def add_effect(self, effect, c):
"""Helper function for visit_effect_stmt.
Keyword arguments:
effect -- instance of the effect data structure
c -- the formula representing the effect that we want to add to the
addlist or dellist
"""
# Needed for instance check.
from pddl.parser import Variable
nextPredicate = None
isNegative = False
if c.key == 'not':
# This is a negative effect, only one child allowed.
if len(c.children) != 1:
raise SemanticError('Error not statement with multiple '
'children in effect of action')
nextPredicate = c.children[0]
isNegative = True
elif c.key == 'increase':
nextPredicate = c.children[0]
else:
nextPredicate = c
# Check whether predicate was defined previously.
if not nextPredicate.key in self._predicates:
raise SemanticError('Error: unknown predicate %s used in effect '
'of action' % nextPredicate.key)
if nextPredicate == None:
raise SemanticError('Error: NoneType predicate used in effect of '
'action')
#hack to get cost parser
totalCost = 1
if nextPredicate.key == 'total-cost':
totalCost = int(nextPredicate.children[0].key)
predDef = self._predicates[nextPredicate.key]
signature = list()
count = 0
# Check whether predicate is used with the correct signature.
if len(nextPredicate.children) != len(predDef.signature):
raise SemanticError('Error: wrong number of arguments for '
'predicate ' + nextPredicate.key +
' in effect of action')
# Apply to all parameters.
for v in nextPredicate.children:
if isinstance(v.key, Variable):
signature.append((v.key.name, predDef.signature[count][1]))
else:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add a new effect to the positive or negative effects respectively.
effect.cost = totalCost
if isNegative:
effect.dellist.add(pddl.Predicate(nextPredicate.key, signature))
else:
effect.addlist.add(pddl.Predicate(nextPredicate.key, signature))
def add_precond(self, precond, c):
"""Helper function for visit_precondition_stmt.
Keyword arguments:
precond -- a list of preconditions
c -- the formula representing a precondition we want to add to the list
"""
from pddl.parser import Variable
if (c.key != 'not'):
predDef = self._predicates[c.key]
signature = list()
count = 0
# Check for correct number of arguments.
if len(c.children) != len(predDef.signature):
raise SemanticError('Error: wrong number of arguments for '
'predicate ' + c.key +
' in precondition of '
'action')
# Apply to all arguments.
for v in c.children:
if isinstance(v.key, Variable):
signature.append((v.key.name, predDef.signature[count][1]))
else:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add predicate to precondition list.
precond.append(pddl.Predicate(c.key, signature))
else:
isNot = True
predDef = self._predicates[c.children[0].key]
signature = list()
count = 0
# Check for correct number of arguments.
if len(c.children[0].children) != len(predDef.signature):
raise SemanticError('Error: wrong number of arguments for '
'predicate ' + c.children[0].key +
' in precondition of '
'action')
# Apply to all arguments.
for v in c.children[0].children:
if isinstance(v.key, Variable):
signature.append((v.key.name, predDef.signature[count][1]))
else:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add predicate to precondition list.
precond.append(pddl.Predicate(c.children[0].key, signature, isNot))
def add_goal(self, goal, c):
"""Helper function for visit_goal_stmt.
Keyword arguments:
goal -- a list of goals
c -- a formula representing a goal we want to add to the goal list
"""
from pddl.parser import Variable
nextPredicate = None
isNegative = False
if c.key == 'not':
# This is a negative goal, only one child allowed.
if len(c.children) != 1:
raise SemanticError('Error not statement with multiple '
'children in goal condition')
nextPredicate = c.children[0]
isNegative = True
else:
nextPredicate = c
# Check whether predicate was introduced in domain file.
if not nextPredicate.key in self._domain.predicates:
raise SemanticError('Error: unknown predicate ' + c.key +
' in goal definition')
if nextPredicate == None:
raise SemanticError(
'Error: NoneType predicate used in goal condition')
# Get predicate from the domain data structure.
predDef = self._domain.predicates[nextPredicate.key]
signature = list()
count = 0
# Check whether the predicate uses the correct signature.
if len(nextPredicate.children) != len(predDef.signature):
raise SemanticError('Error: wrong number of arguments for '
'predicate ' + nextPredicate.key + ' in goal')
for v in nextPredicate.children:
if isinstance(v.key, Variable):
signature.append((v.key.name, predDef.signature[count][1]))
else:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add the predicate to the goal.
