pddl 0.2.0

A PDDL 3.1 parser, strongly typed
Documentation 
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//! Provides parsers for goal definitions.

use nom::branch::alt;
use nom::character::complete::multispace1;
use nom::combinator::map;
use nom::sequence::preceded;
use nom::Parser;

use crate::parsers::{
    atomic_formula, literal, parse_f_comp, parse_term, parse_variable, ParseResult, Span,
};
use crate::parsers::{parens, prefix_expr, space_separated_list0, typed_list};
use crate::types::GoalDefinition;

/// Parser for goal definitions.
///
/// ## Examples
/// ```
/// # use pddl::parsers::{parse_gd, preamble::*};
/// # use pddl::{AtomicFormula, BinaryComparison, BinaryOp, EqualityAtomicFormula, FluentComparison, FluentExpression, GoalDefinition, Literal, Term, Variable};
/// # use pddl::TypedList;
/// // Atomic formula
/// assert!(parse_gd("(= x y)").is_value(
///     GoalDefinition::AtomicFormula(
///         AtomicFormula::equality(
///             Term::Name("x".into()),
///             Term::Name("y".into())
///         )
///     )
/// ));
///
/// // Literal
/// assert!(parse_gd("(not (= x y))").is_value(
///     GoalDefinition::not(
///         GoalDefinition::atomic_formula(
///             AtomicFormula::equality(
///                 Term::Name("x".into()),
///                 Term::Name("y".into())
///             )
///         )
///     )
/// ));
///
/// // Conjunction (and)
/// assert!(parse_gd("(and (not (= x y)) (= x z))").is_value(
///     GoalDefinition::and([
///         GoalDefinition::not(GoalDefinition::atomic_formula(
///             AtomicFormula::equality(
///                 Term::Name("x".into()),
///                 Term::Name("y".into())
///             )
///         )),
///         GoalDefinition::AtomicFormula(AtomicFormula::equality(
///             Term::Name("x".into()),
///             Term::Name("z".into())
///         ))
///     ])
/// ));
///
/// // Disjunction (or)
/// assert!(parse_gd("(or (not (= x y)) (= x z))").is_value(
///     GoalDefinition::or([
///         GoalDefinition::not(GoalDefinition::atomic_formula(
///             AtomicFormula::equality(
///                 Term::Name("x".into()),
///                 Term::Name("y".into())
///             )
///         )),
///         GoalDefinition::AtomicFormula(AtomicFormula::equality(
///             Term::Name("x".into()),
///             Term::Name("z".into())
///         ))
///     ])
/// ));
///
/// // Implication
/// assert!(parse_gd("(imply (not (= x y)) (= x z))").is_value(
///     GoalDefinition::imply(
///         GoalDefinition::not(GoalDefinition::atomic_formula(
///             AtomicFormula::equality(
///                 Term::Name("x".into()),
///                 Term::Name("y".into())
///             )
///         )),
///         GoalDefinition::AtomicFormula(AtomicFormula::equality(
///             Term::Name("x".into()),
///             Term::Name("z".into())
///         ))
///     )
/// ));
///
/// // Existential preconditions
/// assert!(parse_gd("(exists (?x ?y) (not (= ?x ?y)))").is_value(
///     GoalDefinition::exists(
///         TypedList::from_iter([Variable::new_string("x").into(), Variable::new_string("y").into()]),
///         GoalDefinition::not(GoalDefinition::atomic_formula(
///             AtomicFormula::equality(
///                 Term::Variable("x".into()),
///                 Term::Variable("y".into())
///             )
///         ))
///     )
/// ));
///
/// // Universal preconditions
/// assert!(parse_gd("(forall (?x ?y) (not (= ?x ?y)))").is_value(
///     GoalDefinition::forall(
///         TypedList::from_iter([Variable::new_string("x").into(), Variable::new_string("y").into()]),
///         GoalDefinition::not(GoalDefinition::atomic_formula(
///             AtomicFormula::equality(
///                 Term::Variable("x".into()),
///                 Term::Variable("y".into())
///             )
///         ))
///     )
/// ));
///
/// assert!(parse_gd("(= (+ 1.23 2.34) (+ 1.23 2.34))").is_value(
///     GoalDefinition::fluent_comparison(
///         FluentComparison::new(
///             BinaryComparison::Equal,
///             FluentExpression::binary_op(
///                 BinaryOp::Addition,
///                 FluentExpression::number(1.23),
///                 FluentExpression::number(2.34),
///             ),
///             FluentExpression::binary_op(
///                 BinaryOp::Addition,
///                 FluentExpression::number(1.23),
///                 FluentExpression::number(2.34),
///             )
///         )
///     )
/// ));
/// ```
pub fn parse_gd<'a, T: Into<Span<'a>>>(input: T) -> ParseResult<'a, GoalDefinition> {
    let af = map(
        atomic_formula(parse_term),
        GoalDefinition::new_atomic_formula,
    );

    // :negative-preconditions
    let literal = map(literal(parse_term), GoalDefinition::new_literal);

    let and = map(
        prefix_expr("and", space_separated_list0(parse_gd)),
        GoalDefinition::new_and,
    );

    // :disjunctive-preconditions
    let or = map(
        prefix_expr("or", space_separated_list0(parse_gd)),
        GoalDefinition::new_or,
    );

