Started implementing predicate parsing.

include/plasp/pddl/Context.h

@@ -1,6 +1,7 @@
 #ifndef __PLASP__PDDL__CONTEXT_H
 #define __PLASP__PDDL__CONTEXT_H
 
+#include <plasp/pddl/Predicate.h>
 #include <plasp/pddl/Type.h>
 
 namespace plasp
@@ -14,9 +15,11 @@ namespace pddl
 //
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
-struct Context
+class Context
 {
-	TypeHashMap types;
+	public:
+		TypeHashMap types;
+		PredicateHashMap predicates;
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////

include/plasp/pddl/Domain.h

@@ -4,6 +4,7 @@
 #include <unordered_map>
 
 #include <plasp/pddl/Context.h>
+#include <plasp/pddl/Predicate.h>
 #include <plasp/pddl/Requirement.h>
 #include <plasp/pddl/Type.h>
 #include <plasp/utils/Parser.h>
@@ -28,6 +29,7 @@ class Domain
 		const std::string &name() const;
 		const Requirements &requirements() const;
 		const TypeHashMap &types() const;
+		const PredicateHashMap &predicates() const;
 
 	private:
 		Domain(Context &context);
@@ -40,6 +42,8 @@ class Domain
 
 		void parseTypingSection(utils::Parser &parser);
 
+		void parsePredicateSection(utils::Parser &parser);
+
 		void checkConsistency();
 
 		Context &m_context;

include/plasp/pddl/Predicate.h

@@ -0,0 +1,87 @@
+#ifndef __PLASP__PDDL__PREDICATE_H
+#define __PLASP__PDDL__PREDICATE_H
+
+#include <unordered_map>
+#include <vector>
+
+#include <boost/functional/hash.hpp>
+
+#include <plasp/pddl/Variable.h>
+#include <plasp/utils/Parser.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Predicate
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Context;
+
+struct PredicateHashMapKey
+{
+	std::string name;
+	size_t arity;
+
+	bool operator==(const PredicateHashMapKey &other) const
+	{
+		return arity == other.arity && name == other.name;
+	}
+};
+
+class Predicate;
+using PredicateHashMap = std::unordered_map<PredicateHashMapKey, Predicate>;
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Predicate
+{
+	public:
+		static Predicate &parseDeclaration(utils::Parser &parser, Context &context);
+
+	public:
+		const std::string &name() const;
+		const Variables &arguments() const;
+
+		bool isDeclared() const;
+
+	private:
+		Predicate(std::string name);
+
+		void setDeclared();
+
+		bool m_isDeclared;
+
+		std::string m_name;
+		Variables m_arguments;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+namespace std
+{
+	template<>
+	struct hash<plasp::pddl::PredicateHashMapKey>
+	{
+		std::size_t operator()(const plasp::pddl::PredicateHashMapKey &key) const
+		{
+			std::size_t seed = 0;
+
+			boost::hash_combine(seed, key.name);
+			boost::hash_combine(seed, key.arity);
+
+			return seed;
+		}
+	};
+}
+
+#endif

include/plasp/pddl/Type.h

@@ -30,7 +30,7 @@ class Type
 {
 	public:
 		static Type &parse(utils::Parser &parser, Context &context);
-		static Type &parseWithInheritance(utils::Parser &parser, Context &context);
+		static Type &parseDeclaration(utils::Parser &parser, Context &context);
 
 	public:
 		const std::string &name() const;

include/plasp/pddl/Variable.h

@@ -0,0 +1,56 @@
+#ifndef __PLASP__PDDL__VARIABLE_H
+#define __PLASP__PDDL__VARIABLE_H
+
+#include <vector>
+
+#include <plasp/pddl/Type.h>
+#include <plasp/utils/Parser.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Variable
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Context;
+
+class Variable;
+using Variables = std::vector<Variable>;
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Variable
+{
+	public:
+		static Variable parse(utils::Parser &parser, Context &context);
+
+	public:
+		const std::string &name() const;
+		const Type &type() const;
+
+		void setDirty(bool isDirty = true);
+		bool isDirty() const;
+
+		void setType(const Type &type);
+
+	private:
+		Variable(std::string name);
+
+		bool m_isDirty;
+
+		std::string m_name;
+
+		const Type *m_type;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

