def parse(domain_file, problem_file):
# Parsing
parser = Parser(domain_file, problem_file)
domain = parser.parse_domain()
problem = parser.parse_problem(domain)
return problem
def gen_heuristic_test(dom,
prob,
search_class,
heuristic_class,
h_values_plan,
plan_length=None):
parser = Parser('')
parser.domInput = dom
parser.probInput = prob
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = heuristic_class(task)
plan = search_class(task, heuristic)
if plan_length:
assert len(plan) == plan_length
# run through plan and validate heuristic value
# the true_h_values are taken from fast downward with astar and lm cut
# heuristic
computed_h_values = list(_gen_h_values(task.initial_state, plan,
heuristic))
assert h_values_plan == computed_h_values
def parse(domain_file, problem_file): # Parsing parser = Parser(domain_file, problem_file) domain = parser.parse_domain() problem = parser.parse_problem(domain) return problem
def get_ground_task(domain_filepath, problem_filepath):
parser = Parser(domain_filepath, problem_filepath)
domain = parser.parse_domain()
problem = parser.parse_problem(domain)
task = grounding.ground(problem)
return task
def __init__(self, domain_file, problem_file):
"""
domain - domain pddl file
problem - problem pddl file
"""
#parse the domain and problem
parser = Parser(domain_file, problem_file)
domain = parser.parse_domain()
self.problem = parser.parse_problem(domain)
class PlanRecognitionProblemParser:
def __init__(self):
self.parser = Parser(None)
self.problem = None
def _parse_domain(self,domain_file):
self.parser.domFile = domain_file
return self.parser.parse_domain()
def _parse_observations(self,domain,observations_file):
observations = []
with open(observations_file, encoding='utf-8') as file:
for obs in file:
iter = parse_lisp_iterator(obs)
act = parse_predicate_instance(self.parser._read_input(obs))
observations.append(act)
# iter = self.parser._read_input(file)
# while not iter.empty():
# observations.append()
# observations = parse_predicate_instance_list(iter)
# TODO validate parsed actions
return observations
def _parse_hypotheses(self,domain,hypotheses_file):
hypotheses = []
with open(hypotheses_file, encoding="utf-8") as file:
for hyp in file:
preds = hyp.split(",")
hyp_literals = [parse_predicate_instance(self.parser._read_input(p)) for p in preds]
hypotheses.append(hyp_literals)
# TODO validate hypotheses with domain
return hypotheses
def _parse_template(self,domain,template_file):
self.parser.probFile = template_file
template_content = ""
with open(template_file, encoding="utf-8") as file:
for line in file:
if line.find("<HYPOTHESIS>")>=0:
line = ""
template_content+=line+"\n"
self.parser.probInput = template_content
return self.parser.parse_problem(domain,read_from_file=False)
def parse_pr_problem(self, domain_file, observations_file, hypotheses_file, template_file):
parser = Parser(domain_file,template_file)
domain = self._parse_domain(domain_file)
observations = self._parse_observations(domain, observations_file)
hypotheses = self._parse_hypotheses(domain,hypotheses_file)
template = self._parse_template(domain, template_file)
return PlanRecognitionProblem(domain,observations, hypotheses, template)
def _parse(domain_file, problem_file):
# Parsing
parser = Parser(domain_file, problem_file)
#logging.info('Parsing Domain {0}'.format(domain_file))
domain = parser.parse_domain()
#logging.info('Parsing Problem {0}'.format(problem_file))
problem = parser.parse_problem(domain)
#logging.debug(domain)
#logging.info('{0} Predicates parsed'.format(len(domain.predicates)))
#logging.info('{0} Actions parsed'.format(len(domain.actions)))
#logging.info('{0} Objects parsed'.format(len(problem.objects)))
#logging.info('{0} Constants parsed'.format(len(domain.constants)))
return problem
def _parse(domain_file, problem_file):
# Parsing
parser = Parser(domain_file, problem_file)
