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//! Provides parsers for domain definitions.
use nom::character::complete::multispace1;
use nom::combinator::{map, opt};
use nom::sequence::{preceded, tuple};
use crate::parsers::{
parse_constants_def, parse_domain_constraints_def, parse_functions_def, parse_predicates_def,
parse_require_def, parse_structure_def, ParseResult, Span,
};
use crate::parsers::{parse_name, parse_types_def, prefix_expr, space_separated_list1, ws2};
use crate::types::{
Constants, Domain, Functions, PredicateDefinitions, Requirements, StructureDefs,
};
use crate::types::{DomainConstraintsDef, Types};
/// Parses a domain definition.
///
/// ## Example
/// ```
/// # use pddl::parsers::{parse_action_def, parse_domain, preamble::*};
/// # use pddl::Name;
/// let input = r#"(define (domain briefcase-world)
/// (:requirements :strips :equality :typing :conditional-effects)
/// (:types location physob)
/// (:constants B P D - physob)
/// (:predicates (at ?x - physob ?y - location)
/// (in ?x ?y - physob))
/// (:constraints (and))
///
/// (:action mov-B
/// :parameters (?m ?l - location)
/// :precondition (and (at B ?m) (not (= ?m ?l)))
/// :effect (and (at B ?l) (not (at B ?m))
/// (forall (?z)
/// (when (and (in ?z) (not (= ?z B)))
/// (and (at ?z ?l) (not (at ?z ?m)))))) )
///
/// (:action put-in
/// :parameters (?x - physob ?l - location)
/// :precondition (not (= ?x B))
/// :effect (when (and (at ?x ?l) (at B ?l))
/// (in ?x)) )
///
/// (:action take-out
/// :parameters (?x - physob)
/// :precondition (not (= ?x B))
/// :effect (not (in ?x)) )
/// )"#;
///
/// let (remainder, domain) = parse_domain(input).unwrap();
///
/// assert!(remainder.is_empty());
/// assert_eq!(domain.name(), &Name::new("briefcase-world"));
/// assert_eq!(domain.requirements().len(), 4);
/// assert_eq!(domain.types().len(), 2);
/// assert_eq!(domain.constants().len(), 3);
/// assert_eq!(domain.predicates().len(), 2);
/// assert!(domain.constraints().is_empty());
/// assert_eq!(domain.structure().len(), 3);
/// ```
pub fn parse_domain<'a, T: Into<Span<'a>>>(input: T) -> ParseResult<'a, Domain> {
map(
ws2(prefix_expr(
"define",
tuple((
prefix_expr("domain", parse_name),
opt(preceded(
multispace1,
prefix_expr(":extends", space_separated_list1(parse_name)),
)),
opt(preceded(multispace1, parse_require_def)),
// :typing
opt(preceded(multispace1, parse_types_def)),
opt(preceded(multispace1, parse_constants_def)),
opt(preceded(multispace1, parse_predicates_def)),
// :fluents
opt(preceded(multispace1, parse_functions_def)),
// :constraints
opt(preceded(multispace1, parse_domain_constraints_def)),
opt(preceded(
multispace1,
map(
space_separated_list1(parse_structure_def),
StructureDefs::new,
),
)),
)),
)),
|(
name,
extends,
require,
types,
constants,
predicates,
functions,
constraints,
structure,
)| {
Domain::builder(name, structure.unwrap_or(StructureDefs::default()))
.with_extends(extends.unwrap_or(Vec::default()))
.with_requirements(require.unwrap_or(Requirements::default()))
.with_types(types.unwrap_or(Types::default()))
.with_constants(constants.unwrap_or(Constants::default()))
.with_predicates(predicates.unwrap_or(PredicateDefinitions::default()))
.with_functions(functions.unwrap_or(Functions::default()))
.with_constraints(constraints.unwrap_or(DomainConstraintsDef::default()))
},
)(input.into())
}
impl crate::parsers::Parser for Domain {
type Item = Domain;
/// Parses a domain definition.
