Repair the tracked model only when the planner does

plansys2_epistemic_executor/include/plansys2_epistemic_executor/EpistemicStateNode.hpp

@@ -142,11 +142,13 @@ class EpistemicStateNode : public rclcpp_lifecycle::LifecycleNode
   /// state without polling a service on every change.
   void publish_state();
 
-  /// How the tracked model takes an action: repaired on a KD45 task, as it
-  /// always was, and never refused, since what it records has already happened.
+  /// How the tracked model takes an action: repaired only when the task asks
+  /// for repair, as the planner does, and never refused, since what it records
+  /// has already happened. A model repaired where the planner's was not would
+  /// refuse an action the policy had every reason to send.
   Seriality tracked_seriality() const
   {
-    return task_->kd45 ? Seriality::Repair : Seriality::Ignore;
+    return task_->repair_seriality() ? Seriality::Repair : Seriality::Ignore;
   }
 
   rclcpp::Service<plansys2_epistemic_msgs::srv::LoadTask>::SharedPtr load_task_service_;

plansys2_epistemic_executor/test/epistemic_state_node_test.cpp

@@ -342,6 +342,17 @@ class EpistemicFleetDomainTest : public EpistemicStateNodeTest
 ///
 /// This is where a belief and a sensor reading can disagree in the ordinary
 /// way, which is what recovery is for.
+/// backdoor-revealed: a KD45 task in which Alice hides the key where Bob cannot
+/// see, and then shows it to both of them.
+class BackdoorRevealedTest : public EpistemicStateNodeTest
+{
+protected:
+  std::string task_for_test() const override
+  {
+    return std::string(EPISTEMIC_TASK_DIR) + "/backdoor-revealed.json";
+  }
+};
+
 class StalePriorTest : public EpistemicStateNodeTest
 {
 protected:
@@ -492,6 +503,23 @@ TEST_F(EpistemicFleetDomainTest, TheModelItselfIsUnchangedByAskingForAView)
   EXPECT_EQ(before->holds, after->holds);
 }
 
+TEST_F(BackdoorRevealedTest, AnAnnouncementAgainstABeliefIsTrackedAsThePlannerPredictsIt)
+{
+  // Bob believes the key is not at the back when Alice shows it, and is left
+  // with no world. The planner does not repair a KD45 task unless asked to,
+  // and the model that follows execution has to agree with it: repairing here
+  // deletes the only world there is and refuses the announcement.
+  for (const std::string action : {"alice-hides-key_alice", "alice-shows-key_alice"}) {
+    auto request = std::make_shared<plansys2_epistemic_msgs::srv::ApplyAction::Request>();
+    request->epistemic_action = action;
+
+    auto response = call<plansys2_epistemic_msgs::srv::ApplyAction>(
+      "epistemic_state/apply_action", request);
+    ASSERT_NE(response, nullptr);
+    EXPECT_TRUE(response->success) << action << ": " << response->error;
+  }
+}
+
 // Recovery.
 //
 // The model is a belief about the world, and the world can contradict it. What

plansys2_epistemic_planner/test/tasks/README.md

@@ -19,6 +19,7 @@ tests assert).
 | `coin-in-the-box-4.json` | del-planner `benchmarks/coin4/problem_4.json` | its shortest plan leaves B believing a contradiction; the `consistent_beliefs` test |
 | `active-muddy-child.json` | `Active-Muddy-Child/out/problem_1.json` | 32 initial worlds; the canonical partial-observability case |
 | `coin-in-the-box-multipointed.json` | derived, see below | hand-made branching fixture, kept for the parser tests |
+| `backdoor-revealed.json` | derived, see below | KD45: an announcement leaves Bob no world; the executor's update test |
 
 The puzzle instances come from the `epddl-workspace/` of
 [Epistemic-Robotics](https://github.com/HanielUlises/epistemic-robotics); the
@@ -46,3 +47,10 @@ path `EpistemicPlanSolver` flattens away when it converts a policy into a
 That is the textbook multi-pointed coin-in-the-box, and its solution branches.
 If the EPDDL instance is ever written and grounded, replace this file with the
 grounder's output.
+
+`backdoor-revealed.json` is del-planner's `benchmarks/backdoor/backdoor-problem.json`
+with one action added, `alice-shows-key_alice`, a public announcement that the
+key is at the back. After Alice hides the key where Bob cannot see, Bob believes
+it is not there, and the announcement leaves him no accessible world. Updating
+without repair keeps that one world; seriality repair deletes it and refuses
+the update.

