V0.8 compat (#11)

* V0.8 compat

* Remove support for Julia 1.0

- fixes #12

* Deprecate current_obs and implement currentobs and history on POWTreeObsNode

* Never hand POWTreeObsNode to actions(m,b)

* Bump version

.travis.yml

@@ -3,8 +3,7 @@ language: julia
 os:
   - linux
 julia:
-  - 0.7
-  - 1.0
+  - 1
 notifications:
   email: false
 # uncomment the following lines to override the default test script

Project.toml

@@ -1,7 +1,7 @@
 name = "POMCPOW"
 uuid = "4c53ee00-974c-466f-8fa5-8dd73959bbab"
 repo = "https://github.com/JuliaPOMDP/POMCPOW.jl"
-version = "0.2.2"
+version = "0.3.0"
 
 [deps]
 BasicPOMCP = "d721219e-3fc6-5570-a8ef-e5402f47c49e"
@@ -18,7 +18,8 @@ Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 
 [compat]
-POMDPs = "< 0.7.3"
+POMDPs = "0.7.3, 0.8"
+julia = "^1.1"
 
 [extras]
 BeliefUpdaters = "8bb6e9a1-7d73-552c-a44a-e5dc5634aac4"

src/POMCPOW.jl

@@ -15,7 +15,7 @@ using POMDPPolicies
 using BasicPOMCP: convert_estimator
 
 import Base: insert!
-import POMDPs: action, solve, mean, rand, updater
+import POMDPs: action, solve, mean, rand, updater, currentobs, history
 import POMDPModelTools: action_info
 
 import MCTS: n_children, next_action, isroot, node_tag, tooltip_tag
@@ -40,7 +40,6 @@ export
     n_children,
     belief,
     sr_belief,
-    current_obs,
     isroot,
 
     POMCPOWVisualizer,

src/beliefs.jl

@@ -18,21 +18,26 @@ end
 
 rand(rng::AbstractRNG, b::POWNodeBelief) = rand(rng, b.dist)
 state_mean(b::POWNodeBelief) = first_mean(b.dist)
+POMDPs.currentobs(b::POWNodeBelief) = b.o
+POMDPs.history(b::POWNodeBelief) = tuple((a=b.a, o=b.o))
+
 
 struct POWNodeFilter end
 
 belief_type(::Type{POWNodeFilter}, ::Type{P}) where {P<:POMDP} = POWNodeBelief{statetype(P), actiontype(P), obstype(P), P}
 
-init_node_sr_belief(::POWNodeFilter, p::POMDP, s, a, sp, o, r) = POWNodeBelief(p, s, a, sp, o, r) 
+init_node_sr_belief(::POWNodeFilter, p::POMDP, s, a, sp, o, r) = POWNodeBelief(p, s, a, sp, o, r)
 
 function push_weighted!(b::POWNodeBelief, ::POWNodeFilter, s, sp, r)
     w = obs_weight(b.model, s, b.a, sp, b.o)
     insert!(b.dist, (sp, convert(Float64, r)), w)
 end
 
-struct StateBelief{SRB}
+struct StateBelief{SRB<:POWNodeBelief}
     sr_belief::SRB
 end
 
 rand(rng::AbstractRNG, b::StateBelief) = first(rand(rng, b.sr_belief))
 mean(b::StateBelief) = state_mean(b.sr_belief)
+POMDPs.currentobs(b::StateBelief) = currentobs(b.sr_belief)
+POMDPs.history(b::StateBelief) = history(b.sr_belief)

src/solver2.jl

@@ -26,7 +26,11 @@ function simulate(pomcp::POMCPOWPlanner, h_node::POWTreeObsNode{B,A,O}, s::S, d)
         end
     else # run through all the actions
         if isempty(tree.tried[h])
-            action_space_iter = POMDPs.actions(pomcp.problem, h_node)
+            if h == 1
+                action_space_iter = POMDPs.actions(pomcp.problem, tree.root_belief)
+            else
+                action_space_iter = POMDPs.actions(pomcp.problem, StateBelief(tree.sr_beliefs[h]))
+            end
             anode = length(tree.n)
             for a in action_space_iter
                 push_anode!(tree, h, a,
@@ -44,7 +48,7 @@ function simulate(pomcp::POMCPOWPlanner, h_node::POWTreeObsNode{B,A,O}, s::S, d)
     new_node = false
     if tree.n_a_children[best_node] <= sol.k_observation*(tree.n[best_node]^sol.alpha_observation)
 