logging.info('Parsing Domain {0}'.format(domain_file))
domain = parser.parse_domain()
logging.info('Parsing Problem {0}'.format(problem_file))
problem = parser.parse_problem(domain)
logging.debug(domain)
logging.info('{0} Predicates parsed'.format(len(domain.predicates)))
logging.info('{0} Actions parsed'.format(len(domain.actions)))
logging.info('{0} Objects parsed'.format(len(problem.objects)))
logging.info('{0} Constants parsed'.format(len(domain.constants)))
return problem
def _parse(domain_file, problem_file):
# Parsing
parser = Parser(domain_file, problem_file)
logging.info("Parsing Domain {}".format(domain_file))
domain = parser.parse_domain()
logging.info("Parsing Problem {}".format(problem_file))
problem = parser.parse_problem(domain)
logging.debug(domain)
logging.info("{} Predicates parsed".format(len(domain.predicates)))
logging.info("{} Actions parsed".format(len(domain.actions)))
logging.info("{} Objects parsed".format(len(problem.objects)))
logging.info("{} Constants parsed".format(len(domain.constants)))
return problem
def test_lm_cut_blocksworld_initial_state():
parser = Parser("")
parser.domInput = blocks_dom
parser.probInput = blocks_problem_1
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = LmCutHeuristic(task)
h_val = heuristic(make_root_node(task.initial_state))
assert h_val == 6.0
def test_lm_cut_blocksworld_initial_state():
parser = Parser('')
parser.domInput = blocks_dom
parser.probInput = blocks_problem_1
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = LmCutHeuristic(task)
h_val = heuristic(make_root_node(task.initial_state))
assert h_val == 6.
def parse(domain_file, problem_file):
"""
unmodified pyperplan function
"""
parser = Parser(domain_file, problem_file)
logging.info('Parsing Domain {0}'.format(domain_file))
domain = parser.parse_domain()
logging.info('Parsing Problem {0}'.format(problem_file))
problem = parser.parse_problem(domain)
logging.debug(domain)
logging.info('{0} Predicates parsed'.format(len(domain.predicates)))
logging.info('{0} Actions parsed'.format(len(domain.actions)))
logging.info('{0} Objects parsed'.format(len(problem.objects)))
logging.info('{0} Constants parsed'.format(len(domain.constants)))
return problem
def __init__(self, domain_file, problem_file):
"""
domain - domain pddl file
problem - problem pddl file
"""
#parse the domain and problem
with open(DOM_TEMPL) as d_fd:
self.domain_template = '\n'.join(
[line.strip() for line in d_fd.readlines()])
with open(PROB_TEMPL) as p_fd:
self.prob_template = '\n'.join(
[line.strip() for line in p_fd.readlines()])
parser = Parser(domain_file, problem_file)
domain = parser.parse_domain()
problem = parser.parse_problem(domain)
self.task = grounding.ground(problem)
def gen_heuristic_test(dom, prob, search_class, heuristic_class, h_values_plan,
plan_length=None):
parser = Parser('')
parser.domInput = dom
parser.probInput = prob
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = heuristic_class(task)
plan = search_class(task, heuristic)
if plan_length:
assert len(plan) == plan_length
# run through plan and validate heuristic value
# the true_h_values are taken from fast downward with astar and lm cut
# heuristic
computed_h_values = list(_gen_h_values(task.initial_state, plan, heuristic))
assert h_values_plan == computed_h_values
logging.basicConfig(level=getattr(logging, args.loglevel.upper()),
format='%(asctime)s %(levelname)-8s %(message)s',
stream=sys.stdout)
args.problem = os.path.abspath(args.problem)
if args.domain is None:
args.domain = find_domain(args.problem)
else:
args.domain = os.path.abspath(args.domain)
problem = parse(args.domain, args.problem)
task = ground(problem)
if args.graphtype == 'relatedness' and args.diameter == 'true':
build_graph_related(task, static=True, draw=True, diameter=True)
elif args.graphtype == 'relatedness' and args.diameter == 'false':