src/plasp/pddl/Domain.cpp

@@ -74,6 +74,13 @@ const TypeHashMap &Domain::types() const
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
+const PredicateHashMap &Domain::predicates() const
+{
+	return m_context.predicates;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
 void Domain::parseSection(utils::Parser &parser)
 {
 	parser.expect<std::string>("(:");
@@ -111,7 +118,7 @@ void Domain::parseSection(utils::Parser &parser)
 	else if (sectionIdentifier == "constants")
 		skipSection();
 	else if (sectionIdentifier == "predicates")
-		skipSection();
+		parsePredicateSection(parser);
 	else if (sectionIdentifier == "functions")
 		skipSection();
 	else if (sectionIdentifier == "constraints")
@@ -124,17 +131,16 @@ void Domain::parseSection(utils::Parser &parser)
 
 void Domain::parseRequirementsSection(utils::Parser &parser)
 {
-	while (true)
+	parser.skipWhiteSpace();
+
+	while (parser.currentCharacter() != ')')
 	{
-		parser.skipWhiteSpace();
-
-		if (parser.currentCharacter() == ')')
-			break;
-
 		if (parser.currentCharacter() == ':')
 			parser.advance();
 
 		m_requirements.emplace_back(Requirement::parse(parser));
+
+		parser.skipWhiteSpace();
 	}
 
 	if (m_requirements.empty())
@@ -204,10 +210,29 @@ void Domain::computeDerivedRequirements()
 
 void Domain::parseTypingSection(utils::Parser &parser)
 {
+	parser.skipWhiteSpace();
+
 	// Store types and their parent types
 	while (parser.currentCharacter() != ')')
 	{
-		Type::parseWithInheritance(parser, m_context);
+		Type::parseDeclaration(parser, m_context);
+
+		parser.skipWhiteSpace();
+	}
+
+	parser.expect<std::string>(")");
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void Domain::parsePredicateSection(utils::Parser &parser)
+{
+	parser.skipWhiteSpace();
+
+	// Store predicates and their arguments
+	while (parser.currentCharacter() != ')')
+	{
+		Predicate::parseDeclaration(parser, m_context);
 
 		parser.skipWhiteSpace();
 	}
@@ -234,6 +259,16 @@ void Domain::checkConsistency()
 			if (!type.second.isDeclared())
 				throw ConsistencyException("Type \"" + type.second.name() + "\" used but never declared");
 		});
+
+	// Verify that all used predicates have been declared
+	std::for_each(m_context.predicates.cbegin(), m_context.predicates.cend(),
+		[&](const auto &predicate)
+		{
+			if (!predicate.second.isDeclared())
+				throw ConsistencyException("Predicate \"" + predicate.second.name() + "\" used but never declared");
+		});
+
+	// Verify that all variables have types
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////

src/plasp/pddl/Predicate.cpp

@@ -0,0 +1,111 @@
+#include <plasp/pddl/Predicate.h>
+
+#include <algorithm>
+
+#include <plasp/pddl/Context.h>
+#include <plasp/pddl/Identifier.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Predicate
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+Predicate::Predicate(std::string name)
+:	m_isDeclared{false},
+	m_name{name}
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+Predicate &Predicate::parseDeclaration(utils::Parser &parser, Context &context)
+{
+	parser.expect<std::string>("(");
+
+	const auto predicateName = parser.parseIdentifier(isIdentifier);
+
+	Predicate predicate(predicateName);
+
+	// Flag predicate as correctly declared in the types section
+	predicate.setDeclared();
+
+	parser.skipWhiteSpace();
+
+	// Parse arguments
+	while (parser.currentCharacter() != ')')
+	{
+		predicate.m_arguments.emplace_back(Variable::parse(parser, context));
+
+		parser.skipWhiteSpace();
+
+		// Check if the variable has a type declaration
+		if (!parser.advanceIf('-'))
+			continue;
+
+		// Parse argument type
+		const auto &type = Type::parse(parser, context);
+
+		// Set the argument type for all previously flagged arguments
+		std::for_each(predicate.m_arguments.begin(), predicate.m_arguments.end(),
+			[&](auto &argument)
+			{
+				if (!argument.isDirty())
+					return;
+
+				argument.setType(type);
+				argument.setDirty(false);
+			});
+
+		parser.skipWhiteSpace();
+	}
+
+	parser.expect<std::string>(")");
+
+	const auto predicateArity = predicate.m_arguments.size();
+	const PredicateHashMapKey key = {predicateName, predicateArity};
+
+	const auto insertionResult = context.predicates.emplace(std::make_pair(key, std::move(predicate)));
+
+	std::cout << "Emplaced " << insertionResult.first->second.name() << std::endl;
+
+	return insertionResult.first->second;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void Predicate::setDeclared()
+{
+	m_isDeclared = true;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool Predicate::isDeclared() const
+{
+	return m_isDeclared;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const std::string &Predicate::name() const
+{
+	return m_name;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const Variables &Predicate::arguments() const
+{
+	return m_arguments;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}

