Started implementing PDDL type parsing.

include/plasp/pddl/ConsistencyException.h

@@ -0,0 +1,57 @@
+#ifndef __PLASP__PDDL__CONSISTENCY_EXCEPTION_H
+#define __PLASP__PDDL__CONSISTENCY_EXCEPTION_H
+
+#include <exception>
+#include <string>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// ConsistencyException
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class ConsistencyException: public std::exception
+{
+	public:
+		explicit ConsistencyException()
+		:	ConsistencyException("Unspecified consistency error")
+		{
+		}
+
+		explicit ConsistencyException(const char *message)
+		:	ConsistencyException(static_cast<std::string>(message))
+		{
+		}
+
+		explicit ConsistencyException(const std::string &message)
+		:	m_message{message}
+		{
+		}
+
+		~ConsistencyException() throw()
+		{
+		}
+
+		const char *what() const throw()
+		{
+			if (m_message.empty())
+				return "Unspecified consistency error";
+
+			return m_message.c_str();
+		}
+
+	private:
+		std::string m_message;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/pddl/Domain.h

@@ -1,7 +1,10 @@
 #ifndef __PLASP__PDDL__DOMAIN_H
 #define __PLASP__PDDL__DOMAIN_H
 
+#include <unordered_map>
+
 #include <plasp/pddl/Requirement.h>
+#include <plasp/pddl/Type.h>
 #include <plasp/utils/Parser.h>
 
 namespace plasp
@@ -20,9 +23,12 @@ class Domain
 	public:
 		static Domain fromPDDL(utils::Parser &parser);
 
+		using TypesHashMap = std::unordered_map<std::string, Type>;
+
 	public:
 		const std::string &name() const;
 		const Requirement::Types &requirements() const;
+		const TypesHashMap &types() const;
 
 	private:
 		Domain() = default;
@@ -30,10 +36,16 @@ class Domain
 		void parseSection(utils::Parser &parser);
 
 		void parseRequirementsSection(utils::Parser &parser);
+		bool hasRequirement(Requirement::Type requirement) const;
 		void computeDerivedRequirements();
 
+		void parseTypingSection(utils::Parser &parser);
+
+		void checkConsistency();
+
 		std::string m_name;
 		Requirement::Types m_requirements;
+		TypesHashMap m_types;
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////

include/plasp/pddl/Type.h

@@ -0,0 +1,48 @@
+#ifndef __PLASP__PDDL__TYPE_H
+#define __PLASP__PDDL__TYPE_H
+
+#include <functional>
+#include <string>
+#include <vector>
+
+#include <plasp/utils/Parser.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Type
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Type
+{
+	public:
+		Type(std::string name);
+
+	public:
+		void setDirty(bool isDirty = true);
+		bool isDirty() const;
+
+		const std::string &name() const;
+
+		void addParentType(const Type &parentType);
+		const std::vector<const Type *> &parentTypes() const;
+
+	private:
+		bool m_isDirty;
+
+		std::string m_name;
+
+		std::vector<const Type *> m_parentTypes;
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}
+
+#endif

include/plasp/utils/Parser.h

@@ -26,6 +26,7 @@ class Parser
 
 		char currentCharacter() const;
 		void advance();
+		bool advanceIf(char expectedCharacter);
 		bool atEndOfFile() const;
 
 		template<typename Type>
@@ -54,8 +55,6 @@ class Parser
 	private:
 		void checkStream() const;
 
-		bool advanceIf(char expectedCharacter);
-
 		uint64_t parseIntegerBody();
 
 		std::istream &m_istream;

src/plasp/pddl/Domain.cpp

@@ -2,6 +2,7 @@
 
 #include <algorithm>
 
+#include <plasp/pddl/ConsistencyException.h>
 #include <plasp/pddl/Identifier.h>
 #include <plasp/utils/ParserException.h>
 
@@ -38,6 +39,8 @@ Domain Domain::fromPDDL(utils::Parser &parser)
 
 	domain.computeDerivedRequirements();
 
+	domain.checkConsistency();
+
 	return domain;
 }
 
@@ -57,6 +60,13 @@ const Requirement::Types &Domain::requirements() const
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
+const Domain::TypesHashMap &Domain::types() const
+{
+	return m_types;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
 void Domain::parseSection(utils::Parser &parser)
 {
 	parser.expect<std::string>("(:");
@@ -90,7 +100,7 @@ void Domain::parseSection(utils::Parser &parser)
 	if (sectionIdentifier == "requirements")
 		parseRequirementsSection(parser);
 	else if (sectionIdentifier == "types")
-		skipSection();
+		parseTypingSection(parser);
 	else if (sectionIdentifier == "constants")
 		skipSection();
 	else if (sectionIdentifier == "predicates")
@@ -128,16 +138,17 @@ void Domain::parseRequirementsSection(utils::Parser &parser)
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
-void Domain::computeDerivedRequirements()
-{
-	const auto hasRequirement =
-		[&](const auto requirement)
+bool Domain::hasRequirement(Requirement::Type requirement) const
 {
 	const auto match = std::find(m_requirements.cbegin(), m_requirements.cend(), requirement);
 