///
/// ## Example
/// ```
/// # use pddl::{Domain, Name, Parser};
/// let input = r#"
/// ; A toy domain.
/// (define (domain briefcase-world)
/// ; If no requirements are provided, :strips is implied.
/// (:requirements :strips :equality :typing :conditional-effects)
/// (:types location physob) ; type definitions could also be represented as predicates
/// (:constants B P D - physob)
/// (:predicates (at ?x - physob ?y - location)
/// (in ?x ?y - physob))
/// (:constraints (and))
///
/// ; Move briefcase from one location to another.
/// (:action mov-B
/// :parameters (?m ?l - location)
/// :precondition (and (at B ?m) (not (= ?m ?l)))
/// :effect (and (at B ?l) (not (at B ?m))
/// (forall (?z)
/// (when (and (in ?z) (not (= ?z B)))
/// (and (at ?z ?l) (not (at ?z ?m)))))) )
///
/// ; Put the item in the briefcase if it is not already in there.
/// (:action put-in
/// :parameters (?x - physob ?l - location)
/// :precondition (not (= ?x B))
/// :effect (when (and (at ?x ?l) (at B ?l))
/// (in ?x)) )
///
/// ; Take the item out of the briefcase if it is in there.
/// (:action take-out
/// :parameters (?x - physob)
/// :precondition (not (= ?x B))
/// :effect (not (in ?x)) )
/// )"#;
///
/// let (_, domain) = Domain::parse(input).unwrap();
///
/// assert_eq!(domain.name(), &Name::new("briefcase-world"));
/// assert_eq!(domain.requirements().len(), 4);
/// assert_eq!(domain.types().len(), 2);
/// assert_eq!(domain.constants().len(), 3);
/// assert_eq!(domain.predicates().len(), 2);
/// assert!(domain.constraints().is_empty());
/// assert_eq!(domain.structure().len(), 3);
/// ```
///
/// ## See also
/// See [`parse_domain`].
fn parse<'a, S: Into<Span<'a>>>(input: S) -> ParseResult<'a, Self::Item> {
parse_domain(input)
}
}
#[cfg(test)]
mod tests {
use crate::{Domain, Name, Parser};
#[test]
fn test_parse() {
let input = r#"
; A toy domain.
(define (domain briefcase-world)
; If no requirements are provided, :strips is implied.
(:requirements :strips :equality :typing :conditional-effects)
(:types location physob) ; type definitions could also be represented as predicates
(:constants B P D - physob)
(:predicates (at ?x - physob ?y - location)
(in ?x ?y - physob))
(:constraints (and))
; Move briefcase from one location to another.
(:action mov-B
:parameters (?m ?l - location)
:precondition (and (at B ?m) (not (= ?m ?l)))
:effect (and (at B ?l) (not (at B ?m))
(forall (?z)
(when (and (in ?z) (not (= ?z B)))
(and (at ?z ?l) (not (at ?z ?m)))))) )
; Put the item in the briefcase if it is not already in there.
(:action put-in
:parameters (?x - physob ?l - location)
:precondition (not (= ?x B))
:effect (when (and (at ?x ?l) (at B ?l))
(in ?x)) )
; Take the item out of the briefcase if it is in there.
(:action take-out
:parameters (?x - physob)
:precondition (not (= ?x B))
:effect (not (in ?x)) )
)"#;
let (_, domain) = Domain::parse(input).unwrap();
assert_eq!(domain.name(), &Name::new("briefcase-world"));
assert_eq!(domain.requirements().len(), 4);
assert_eq!(domain.types().len(), 2);
assert_eq!(domain.constants().len(), 3);
assert_eq!(domain.predicates().len(), 2);
assert!(domain.constraints().is_empty());
assert_eq!(domain.structure().len(), 3);
}
}