    // :disjunctive-preconditions
    let not = map(prefix_expr("not", parse_gd), GoalDefinition::new_not);

    // :disjunctive-preconditions
    let imply = map(
        prefix_expr("imply", (parse_gd, preceded(multispace1, parse_gd))),
        GoalDefinition::new_imply_tuple,
    );

    // :existential-preconditions
    let exists = map(
        prefix_expr(
            "exists",
            (
                parens(typed_list(parse_variable)),
                preceded(multispace1, parse_gd),
            ),
        ),
        GoalDefinition::new_exists_tuple,
    );

    // :universal-preconditions
    let forall = map(
        prefix_expr(
            "forall",
            (
                parens(typed_list(parse_variable)),
                preceded(multispace1, parse_gd),
            ),
        ),
        GoalDefinition::new_forall_tuple,
    );

    // :numeric-fluents
    let f_comp = map(parse_f_comp, GoalDefinition::new_f_comp);

    alt((and, or, not, imply, exists, forall, af, literal, f_comp)).parse(input.into())
}

impl crate::parsers::Parser for GoalDefinition {
    type Item = GoalDefinition;

    /// See [`parse_gd`].
    fn parse<'a, S: Into<Span<'a>>>(input: S) -> ParseResult<'a, Self::Item> {
        parse_gd(input)
    }
}

#[cfg(test)]
mod tests {
    use crate::parsers::UnwrapValue;
    use crate::{
        AtomicFormula, BinaryComparison, BinaryOp, FluentComparison, FluentExpression,
        GoalDefinition, Parser, Term, TypedList, Variable,
    };

    #[test]
    fn test_parse() {
        assert!(
            GoalDefinition::parse("(= x y)").is_value(GoalDefinition::AtomicFormula(
                AtomicFormula::equality(Term::Name("x".into()), Term::Name("y".into()))
            ))
        );

        // Literal
        assert!(
            GoalDefinition::parse("(not (= x y))").is_value(GoalDefinition::not(
                GoalDefinition::atomic_formula(AtomicFormula::equality(
                    Term::Name("x".into()),
                    Term::Name("y".into())
                ))
            ))
        );

        // Conjunction (and)
        assert!(
            GoalDefinition::parse("(and (not (= x y)) (= x z))").is_value(GoalDefinition::and([
                GoalDefinition::not(GoalDefinition::atomic_formula(AtomicFormula::equality(
                    Term::Name("x".into()),
                    Term::Name("y".into())
                ))),
                GoalDefinition::AtomicFormula(AtomicFormula::equality(
                    Term::Name("x".into()),
                    Term::Name("z".into())
                ))
            ]))
        );

        // Disjunction (or)
        assert!(
            GoalDefinition::parse("(or (not (= x y)) (= x z))").is_value(GoalDefinition::or([
                GoalDefinition::not(GoalDefinition::atomic_formula(AtomicFormula::equality(
                    Term::Name("x".into()),
                    Term::Name("y".into())
                ))),
                GoalDefinition::AtomicFormula(AtomicFormula::equality(
                    Term::Name("x".into()),
                    Term::Name("z".into())
                ))
            ]))
        );

        // Implication
        assert!(
            GoalDefinition::parse("(imply (not (= x y)) (= x z))").is_value(GoalDefinition::imply(
                GoalDefinition::not(GoalDefinition::atomic_formula(AtomicFormula::equality(
                    Term::Name("x".into()),
                    Term::Name("y".into())
                ))),
                GoalDefinition::AtomicFormula(AtomicFormula::equality(
                    Term::Name("x".into()),
                    Term::Name("z".into())
                ))
            ))
        );

        // Existential preconditions
        assert!(
            GoalDefinition::parse("(exists (?x ?y) (not (= ?x ?y)))").is_value(
                GoalDefinition::exists(
                    TypedList::from_iter([
                        Variable::new_string("x").into(),
                        Variable::new_string("y").into()
                    ]),
                    GoalDefinition::not(GoalDefinition::atomic_formula(AtomicFormula::equality(
                        Term::Variable("x".into()),
                        Term::Variable("y".into())
                    )))
                )
            )
        );

        // Universal preconditions
        assert!(
            GoalDefinition::parse("(forall (?x ?y) (not (= ?x ?y)))").is_value(
                GoalDefinition::forall(
                    TypedList::from_iter([
                        Variable::new_string("x").into(),
                        Variable::new_string("y").into()
                    ]),
                    GoalDefinition::not(GoalDefinition::atomic_formula(AtomicFormula::equality(
                        Term::Variable("x".into()),
                        Term::Variable("y".into())
                    )))
                )
            )
        );

        assert!(
            GoalDefinition::parse("(= (+ 1.23 2.34) (+ 1.23 2.34))").is_value(
                GoalDefinition::fluent_comparison(FluentComparison::new(
                    BinaryComparison::Equal,
                    FluentExpression::binary_op(
                        BinaryOp::Addition,
                        FluentExpression::number(1.23),
                        FluentExpression::number(2.34),
                    ),
                    FluentExpression::binary_op(
                        BinaryOp::Addition,
                        FluentExpression::number(1.23),
                        FluentExpression::number(2.34),
                    )
                ))
            )
        );
    }
}