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//! Provides parsers for durative action definitions.
use crate::parsers::{empty_or, parens, prefix_expr, typed_list, ParseResult, Span};
use crate::parsers::{
parse_da_effect, parse_da_gd, parse_da_symbol, parse_duration_constraint, parse_variable,
};
use crate::types::DurativeActionDefinition;
use nom::bytes::complete::tag;
use nom::character::complete::multispace1;
use nom::combinator::map;
use nom::sequence::{preceded, tuple};
/// Parses a durative action definition.
///
/// ## Example
/// ```
/// # use pddl::parsers::{parse_action_def, parse_da_def, preamble::*};
/// # use pddl::{ActionDefinition, ActionSymbol, AtomicFormula, CEffect, Effects, GoalDefinition, Literal, PEffect, Predicate, Preference, PreferenceGD, PreconditionGoalDefinition, Term, Variable};
/// let input = r#"(:durative-action move
/// :parameters
/// (?r - rover
/// ?fromwp - waypoint
/// ?towp - waypoint)
///
/// :duration
/// (= ?duration 5)
///
/// :condition
/// (and
/// (at start (rover ?rover))
/// (at start (waypoint ?from-waypoint))
/// (at start (waypoint ?to-waypoint))
/// (over all (can-move ?from-waypoint ?to-waypoint))
/// (at start (at ?rover ?from-waypoint))
/// (at start (> (battery-amount ?rover) 8)))
///
/// :effect
/// (and
/// (decrease (fuel-level ?t) (* 2 #t))
/// (at end (at ?rover ?to-waypoint))
/// (at end (been-at ?rover ?to-waypoint))
/// (at start (not (at ?rover ?from-waypoint)))
/// (at start (decrease (battery-amount ?rover) 8))
/// (at end (increase (distance-travelled) 5))
/// )
/// )"#;
///
/// let (_, da_def) = parse_da_def(input).unwrap();
/// assert_eq!(da_def.symbol(), &"move".into());
/// assert_eq!(da_def.parameters().len(), 3);
/// assert!(da_def.duration().is_some());
/// assert!(da_def.condition().is_some());
/// assert!(da_def.effect().is_some());
/// ```
pub fn parse_da_def<'a, T: Into<Span<'a>>>(input: T) -> ParseResult<'a, DurativeActionDefinition> {
let parameters = preceded(
tag(":parameters"),
preceded(multispace1, parens(typed_list(parse_variable))),
);
let duration = preceded(
tag(":duration"),
preceded(multispace1, parse_duration_constraint),
);
let condition = preceded(
tag(":condition"),
preceded(multispace1, empty_or(parse_da_gd)),
);
let effect = preceded(
tag(":effect"),
preceded(multispace1, empty_or(parse_da_effect)),
);
let da_def = prefix_expr(
":durative-action",
tuple((
parse_da_symbol,
preceded(multispace1, parameters),
// <da-def body>
preceded(multispace1, duration),
preceded(multispace1, condition),
preceded(multispace1, effect),
)),
);
map(
da_def,
|(symbol, parameters, duration, condition, effect)| {
DurativeActionDefinition::new(symbol, parameters, duration, condition, effect)
},
)(input.into())
}
impl crate::parsers::Parser for DurativeActionDefinition {
type Item = DurativeActionDefinition;
/// See [`parse_da_def`].
fn parse<'a, S: Into<Span<'a>>>(input: S) -> ParseResult<'a, Self::Item> {
parse_da_def(input)
}
}
#[cfg(test)]
mod tests {
use super::*;
use crate::Parser;
#[test]
fn it_works() {
let input = r#"(:durative-action move
:parameters
(?r - rover
?fromwp - waypoint
?towp - waypoint)
:duration
(= ?duration 5)
:condition
(and
(at start (rover ?rover))
(at start (waypoint ?from-waypoint))
(at start (waypoint ?to-waypoint))
(over all (can-move ?from-waypoint ?to-waypoint))
(at start (at ?rover ?from-waypoint))
(at start (> (battery-amount ?rover) 8)))
:effect
(and
(decrease (fuel-level ?t) (* 2 #t))
(at end (at ?rover ?to-waypoint))
(at end (been-at ?rover ?to-waypoint))
(at start (not (at ?rover ?from-waypoint)))
(at start (decrease (battery-amount ?rover) 8))
(at end (increase (distance-travelled) 5))
)
)"#;
let (_, _gd) = DurativeActionDefinition::parse(Span::new(input)).unwrap();
}
}