-        sp, o, r = generate_sor(pomcp.problem, s, a, sol.rng)
+        sp, o, r = gen(DDNOut(:sp, :o, :r), pomcp.problem, s, a, sol.rng)
 
         if sol.check_repeat_obs && haskey(tree.a_child_lookup, (best_node,o))
             hao = tree.a_child_lookup[(best_node, o)]
@@ -66,7 +70,7 @@ function simulate(pomcp::POMCPOWPlanner, h_node::POWTreeObsNode{B,A,O}, s::S, d)
         push!(tree.generated[best_node], o=>hao)
     else
 
-        sp, r = generate_sr(pomcp.problem, s, a, sol.rng)
+        sp, r = gen(DDNOut(:sp, :r), pomcp.problem, s, a, sol.rng)
 
     end
 

src/tree.jl

@@ -59,14 +59,7 @@ struct POWTreeObsNode{B,A,O,RB} <: BeliefNode
 end
 
 isroot(h::POWTreeObsNode) = h.node==1
-function current_obs(h::POWTreeObsNode)
-    if isroot(h)
-        error("Tried to access the observation for the root node in a POMCPOW tree")
-    else
-        return h.tree.o_labels[h.node]
-    end
-end
-function belief(h::POWTreeObsNode)
+@inline function belief(h::POWTreeObsNode)
     if isroot(h)
         return h.tree.root_belief
     else

src/visualization.jl

@@ -1,12 +1,12 @@
 function D3Trees.D3Tree(p::POMCPOWPlanner; title="POMCPOW Tree", kwargs...)
     @warn("""
          D3Tree(planner::POMCPOWPlanner) is deprecated and may be removed in the future. Instead, please use
-             
+
              a, info = action_info(planner, state)
              D3Tree(info[:tree])
 
          Or, you can get this info from a POMDPSimulators History
-         
+
              info = first(ainfo_hist(hist))
              D3Tree(info[:tree])
          """)

test/init_node_sr_belief_error.jl

@@ -35,8 +35,6 @@ end
 POMDPs.actions(m::SimplePOMDP) = [-1, 1]
 POMDPs.states(m::SimplePOMDP) = 1:7
 POMDPs.actionindex(m::SimplePOMDP, a::Int) = a == 1 ? 1 : 2
-POMDPs.n_states(m::SimplePOMDP) = 7
-POMDPs.n_actions(m::SimplePOMDP) = 2
 
 pomdp = SimplePOMDP(0.7)
 

test/runtests.jl

@@ -9,43 +9,78 @@ using D3Trees
 using BeliefUpdaters
 using POMDPModelTools
 
-solver = POMCPOWSolver()
+@testset "all" begin
 
-pomdp = BabyPOMDP()
+    @testset "POMDPTesting" begin
+        solver = POMCPOWSolver()
+        pomdp = BabyPOMDP()
+        test_solver(solver, pomdp, updater=DiscreteUpdater(pomdp))
+        test_solver(solver, pomdp)
 
-test_solver(solver, pomdp, updater=DiscreteUpdater(pomdp))
-test_solver(solver, pomdp)
+        solver = POMCPOWSolver(max_time=0.1, tree_queries=typemax(Int))
+        test_solver(solver, pomdp, updater=DiscreteUpdater(pomdp))
+    end
 