#goal.append(pddl.Predicate(nextPredicate.key, signature))
if isNegative:
goal.dellist.add(pddl.Predicate(nextPredicate.key, signature))
else:
goal.addlist.add(pddl.Predicate(nextPredicate.key, signature))
def add_goal(self, goal, c):
"""Helper function for visit_goal_stmt.
Keyword arguments:
goal -- a list of goals
c -- a formula representing a goal we want to add to the goal list
"""
# Check whether predicate was introduced in domain file.
if not c.key in self._domain.predicates:
raise SemanticError('Error: unknown predicate ' + c.key +
' in goal definition')
# Get predicate from the domain data structure.
predDef = self._domain.predicates[c.key]
signature = list()
count = 0
# Check whether the predicate uses the correct signature.
if len(c.children) != len(predDef.signature):
print(len(c.children))
print(c.key)
for child in c.children:
print(child.key)
print(predDef.signature)
raise SemanticError('Error: wrong number of arguments for '
'predicate ' + c.key + ' in goal' +'signature and children are: ' )
for v in c.children:
signature.append((v.key, predDef.signature[count][1]))
count += 1
# Add the predicate to the goal.
goal.append(pddl.Predicate(c.key, signature))
def add_decomp(self, decomp, c):
from pddl.parser import Variable
nextPredicate = None
isNegative = False
if c.key == 'not':
# This is a negative effect, only one child allowed.
if len(c.children) != 1:
raise SemanticError('Error not statement with multiple '
'children in decomp of action')
nextPredicate = c.children[0]
isNegative = True
else:
nextPredicate = c
if not nextPredicate.key in self._predicates:
raise SemanticError('Error: unknown predicate %s used in decomp '
'of action' % nextPredicate.key)
if nextPredicate == None:
raise SemanticError('Error: NoneType predicate used in decomp of '
'action')
#############################################################
predDef = self._predicates[nextPredicate.key]
signature = list()
count = 0
# Check whether predicate is used with the correct signature.
if len(nextPredicate.children) != len(predDef.signature):
raise SemanticError(
'Error: wrong number of arguments for predicate ' +
nextPredicate.key + ' in decomp of action')
# Apply to all parameters.
for v in nextPredicate.children:
if isinstance(v.key, Variable):
signature.append((v.key.name, predDef.signature[count][1]))
else:
signature.append((v.key, predDef.signature[count][1]))
count += 1
if isNegative:
decomp.dellist.add(pddl.Predicate(nextPredicate.key, signature))
else:
decomp.addlist.add(pddl.Predicate(nextPredicate.key, signature))
def visit_predicate(self, node):
"""Visits a PDDL predicate."""
signature = list()
# Visit all predicate parameters.
for v in node.parameters:
v.accept(self)
signatureTuple = self.get_in(v)
# Append each parameter to the predicate signature.
signature.append(signatureTuple)
# Create new PDDL predicate and store it in node.
self.set_in(node, pddl.Predicate(node.name, signature))
def visit_predicate_instance(self, node):
""" Visits a PDDL-problem predicate instance."""
signature = list()
# Visit all parameters.
for o in node.parameters:
o_type = None
# Check whether predicate was introduced in objects or domain
# constants.
if not (o in self._objects or o in self._domain.constants):
raise SemanticError('Error: object ' + o + ' referenced in '
'problem definition - but not defined')
elif o in self._objects:
o_type = self._objects[o]
elif o in self._domain.constants:
o_type = self._domain.constants[o]
signature.append((o, (o_type)))
self.set_in(node, pddl.Predicate(node.name, signature))
def add_precond(self, precond, c):
"""Helper function for visit_precondition_stmt.