plansys2_epistemic_planner/test/tasks/backdoor-revealed.json

@@ -0,0 +1,185 @@
+{
+ "planning-task-info": {
+  "problem": "backdoor-revealed",
+  "domain": "backdoor",
+  "libraries": [
+   "intermediate"
+  ],
+  "requirements": [
+   ":KD45-frames",
+   ":disjunctive-list-formulas",
+   ":disjunctive-preconditions",
+   ":equality",
+   ":events-conditions",
+   ":list-comprehensions",
+   ":lists",
+   ":modal-goals",
+   ":multi-pointed-models",
+   ":negative-list-formulas",
+   ":negative-preconditions",
+   ":ontic-actions",
+   ":partial-observability"
+  ],
+  "agents-number": 2,
+  "atoms-number": 1,
+  "facts-number": 0,
+  "actions-number": 2,
+  "initial-worlds-number": 1,
+  "goal-modal-depth": 1,
+  "goal-size": 5
+ },
+ "language": {
+  "atoms": [
+   "key-at-back"
+  ],
+  "agents": [
+   "alice",
+   "bob"
+  ]
+ },
+ "facts": [],
+ "initial-state": {
+  "worlds": [
+   "w0"
+  ],
+  "relations": {
+   "alice": {
+    "w0": [
+     "w0"
+    ]
+   },
+   "bob": {
+    "w0": [
+     "w0"
+    ]
+   }
+  },
+  "labels": {
+   "w0": []
+  },
+  "designated": [
+   "w0"
+  ]
+ },
+ "actions": {
+  "alice-hides-key_alice": {
+   "action-type": "private-ontic",
+   "events": [
+    "e-hide",
+    "nil"
+   ],
+   "relations": {
+    "Fully": {
+     "e-hide": [
+      "e-hide"
+     ],
+     "nil": [
+      "nil"
+     ]
+    },
+    "Oblivious": {
+     "e-hide": [
+      "nil"
+     ],
+     "nil": [
+      "nil"
+     ]
+    }
+   },
+   "designated": [
+    "e-hide"
+   ],
+   "preconditions": {
+    "e-hide": {
+     "formula": {
+      "connective": "and",
+      "formulas": [
+       "true",
+       {
+        "connective": "not",
+        "formula": "key-at-back"
+       }
+      ]
+     }
+    },
+    "nil": {
+     "formula": "true"
+    }
+   },
+   "effects": {
+    "e-hide": {
+     "key-at-back": {
+      "formula": "true"
+     }
+    },
+    "nil": null
+   },
+   "observability-conditions": {
+    "alice": {
+     "Fully": {
+      "formula": "true"
+     }
+    },
+    "bob": {
+     "Oblivious": {
+      "formula": "true"
+     }
+    }
+   }
+  },
+  "alice-shows-key_alice": {
+   "action-type": "public-announcement",
+   "events": [
+    "e-show"
+   ],
+   "relations": {
+    "Fully": {
+     "e-show": [
+      "e-show"
+     ]
+    }
+   },
+   "designated": [
+    "e-show"
+   ],
+   "preconditions": {
+    "e-show": {
+     "formula": "key-at-back"
+    }
+   },
+   "effects": {
+    "e-show": null
+   },
+   "observability-conditions": {
+    "alice": {
+     "Fully": {
+      "formula": "true"
+     }
+    },
+    "bob": {
+     "Fully": {
+      "formula": "true"
+     }
+    }
+   }
+  }
+ },
+ "goal": {
+  "formula": {
+   "connective": "and",
+   "formulas": [
+    "key-at-back",
+    {
+     "modality-name": "box",
+     "modality-index": [
+      "bob"
+     ],
+     "formula": {
+      "connective": "not",
+      "formula": "key-at-back"
+     }
+    }
+   ]
+  }
+ }
+}