-solver = POMCPOWSolver(max_time=0.1, tree_queries=typemax(Int))
-test_solver(solver, pomdp, updater=DiscreteUpdater(pomdp))
+    @testset "type stability" begin
+        # make sure internal function is type stable
+        pomdp = BabyPOMDP()
+        solver = POMCPOWSolver()
+        planner = solve(solver, pomdp)
+        b = initialstate_distribution(pomdp)
+        B = POMCPOW.belief_type(POMCPOW.POWNodeFilter, typeof(pomdp))
+        tree = POMCPOWTree{B,Bool,Bool,typeof(b)}(b, 2*planner.solver.tree_queries)
+        @inferred POMCPOW.simulate(planner, POMCPOW.POWTreeObsNode(tree, 1), true, 10)
 
-# make sure internal function is type stable
-solver = POMCPOWSolver()
-planner = solve(solver, pomdp)
-b = initialstate_distribution(pomdp)
-B = POMCPOW.belief_type(POMCPOW.POWNodeFilter, typeof(pomdp))
-tree = POMCPOWTree{B,Bool,Bool,typeof(b)}(b, 2*planner.solver.tree_queries)
-@inferred POMCPOW.simulate(planner, POMCPOW.POWTreeObsNode(tree, 1), true, 10)
-# @code_warntype POMCPOW.simulate(planner, POMCPOW.POWTreeObsNode(tree, 1), true, 10)
+        pomdp = LightDark1D()
+        solver = POMCPOWSolver(default_action=485)
+        planner = solve(solver, pomdp)
 
-pomdp = LightDark1D()
-solver = POMCPOWSolver(default_action=485)
-planner = solve(solver, pomdp)
+        b = ParticleCollection([LightDark1DState(-1, 0)])
+        @test @test_logs (:warn,) @inferred(action(planner, b)) == 485
 
-b = ParticleCollection([LightDark1DState(-1, 0)])
-println("There should be a warning about a default action below")
-@test @inferred(action(planner, b)) == 485
+        b = initialstate_distribution(pomdp)
+        @inferred action(planner, b)
+    end;
 
-b = initialstate_distribution(pomdp)
-@inferred action(planner, b)
+    @testset "currentobs and history" begin
+        pomdp = BabyPOMDP()
+        solver = POMCPOWSolver()
+        planner = solve(solver, pomdp)
+        b = initialstate_distribution(pomdp)
+        B = POMCPOW.belief_type(POMCPOW.POWNodeFilter, typeof(pomdp))
+        tree = POMCPOWTree{B,Bool,Bool,typeof(b)}(b, 2*planner.solver.tree_queries)
 
-a, info = action_info(planner, b)
-# d3t = D3Tree(planner)
-@test_throws KeyError d3t = D3Tree(info[:tree])
+        n = POMCPOW.POWTreeObsNode(tree, 1)
+        nb = belief(n)
+        # we can't call current obs on the root node
+        @test_throws MethodError currentobs(nb)
+        # simulate the tree to expand one step
+        POMCPOW.simulate(planner, n, true, 1)
+        n = POMCPOW.POWTreeObsNode(tree, 2)
+        nb = belief(n)
+        # but at a non-root node, this should work
+        @test currentobs(nb) isa Bool
+        @test currentobs(nb) == history(nb)[end].o
+        @test history(nb)[end].a isa Bool
+    end;
 
-a, info = action_info(planner, b, tree_in_info=true)
-# d3t = D3Tree(planner)
-d3t = D3Tree(info[:tree])
-# inchrome(d3t)
+    @testset "D3tree" begin
+        # make sure internal function is type stable
+        pomdp = BabyPOMDP()
+        solver = POMCPOWSolver()
+        planner = solve(solver, pomdp)
+        b = initialstate_distribution(pomdp)
+        a, info = action_info(planner, b)
+        # d3t = D3Tree(planner)
+        @test_throws KeyError d3t = D3Tree(info[:tree])
 
-include("init_node_sr_belief_error.jl")
+        a, info = action_info(planner, b, tree_in_info=true)
+        # d3t = D3Tree(planner)
+        d3t = D3Tree(info[:tree])
+        # inchrome(d3t)
+    end;
+
+    @testset "init_node_sr_belief_error" begin
+        include("init_node_sr_belief_error.jl")
+    end;
+end;