7 +19,6 @@
 from unified_planning.plans.partial_order_plan import PartialOrderPlan
 from unified_planning.shortcuts import *  # pylint: disable=unused-wildcard-import
 from unified_planning.test.examples import get_example_problems
-from unified_planning.test.examples.realistic import get_example_problems
 
 from up_esb.components.graph import plan_to_dependency_graph
 
@@ -29,7 +28,8 @@
 class TestPartialOrderPlanGeneration(unittest.TestCase):
     def test_partial_order_plan_to_dependency_graph(self):
         example_problems = get_example_problems()
-        problem, plan = example_problems["robot_fluent_of_user_type"]
+        problem = example_problems["robot_fluent_of_user_type"].problem
+        plan = example_problems["robot_fluent_of_user_type"].valid_plans[-1]
         pop = plan.convert_to(PlanKind.PARTIAL_ORDER_PLAN, problem)
         assert isinstance(pop, PartialOrderPlan)
         dep_graph = plan_to_dependency_graph(pop)
@@ -44,16 +44,19 @@ class TestSequentialPlanTranslation(unittest.TestCase):
     def test_simple_translation(self):
         problems = get_example_problems()
 
-        for _, plan in problems.values():
-            if isinstance(plan, SequentialPlan):
-                dep_graph = plan_to_dependency_graph(plan)
-                actions = ["start"] + [str(action) for action in plan.actions] + ["end"]
-                graph_actions = []
-                for node in dep_graph.nodes(data=True):
-                    graph_actions.append(node[1]["node_name"])
+        for test_case in problems.values():
+            if not test_case.valid_plans:
+                continue
+            for plan in test_case.valid_plans:
+                if isinstance(plan, SequentialPlan):
+                    dep_graph = plan_to_dependency_graph(plan)
+                    actions = ["start"] + [str(action) for action in plan.actions] + ["end"]
+                    graph_actions = []
+                    for node in dep_graph.nodes(data=True):
+                        graph_actions.append(node[1]["node_name"])
 
-                # Check if all actions are ordered correctly
-                self.assertEqual(actions, graph_actions)
+                    # Check if all actions are ordered correctly
+                    self.assertEqual(actions, graph_actions)
 
     def test_special_cases(self):
         """Test translation for special cases."""
@@ -98,18 +101,27 @@ class TestTimeTriggeredPlanTrasnslation(unittest.TestCase):
     def test_simple_translation(self):
         problems = get_example_problems()
 
-        for _, plan in problems.values():
-            if isinstance(plan, TimeTriggeredPlan):
-                dep_graph = plan_to_dependency_graph(plan)
-                actions = ["start"] + [str(action) for _, action, _ in plan.timed_actions] + ["end"]
-                graph_actions = []
-                for node in dep_graph.nodes(data=True):
-                    node_name = node[1]["node_name"]
-                    if node_name not in ["start", "end"]:
-                        node_name = node[1]["node_name"].split(")")[0] + ")"
-                    graph_actions.append(node_name)
-
-                self.assertEqual(actions, graph_actions)
+        for test_case in problems.values():
+            if not test_case.valid_plans:
+                continue
+
+            for plan in test_case.valid_plans:
+                if isinstance(plan, TimeTriggeredPlan):
+                    dep_graph = plan_to_dependency_graph(plan)
+                    actions = (
+                        ["start"] + [str(action) for _, action, _ in plan.timed_actions] + ["end"]
+                    )
+                    graph_actions = []
+                    for node in dep_graph.nodes(data=True):
+                        node_name = node[1]["node_name"]
+                        if node_name not in ["start", "end"]:
+                            node_name = node[1]["node_name"].split(")")[0]
+                            # FIXME: This is a hack to remove the time from the action name
+                            if "(" in node_name:
+                                node_name += ")"
+                        graph_actions.append(node_name)
+
+                    self.assertEqual(actions, graph_actions)
 
     def test_special_cases(self):
         Location = UserType("Location")

up_esb/bridge.py

@@ -169,11 +169,15 @@ def create_fluent(
         assert name not in self._fluents, f"Fluent {name} already exists!"
         self._fluents[name] = Fluent(
             name,
-            self.get_type(result_api_type)
-            if result_api_type
-            else self.get_type(signature["return"])
-            if signature and "return" in signature.keys()
-            else BoolType(),
+            (
+                self.get_type(result_api_type)
+                if result_api_type
+                else (
+                    self.get_type(signature["return"])
+                    if signature and "return" in signature.keys()
+                    else BoolType()
+                )
+            ),
             OrderedDict(
                 (parameter_name, self.get_type(api_type))
                 for parameter_name, api_type in (

up_esb/components/graph.py

@@ -159,9 +159,13 @@ def _time_triggered_plan_to_dependency_graph(plan: TimeTriggeredPlan) -> nx.DiGr
             duration = 0.0
         parameters, preconditions, postconditions = _process_action(action)
 
+        # TODO: Check this logic with respect to UP
+        node_name = f"{str(action)}({duration})"
+        if duration <= 1.0:
+            node_name = str(action)
         dependency_graph.add_node(
             child_id,
-            node_name=f"{str(action)}({duration})",
+            node_name=node_name,
             action=action.action.name,
             parameters=parameters,
             preconditions=preconditions,

up_esb/exceptions.py

@@ -1,4 +1,5 @@
 """Exceptions for the execution module"""
+
 from up_esb.execution import ActionResult
 from up_esb.status import ActionNodeStatus, ConditionStatus
 

up_esb/execution/executor.py

@@ -1,4 +1,5 @@
 """Executor for executing tasks."""
+
 from threading import Condition, Lock, Thread
 from typing import NamedTuple
 

up_esb/status.py

@@ -1,4 +1,5 @@
 """Status Enum for up_esb"""
+
 from enum import Enum, auto