def parse_streams(streams, rules, stream_pddl, procedure_map, procedure_info, use_functions=True):
stream_iter = iter(parse_lisp(stream_pddl))
assert('define' == next(stream_iter))
pddl_type, pddl_name = next(stream_iter)
assert('stream' == pddl_type)
for lisp_list in stream_iter:
name = lisp_list[0] # TODO: refactor at this point
if name in (':stream', ':wild-stream'):
externals = [parse_stream(lisp_list, procedure_map, procedure_info)]
elif name == ':rule':
externals = [parse_rule(lisp_list, procedure_map, procedure_info)]
elif name == ':function':
if not use_functions:
continue
externals = [parse_function(lisp_list, procedure_map, procedure_info)]
elif name == ':predicate': # Cannot just use args if want a bound
externals = [parse_predicate(lisp_list, procedure_map, procedure_info)]
elif name == ':optimizer':
externals = parse_optimizer(lisp_list, procedure_map, procedure_info)
else:
raise ValueError(name)
for external in externals:
if any(e.name == external.name for e in streams):
raise ValueError('Stream [{}] is not unique'.format(external.name))
if name == ':rule':
rules.append(external)
external.pddl_name = pddl_name # TODO: move within constructors
streams.append(external)
def parse_stream_pddl(stream_pddl, stream_map, stream_info):
streams = []
if stream_pddl is None:
return None, streams
if all(isinstance(e, External) for e in stream_pddl):
return None, stream_pddl
if stream_map != DEBUG:
stream_map = {k.lower(): v for k, v in stream_map.items()}
stream_info = {k.lower(): v for k, v in stream_info.items()}
stream_iter = iter(parse_lisp(stream_pddl))
assert ('define' == next(stream_iter))
pddl_type, stream_name = next(stream_iter)
assert ('stream' == pddl_type)
for lisp_list in stream_iter:
name = lisp_list[0]
if name == ':stream':
external = parse_stream(lisp_list, stream_map, stream_info)
elif name == ':wild':
raise NotImplementedError(name)
elif name == ':rule':
continue
# TODO: implement rules
# TODO: add eager stream if multiple conditions otherwise apply and add to stream effects
elif name == ':function':
external = parse_function(lisp_list, stream_map, stream_info)
elif name == ':predicate': # Cannot just use args if want a bound
external = parse_predicate(lisp_list, stream_map, stream_info)
else:
raise ValueError(name)
if any(e.name == external.name for e in streams):
raise ValueError('Stream [{}] is not unique'.format(external.name))
streams.append(external)
return stream_name, streams