def parse(alist):
iterator = iter(alist)
assert iterator.next() == ":durative-action"
name = iterator.next()
parameters_tag_opt = iterator.next()
if parameters_tag_opt == ":parameters":
parameters = pddl_types.parse_typed_list(iterator.next(),
only_variables=True)
duration_tag = iterator.next()
else:
parameters = []
duration_tag = parameters_tag_opt
assert duration_tag == ":duration"
duration_list = iterator.next()
if duration_list[0] == "and":
duration_list = duration_list[1:]
else:
duration_list = [duration_list]
duration_start = []
duration_end = []
for item in duration_list: # each item is a simple-duration-constraint
duration = duration_start
if item[0] == "at":
if item[1] == "end":
duration = duration_end
item = item[2]
assert item[0] in ("<=", ">=", "=")
assert len(item) == 3
assert item[1] == "?duration"
op = item[0]
value = f_expression.parse_expression(item[2])
duration += [(op, value)]
condition_tag = iterator.next()
if condition_tag == ":condition":
condition = conditions.parse_durative_condition(iterator.next())
effect_tag = iterator.next()
else:
condition = conditions.parse_durative_condition([])
effect_tag = condition_tag
assert effect_tag == ":effect"
effect_list = iterator.next()
effect = [[], []]
effects.parse_durative_effects(effect_list, effect)
for rest in iterator:
assert False, rest
return DurativeAction(name, parameters, (duration_start, duration_end),
condition, effect)
def parse_effect(alist, durative=False):
tag = alist[0]
if tag == "and":
return TmpEffect([parse_effect(eff, durative) for eff in alist[1:]])
elif tag == "forall":
assert len(alist) == 3
return UniversalEffect(pddl_types.parse_typed_list(alist[1]),
parse_effect(alist[2], durative))
elif tag == "when":
assert len(alist) == 3
if durative:
condition = conditions.parse_durative_condition(alist[1])
effect = parse_timed_effect(alist[2])
else:
condition = conditions.parse_condition(alist[1])
effect = parse_cond_effect(alist[2])
return ConditionalEffect(condition, effect)
elif tag == "at" and durative:
return parse_timed_effect(alist)
elif tag == "change":
assert durative
new_alist = [
"and", ["at", "start", ["assign", alist[1], "undefined"]],
["at", "end", ["assign", alist[1], alist[2]]]
]
return parse_effect(new_alist, durative)
else:
return parse_cond_effect(alist)
def parse_effect(alist,durative=False):
tag = alist[0]
if tag == "and":
return TmpEffect([parse_effect(eff,durative) for eff in alist[1:]])
elif tag == "forall":
assert len(alist)==3
return UniversalEffect(pddl_types.parse_typed_list(alist[1]),
parse_effect(alist[2],durative))
elif tag == "when":
assert len(alist)==3
if durative:
condition = conditions.parse_durative_condition(alist[1])
effect = parse_timed_effect(alist[2])
else:
condition = conditions.parse_condition(alist[1])
effect = parse_cond_effect(alist[2])
return ConditionalEffect(condition,effect)
elif tag == "at" and durative:
return parse_timed_effect(alist)
elif tag == "change":
assert durative
new_alist = ["and", ["at", "start", ["assign", alist[1], "undefined"]],
["at", "end", ["assign", alist[1], alist[2]]]]
return parse_effect(new_alist,durative)
else:
return parse_cond_effect(alist)
def parse(alist):
iterator = iter(alist)
assert iterator.next() == ":durative-action"
name = iterator.next()
parameters_tag_opt = iterator.next()
if parameters_tag_opt == ":parameters":
parameters = pddl_types.parse_typed_list(iterator.next(),
only_variables=True)
duration_tag = iterator.next()
else:
parameters = []
duration_tag = parameters_tag_opt
assert duration_tag == ":duration"
duration_list = iterator.next()
if duration_list[0] == "and":
duration_list = duration_list[1:]
else:
duration_list = [duration_list]