build_graph_related(task, static=True, draw=True, diameter=False)
elif args.graphtype == 'rel_simple':
if args.grounding == 'original':
raise Exception(
'The simple relatedness graph is only available with the new grounding'
)
parser = Parser(args.domain, args.problem)
domain = parser.parse_domain(args.domain)
if args.diameter == 'true':
build_graph_rel_simple(domain, task, draw=True)
elif args.diameter == 'false':
build_graph_rel_simple(domain, task, draw=True, diameter=False)
elif args.graphtype == 'causal':
build_graph_causal(task)
_problem_input = """(define (problem BLOCKS-5-0)
(:domain BLOCKS)
(:story_objs B E A C D - block)
(:INIT (CLEAR D) (CLEAR C) (ONTABLE D) (ONTABLE A) (ON C E) (ON E B) (ON B A)
(HANDEMPTY))
(:goal (AND (ON A E) (ON E B) (ON B D) (ON D C)))
)
"""
_parser = Parser('')
_parser.domInput = _domain_input
_parser.probInput = _problem_input
_domain = _parser.parse_domain(False)
_problem = _parser.parse_problem(_domain, False)
def test_default_pddl_visitor_domain():
defaultVisitor = pddl_tree_visitor.PDDLVisitor()
input = _domain_input.split('\n')
iter = parse_lisp_iterator(input)
domAST = parse_domain_def(iter)
# and traverse the AST
domAST.accept(defaultVisitor)
def test_default_pddl_visitor_problem():
defaultVisitor = pddl_tree_visitor.PDDLVisitor()
input = _problem_input.split('\n')
def problemInfo(domFile):
parser = Parser(domFile)
domain = parser.parse_domain()
return len(domain.predicates), len(domain.actions)
_problem_input = """(define (problem BLOCKS-5-0)
(:domain BLOCKS)
(:objects B E A C D - block)
(:INIT (CLEAR D) (CLEAR C) (ONTABLE D) (ONTABLE A) (ON C E) (ON E B) (ON B A)
(HANDEMPTY))
(:goal (AND (ON A E) (ON E B) (ON B D) (ON D C)))
)
"""
_parser = Parser("")
_parser.domInput = _domain_input
_parser.probInput = _problem_input
_domain = _parser.parse_domain(False)
_problem = _parser.parse_problem(_domain, False)
def test_default_pddl_visitor_domain():
defaultVisitor = pddl_tree_visitor.PDDLVisitor()
input = _domain_input.split("\n")
iter = parse_lisp_iterator(input)
domAST = parse_domain_def(iter)
# and traverse the AST
domAST.accept(defaultVisitor)
def test_default_pddl_visitor_problem():
defaultVisitor = pddl_tree_visitor.PDDLVisitor()
input = _problem_input.split("\n")
def test_writer_complex():
test = [
"""
(define (domain BLOCKS)
(:requirements :strips :typing)
(:types block)
(:predicates (on ?x - block ?y - block)
(ontable ?x - block)
(clear ?x - block)
(handempty)
(holding ?x - block)
)
(:action pick-up
:parameters (?x - block)
:precondition (and (clear ?x) (ontable ?x) (handempty))
:effect
(and (not (ontable ?x))
(not (clear ?x))
(not (handempty))
(holding ?x)))
(:action put-down
:parameters (?x - block)
:precondition (holding ?x)
:effect
(and (not (holding ?x))
(clear ?x)
(handempty)
(ontable ?x)))
(:action stack
:parameters (?x - block ?y - block)
:precondition (and (holding ?x) (clear ?y))
:effect
(and (not (holding ?x))
(not (clear ?y))
(clear ?x)
(handempty)
(on ?x ?y)))
(:action unstack
:parameters (?x - block ?y - block)
:precondition (and (on ?x ?y) (clear ?x) (handempty))
:effect
(and (holding ?x)
(clear ?y)
(not (clear ?x))
(not (handempty))
(not (on ?x ?y)))))
""", """
(define (problem BLOCKS-4-0)
(:domain BLOCKS)
(:objects D B A C - block)
(:INIT (CLEAR C) (CLEAR A) (CLEAR B) (CLEAR D) (ONTABLE C) (ONTABLE A)
(ONTABLE B) (ONTABLE D) (HANDEMPTY))
(:goal (AND (ON D C) (ON C B) (ON B A)))
)
"""
]
parser = Parser(None)
parser.domInput = test[0]
parser.probInput = test[1]
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
writer = PDDLWriter()
domain_string = writer.write_domain(domain)
# print(domain_string)
parser.domInput = domain_string
domain = parser.parse_domain(False) # Checking if our output is valid pddl
assert domain is not None
# print(writer.write_domain(domain))
# assert domain_string == writer.write_domain(domain)
print(writer.write_problem(problem))