Keyword arguments:
precond -- a list of preconditions
c -- the formula representing a precondition we want to add to the list
"""
from pddl.parser import Variable
#############################################################
nextPredicate = None
isNegative = False
forall = False
if c.key in {'forall', 'for-all'}:
forall = True
scoped_var = c.children[0]
c = c.children[1]
if c.key == 'not':
# This is a negative effect, only one child allowed.
if len(c.children) != 1:
raise SemanticError('Error not statement with multiple '
'children in precondition of action')
nextPredicate = c.children[0]
isNegative = True
else:
nextPredicate = c
if not nextPredicate.key in self._predicates:
raise SemanticError(
'Error: unknown predicate %s used in precondition '
'of action' % nextPredicate.key)
if nextPredicate == None:
raise SemanticError(
'Error: NoneType predicate used in precondition of '
'action')
#############################################################
# predDef = self._predicates[c.key]
# signature = list()
# count = 0
# # Check for correct number of arguments.
# if len(c.children) != len(predDef.signature):
# raise SemanticError('Error: wrong number of arguments for '
# 'predicate ' + c.key + ' in precondition of '
# 'action')
predDef = self._predicates[nextPredicate.key]
signature = list()
count = 0
# Check whether predicate is used with the correct signature.
if len(nextPredicate.children) != len(predDef.signature):
raise SemanticError('Error: wrong number of arguments for '
'predicate ' + nextPredicate.key +
' in precondition of action')
# Apply to all parameters.
for v in nextPredicate.children:
if isinstance(v.key, Variable):
signature.append((v.key.name, predDef.signature[count][1]))
else:
signature.append((v.key, predDef.signature[count][1]))
count += 1
if forall:
for name, sig in signature:
if name == scoped_var.key.name:
scoped_var = (name, sig)
break
#Apply to all arguments.
# for v in c.children:
# if isinstance(v.key, Variable):
# signature.append((v.key.name, predDef.signature[count][1]))
# else:
# signature.append((v.key, predDef.signature[count][1]))
# count += 1
# Add predicate to precondition list.
#precond.append(pddl.Predicate(nextPredicate.key, signature))
if forall:
#pred = pddl.Predicate(nextPredicate.key, signature)
p = pddl.Predicate(nextPredicate.key, signature)
q = pddl.Quantifier('forall', scoped_var, p)
precond.addlist.add(q)
return
if isNegative:
precond.dellist.add(pddl.Predicate(nextPredicate.key, signature))
else:
precond.addlist.add(pddl.Predicate(nextPredicate.key, signature))
def add_not_allowed_predicates(domain_file_name,action_names,add_action_constraints,cur_grd_task):
pddl_parser = parser.Parser( domain_file_name )
planning_domain = pddl_parser.parse_domain()
for action_name in action_names :
#add the relevant predicate to the predicate list
dis_predicate_name = 'not_allowed_%s'%action_name
action = planning_domain.actions[action_name]
predicate = pddl.Predicate(dis_predicate_name,action.signature)
planning_domain.predicates[dis_predicate_name]=predicate
#add the precondition to the relevant action
predicate.IsNot = True
action.precondition.append(predicate)
if add_action_constraints is True:
actionsToConstrain_names = action_names#grd_utils.get_constraints_actions(cur_grd_task)
actionsToConstrain = []
if actionsToConstrain_names is None:
actionsToConstrain_names = []
for action_name in planning_domain.actions.keys():
actionsToConstrain.append(planning_domain.actions[action_name])
actionsToConstrain_names.append(action_name)
else:
for action_name in action_names:#actionsToConstrain_names:
actionsToConstrain.append(planning_domain.actions[action_name])
for constraint_action_def in actionsToConstrain:
# add predicate to domain
param_count = len(constraint_action_def.signature)
