From 3d2d15049438d89b17aa8a54dd83cb290494226b Mon Sep 17 00:00:00 2001
From: Enrico Scala <enrico@192.168.1.4>
Date: Wed, 16 Oct 2024 09:34:02 +0200
Subject: [PATCH] Added a test for processes and events parsing

---
 unified_planning/model/problem.py        |  2 ++
 unified_planning/test/pddl/car_nl/d.pddl | 11 +++++++++++
 unified_planning/test/pddl/car_nl/p.pddl |  1 -
 unified_planning/test/test_pddl_io.py    | 11 +++++++++++
 4 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/unified_planning/model/problem.py b/unified_planning/model/problem.py
index f6df3b520..d6fcd6750 100644
--- a/unified_planning/model/problem.py
+++ b/unified_planning/model/problem.py
@@ -180,6 +180,8 @@ def __eq__(self, oth: object) -> bool:
             return False
         if set(self._actions) != set(oth._actions):
             return False
+        if set(self.processes) != set(oth.processes):
+            return False
         if set(self._trajectory_constraints) != set(oth._trajectory_constraints):
             return False
 
diff --git a/unified_planning/test/pddl/car_nl/d.pddl b/unified_planning/test/pddl/car_nl/d.pddl
index a262c7c37..256173351 100644
--- a/unified_planning/test/pddl/car_nl/d.pddl
+++ b/unified_planning/test/pddl/car_nl/d.pddl
@@ -42,6 +42,7 @@
                 )
     )
 
+    
 
     (:action decelerate
         :parameters ()
@@ -69,5 +70,15 @@
                     (decrease (v)  (* #t (* (* (v) (v)) (drag_coefficient)  ) )  )  ;; velocity changes because of the acceleration
         )
     )
+    (:event velocity_check
+        :parameters ()
+        :precondition (and
+            (> (v) 100000 )
+        )
+        :effect (and
+            (engine_stopped)
+        )
+    )
+    
 
 )
diff --git a/unified_planning/test/pddl/car_nl/p.pddl b/unified_planning/test/pddl/car_nl/p.pddl
index 17ee7dc92..452c4788d 100644
--- a/unified_planning/test/pddl/car_nl/p.pddl
+++ b/unified_planning/test/pddl/car_nl/p.pddl
@@ -11,7 +11,6 @@
 	(= (max_acceleration) 1)
 	(= (min_acceleration) -1)
 	(= (drag_coefficient) 0.1)
-	(= (max_speed) 10.0)
   )
 
   (:goal
diff --git a/unified_planning/test/test_pddl_io.py b/unified_planning/test/test_pddl_io.py
index 6ee9fa2cb..48bdcff6c 100644
--- a/unified_planning/test/test_pddl_io.py
+++ b/unified_planning/test/test_pddl_io.py
@@ -425,7 +425,18 @@ def test_sailing_reader(self):
 
         problem_2 = reader.parse_problem_string(domain_str, problem_str)
         self.assertEqual(problem, problem_2)
+    def test_non_linear_car(self):
+        reader = PDDLReader()
+
+        domain_filename = os.path.join(PDDL_DOMAINS_PATH, "car_nl", "d.pddl")
+        problem_filename = os.path.join(PDDL_DOMAINS_PATH, "car_nl", "p.pddl")
+        problem = reader.parse_problem(domain_filename, problem_filename)
 
+        self.assertTrue(problem is not None)
+        self.assertEqual(len(problem.fluents), 8)
+        self.assertEqual(len(list([ele for ele in problem.actions if isinstance(ele,Process)])), 3)
+        self.assertEqual(len(list([ele for ele in problem.actions if isinstance(ele,Event)])),1)
+        
     def test_matchcellar_reader(self):
         reader = PDDLReader()