duration_start = []
duration_end = []
for item in duration_list: # each item is a simple-duration-constraint
duration = duration_start
if item[0] == "at":
if item[1] == "end":
duration = duration_end
item = item[2]
assert item[0] in ("<=",">=","=")
assert len(item) == 3
assert item[1] == "?duration"
op = item[0]
value = f_expression.parse_expression(item[2])
duration += [(op,value)]
condition_tag = iterator.next()
if condition_tag == ":condition":
condition = conditions.parse_durative_condition(iterator.next())
effect_tag = iterator.next()
else:
condition = conditions.parse_durative_condition([])
effect_tag = condition_tag
assert effect_tag == ":effect"
effect_list = iterator.next()
effect = [[],[]]
effects.parse_durative_effects(effect_list, effect)
for rest in iterator:
assert False, rest
return DurativeAction(name, parameters, (duration_start,duration_end), condition, effect)
def parse(alist):
iterator = iter(alist)
assert iterator.next() == ":durative-action"
name = iterator.next()
print "Parsing durative-action", name
parameters_tag_opt = iterator.next()
if parameters_tag_opt == ":parameters":
parameters = pddl_types.parse_typed_list(iterator.next(),
only_variables=True)
grounding_tag = iterator.next()
else:
parameters = []
grounding_tag = parameters_tag_opt
if grounding_tag == ":grounding":
grounding_list = iterator.next()
grounding_call = conditions.parse_condition(grounding_list)
duration_tag = iterator.next()
else:
grounding_call = None
duration_tag = grounding_tag
assert duration_tag == ":duration"
duration_list = iterator.next()
if duration_list[0] == "and":
duration_list = duration_list[1:]
else:
duration_list = [duration_list]
duration_start = []
duration_end = []
for item in duration_list: # each item is a simple-duration-constraint
duration = duration_start
if item[0] == "at":
if item[1] == "end":
duration = duration_end
item = item[2]
assert item[0] in ("<=",">=","=")
if len(item) == 3: # = ?duration 1
assert item[1] == "?duration"
op = item[0]
value = f_expression.parse_expression(item[2])
duration += [(op,value)]
else: # should be module: = ?duration [module]
assert item[1] == "?duration"
op = item[0]
mod_list = item[2:]
#print "Modlist:", mod_list
value = conditions.parse_condition(mod_list)
#print "parse to ", value
duration += [(op,value)]
pass
condition_tag = iterator.next()
if condition_tag == ":condition":
condition = conditions.parse_durative_condition(iterator.next())
effect_tag = iterator.next()
else:
condition = conditions.parse_durative_condition([])
effect_tag = condition_tag
assert effect_tag == ":effect"
effect_list = iterator.next()
effect = [[],[]]
effects.parse_durative_effects(effect_list, effect)
for rest in iterator:
assert False, rest
return DurativeAction(name, parameters, grounding_call, (duration_start,duration_end), condition, effect)
def schedule_timed_initials(predicates_, actions_, init_, goal_, timed_initials_):
# find all predicates and fuctions and build value timeline
predicate_values = {} # {predicate: [ti1=TimedInitial(), ti2, ...]}
for ti in timed_initials_:
if ti.predicate not in predicate_values:
predicate_values[ti.predicate] = [ti.create_initial_value(init_)]
predicate_values[ti.predicate].append(ti)
# add init
initial_state_predicate = predicates.Predicate('initial_state', [])
predicates_.append(initial_state_predicate)
init_.append(conditions.Atom('initial_state', []))
disable_initial_state = '\n (at start (not (initial_state)))'
# merge timed initials occuring at the same time into one conjuction
merged_initials = {} # {time: [ti1=TimedInitial, ti2, ...]}
for ti in timed_initials_:
if not ti.time in merged_initials:
merged_initials[ti.time] = [ti]
else:
merged_initials[ti.time].append(ti)
goal_list = []
ti_actions = []
counter = itertools.count()
for tis in sorted(merged_initials.values(), key=lambda tis: tis[0].time):
name = 'timed_initial_{}__'.format(next(counter))
# add predicates
scheduled_predicate = predicates.Predicate(name+'-scheduled', [])
predicates_.append(scheduled_predicate)
# add goal
goal_list.append(conditions.Atom(scheduled_predicate.name, []))
# add action
facts = []
previous_facts = []
for ti in tis:
facts.append(' (at end {})'.format(ti.to_effect()))
value_timeline = predicate_values[ti.predicate]
#print map(str, value_timeline)
previous_value = max((ti2 for ti2 in value_timeline if ti2.time < ti.time), key=lambda ti2: ti2.time)
#print previous_value.time, previous_value.to_effect()
previous_facts.append(' (at end {})'.format(previous_value.to_effect()))
action_string = '''
(:durative-action {name}scheduled
:parameters ()
:duration (= ?duration {time})
:condition (and
(at start (initial_state))
{previous_facts}
)
:effect (and{disable_initial_state}
(at end ({predicate}))
{facts}
)
)'''.format(name=name, time=ti.time, predicate=scheduled_predicate.name,
disable_initial_state=disable_initial_state, facts='\n'.join(facts), previous_facts='\n'.join(previous_facts))
print(action_string)
#assert 0
action = actions.DurativeAction.parse(parser.parse_nested_list([action_string]))
ti_actions.append(action)
disable_initial_state = ''
# add goals
goal_.parts += tuple(goal_list)
#goal_.dump()
# add negated precontition to all other actions
[at_start, overall, at_end] = conditions.parse_durative_condition(parser.parse_nested_list(['(at start (not (initial_state)))']))
for da in actions_:
da.condition[0].parts += (at_start, )
actions_.extend(ti_actions)
def parse(alist):
iterator = iter(alist)
assert iterator.next() == ":durative-action"
name = iterator.next()
print "Parsing durative-action", name
parameters_tag_opt = iterator.next()
if parameters_tag_opt == ":parameters":
parameters = pddl_types.parse_typed_list(iterator.next(),
only_variables=True)
grounding_tag = iterator.next()
else:
parameters = []
grounding_tag = parameters_tag_opt
if grounding_tag == ":grounding":
grounding_list = iterator.next()
grounding_call = conditions.parse_condition(grounding_list)
duration_tag = iterator.next()
else:
grounding_call = None
duration_tag = grounding_tag
assert duration_tag == ":duration"
duration_list = iterator.next()
if duration_list[0] == "and":
duration_list = duration_list[1:]
else:
duration_list = [duration_list]
duration_start = []
duration_end = []
for item in duration_list: # each item is a simple-duration-constraint
duration = duration_start
if item[0] == "at":
if item[1] == "end":
duration = duration_end
item = item[2]
assert item[0] in ("<=", ">=", "=")
if len(item) == 3: # = ?duration 1
assert item[1] == "?duration"
op = item[0]
value = f_expression.parse_expression(item[2])
duration += [(op, value)]
else: # should be module: = ?duration [module]
assert item[1] == "?duration"
op = item[0]
mod_list = item[2:]
#print "Modlist:", mod_list
value = conditions.parse_condition(mod_list)
#print "parse to ", value
duration += [(op, value)]
pass
condition_tag = iterator.next()
if condition_tag == ":condition":
condition = conditions.parse_durative_condition(iterator.next())
effect_tag = iterator.next()
else:
condition = conditions.parse_durative_condition([])
effect_tag = condition_tag
assert effect_tag == ":effect"
effect_list = iterator.next()
effect = [[], []]
effects.parse_durative_effects(effect_list, effect)
for rest in iterator:
assert False, rest
return DurativeAction(name, parameters, grounding_call,
(duration_start, duration_end), condition,
effect)