#(constrained_obj)
predicate_name_constraint = 'constraint_%d'%param_count
signature_full = copy.deepcopy(constraint_action_def.signature)
for param in constraint_action_def.signature:
param_name = '%s-d'%param[0]
signature_full.append(('%s'%param_name,('object')))
predicate_constraint = pddl.Predicate(predicate_name_constraint,signature_full)
planning_domain.predicates[predicate_name_constraint]=predicate_constraint
# if act is in the list add the constraints
realActionsToConstrain_names = grd_utils.get_constraints_actions(cur_grd_task)
if constraint_action_def.name in realActionsToConstrain_names:
# token assignment
constraint_action_def.precondition.append(predicate_constraint)
# token performed
#for act in actionsToConstrain_names:
actionsToConstrain_names = grd_utils.get_constraints_actions(cur_grd_task)
for act in actionsToConstrain_names:
preidcate_name_cur = 'not_allowed_%s'%act
signature_dis = []
for param in constraint_action_def.signature:
param_name = '%s-d'%param[0]
signature_dis.append(('%s'%param_name,('%s'%param[1])))
predicate_add_dissallow = pddl.Predicate(preidcate_name_cur,signature_dis)
constraint_action_def.effect.addlist.add(predicate_add_dissallow)
# add constraints params to signature
constraint_action_def.signature = copy.deepcopy(signature_full)
return planning_domain
def visit_constraints_stmt(self, node):
formula = node.formula
constr = list()
constraints = {}
agents = {}
changed = {}
predicates = node.predicates
init_predicates = node.init_predicates
if formula.key == 'and':
for child in formula.children:
formula_for_changing = self.get_formula(child, 'forall')
changed_key = formula_for_changing.children[0].children[
1].key + formula_for_changing.children[0].key
formula = self.get_formula(child, 'implies')
blocks = []
predDef = []
agent = None
for c in formula.children:
signature = []
sig = []
blocknames = {}
if c.key == "or":
for child in c.children:
predDef.append(self._domain.predicates[child.key])
self.blocks_blocknames(predicates, init_predicates,
child, blocknames, blocks,
constr)
else:
predDef.append(self._domain.predicates[c.key])
self.blocks_blocknames(predicates, init_predicates, c,
blocknames, blocks, constr)
if len(blocknames):
unique = []
for predD in predDef:
for bltype in blocknames:
if predD.name == bltype:
for name in blocknames.get(bltype):
count = 0
for v in name:
sig.append(
(v, predD.signature[count][1]))
count += 1
sig.insert(0, predD.name)
signature.append(sig)
sig = []
if c.key == "or":
for child in c.children:
for sign in signature:
if child.key == sign[0]:
predsign = [
s for s in sign
if not s == sign[0]
]
if predsign not in unique:
constr.append(
pddl.Predicate(
child.key, predsign))
unique.append(predsign)
else:
for sign in signature:
if c.key == sign[0]:
predsignature = [
s for s in sign if not s == sign[0]
]
agent = predsignature[0][0]
constr.append(
pddl.Predicate(
c.key, predsignature))
predDef = []
elif len(blocks):
# if holding predicate
for predD in predDef:
for block in blocks:
key = None
child_place = 0
for child in c.children:
if isinstance(child.key, str):
key = child.key
child_place = c.children.index(child)
lists = [block]
lists.insert(child_place, key)
#lists = [c.children[0].key, block]
blocknames.setdefault(predD.name,
[]).append(lists)
agent = key
for name in blocknames.get(predD.name):
count = 0
for v in name:
sig.append(
(v, predD.signature[count][1]))
count += 1
signature.append(sig)
sig = []
for sign in signature:
constr.append(pddl.Predicate(c.key, sign))
signature = []
blocknames = {}
else:
raise SemanticError('unknown predicate!')
#constraints[agent] = constr
changed[changed_key] = constr
constraints.setdefault(agent, {}).update(changed)
constr = []
changed = {}
self.set_in(node, constraints)