Added exception when replanner remove_{action/goal} fails

aiplan4eu · Aug 16, 2023 · fefc2cc · fefc2cc
1 parent 02f25aa
commit fefc2cc
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Showing 2 changed files with 24 additions and 0 deletions.
diff --git a/unified_planning/engines/replanner.py b/unified_planning/engines/replanner.py
@@ -23,6 +23,7 @@
     PlanGenerationResult,
 )
 from unified_planning.engines.mixins.oneshot_planner import OptimalityGuarantee
+from unified_planning.exceptions import UPUsageError
 from typing import Type, IO, Callable, Optional, Union, List, Tuple
 from fractions import Fraction
 
@@ -100,9 +101,16 @@ def _remove_goal(
         (goal_exp,) = self._problem.environment.expression_manager.auto_promote(goal)
         goals = self._problem.goals
         self._problem.clear_goals()
+        removed = False
         for g in goals:
             if not g is goal_exp:
                 self._problem.add_goal(g)
+            else:
+                removed = True
+        if not removed:
+            raise UPUsageError(
+                f"goal to remove: {goal_exp} not found inside the problem goals: {goals}"
+            )
 
     def _add_action(self, action: "up.model.action.Action"):
         assert isinstance(self._problem, up.model.Problem)
@@ -112,6 +120,13 @@ def _remove_action(self, name: str):
         assert isinstance(self._problem, up.model.Problem)
         actions = self._problem.actions
         self._problem.clear_actions()
+        removed = False
         for a in actions:
             if a.name != name:
                 self._problem.add_action(a)
+            else:
+                removed = True
+        if not removed:
+            raise UPUsageError(
+                f"action to remove: {name} not found inside the problem actions: {list(map(lambda a: a.name, actions))}"
+            )
diff --git a/unified_planning/test/test_replanner.py b/unified_planning/test/test_replanner.py
@@ -16,6 +16,7 @@
 from unified_planning.shortcuts import *
 from unified_planning.model.problem_kind import classical_kind
 from unified_planning.engines.results import POSITIVE_OUTCOMES, NEGATIVE_OUTCOMES
+from unified_planning.exceptions import UPUsageError
 from unified_planning.test import TestCase, main
 from unified_planning.test import skipIfNoOneshotPlannerForProblemKind
 from unified_planning.test.examples import get_example_problems
@@ -61,3 +62,11 @@ def test_basic(self):
             replanner.add_action(a)
             res = replanner.resolve()
             self.assertIn(res.status, POSITIVE_OUTCOMES)
+
+            with self.assertRaises(UPUsageError):
+                replanner.remove_action("b")
+
+            with self.assertRaises(UPUsageError):
+                y = Fluent("y")
+                problem.add_fluent(y, default_initial_value=False)
+                replanner.remove_goal(y)