src/plasp/pddl/Type.cpp

@@ -48,19 +48,19 @@ Type &Type::parse(utils::Parser &parser, Context &context)
 	// Flag type for potentially upcoming parent type declaration
 	type.setDirty();
 
-	// Flag type as correctly declared in the types section
-	type.setDeclared();
-
 	return type;
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
-Type &Type::parseWithInheritance(utils::Parser &parser, Context &context)
+Type &Type::parseDeclaration(utils::Parser &parser, Context &context)
 {
 	// Parse and store type
 	auto &type = parse(parser, context);
 
+	// Flag type as correctly declared in the types section
+	type.setDeclared();
+
 	parser.skipWhiteSpace();
 
 	// Check for type inheritance
@@ -72,6 +72,10 @@ Type &Type::parseWithInheritance(utils::Parser &parser, Context &context)
 
 	parentType.setDirty(false);
 
+	// Type object is an implicit primitive type
+	if (parentType.name() == "object")
+		parentType.setDeclared();
+
 	// Assign parent type to all types that were previously flagged
 	std::for_each(context.types.begin(), context.types.end(),
 		[&](auto &childType)

src/plasp/pddl/Variable.cpp

@@ -0,0 +1,81 @@
+#include <plasp/pddl/Variable.h>
+
+#include <boost/assert.hpp>
+
+#include <plasp/pddl/Context.h>
+#include <plasp/pddl/Identifier.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Variable
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+Variable::Variable(std::string name)
+:	m_isDirty{false},
+	m_name(name)
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+Variable Variable::parse(utils::Parser &parser, Context &context)
+{
+	parser.skipWhiteSpace();
+
+	parser.expect<std::string>("?");
+
+	const auto variableName = parser.parseIdentifier(isIdentifier);
+
+	Variable variable(variableName);
+	variable.setDirty();
+
+	return variable;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void Variable::setDirty(bool isDirty)
+{
+	m_isDirty = isDirty;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool Variable::isDirty() const
+{
+	return m_isDirty;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const std::string &Variable::name() const
+{
+	return m_name;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void Variable::setType(const Type &type)
+{
+	m_type = &type;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const Type &Variable::type() const
+{
+	BOOST_ASSERT(m_type != nullptr);
+
+	return *m_type;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}

tests/TestPDDLParser.cpp

@@ -56,11 +56,15 @@ TEST_F(PDDLParserTests, ParseBlocksWorldDomain)
 
 		ASSERT_EQ(domain.types().size(), 1u);
 
-		const auto blockType = domain.types().find("block");
+		const auto block = domain.types().find("block");
-		ASSERT_NE(blockType, domain.types().cend());
+		ASSERT_NE(block, domain.types().cend());
 
-		ASSERT_EQ(blockType->second.name(), "block");
+		ASSERT_EQ(block->second.name(), "block");
-		ASSERT_EQ(blockType->second.parentTypes().size(), 0u);
+		ASSERT_EQ(block->second.parentTypes().size(), 0u);
+
+		ASSERT_EQ(domain.predicates().size(), 5u);
+
+		const auto on = domain.predicates().find({"on", 2});
 	}
 	catch (const std::exception &e)
 	{