 	return match != m_requirements.cend();
-		};
+}
 
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void Domain::computeDerivedRequirements()
+{
 	const auto addRequirementUnique =
 		[&](const auto requirement)
 		{
@@ -180,5 +191,68 @@ void Domain::computeDerivedRequirements()
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
+void Domain::parseTypingSection(utils::Parser &parser)
+{
+	// Parses a single type identifier
+	const auto parseType =
+		[&]() -> auto &
+		{
+			parser.skipWhiteSpace();
+
+			const auto typeName = parser.parseIdentifier(isIdentifier);
+			const auto insertionResult = m_types.emplace(std::make_pair(typeName, Type(typeName)));
+			auto &type = insertionResult.first->second;
+
+			// Flag type for potentially upcoming parent type declaration
+			type.setDirty();
+
+			parser.skipWhiteSpace();
+
+			return type;
+		};
+
+	// Parses a type and potentially its parent type
+	while (parser.currentCharacter() != ')')
+	{
+		parseType();
+
+		// Check for type inheritance
+		if (!parser.advanceIf('-'))
+			continue;
+
+		// If existing, parse parent type
+		auto &parentType = parseType();
+
+		parentType.setDirty(false);
+
+		// Assign parent type to all types that were previously flagged
+		std::for_each(m_types.begin(), m_types.end(),
+			[&](auto &childType)
+			{
+				if (!childType.second.isDirty())
+					return;
+
+				childType.second.addParentType(parentType);
+				childType.second.setDirty(false);
+			});
+	}
+
+	parser.expect<std::string>(")");
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void Domain::checkConsistency()
+{
+	if (!m_types.empty() && !hasRequirement(Requirement::Type::Typing))
+	{
+		throw ConsistencyException("Domain contains typing information but does not declare typing requirement");
+
+		m_requirements.push_back(Requirement::Type::Typing);
+	}
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
 }
 }

src/plasp/pddl/Type.cpp

@@ -0,0 +1,58 @@
+#include <plasp/pddl/Type.h>
+
+namespace plasp
+{
+namespace pddl
+{
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// Type
+//
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+Type::Type(std::string name)
+:	m_isDirty{false},
+	m_name{name}
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void Type::setDirty(bool isDirty)
+{
+	m_isDirty = isDirty;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool Type::isDirty() const
+{
+	return m_isDirty;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const std::string &Type::name() const
+{
+	return m_name;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void Type::addParentType(const Type &parentType)
+{
+	m_parentTypes.emplace_back(&parentType);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const std::vector<const Type *> &Type::parentTypes() const
+{
+	return m_parentTypes;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+}
+}

tests/TestPDDLParser.cpp

@@ -13,7 +13,8 @@ class PDDLParserTests : public ::testing::Test
 {
 	protected:
 		PDDLParserTests()
-		:	m_blocksworldDomainFile(readFile("data/blocksworld-domain.pddl"))
+		:	m_blocksworldDomainFile(readFile("data/blocksworld-domain.pddl")),
+			m_storageDomainFile(readFile("data/storage-domain.pddl"))
 		{
 		}
 
@@ -32,11 +33,12 @@ class PDDLParserTests : public ::testing::Test
 		}
 
 		std::stringstream m_blocksworldDomainFile;
+		std::stringstream m_storageDomainFile;
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 
-TEST_F(PDDLParserTests, ParseValidPDDLFile)
+TEST_F(PDDLParserTests, ParseBlocksWorldDomain)
 {
 	try
 	{
@@ -46,9 +48,62 @@ TEST_F(PDDLParserTests, ParseValidPDDLFile)
 
 		const auto &domain = description.domain();
 
+		ASSERT_EQ(domain.name(), "BLOCKS");
+
 		ASSERT_EQ(domain.requirements().size(), 2u);
 		ASSERT_EQ(domain.requirements()[0], plasp::pddl::Requirement::Type::STRIPS);
 		ASSERT_EQ(domain.requirements()[1], plasp::pddl::Requirement::Type::Typing);
+
+		ASSERT_EQ(domain.types().size(), 1u);
+
+		const auto blockType = domain.types().find("block");
+		ASSERT_NE(blockType, domain.types().cend());
+
+		ASSERT_EQ(blockType->second.name(), "block");
+		ASSERT_EQ(blockType->second.parentTypes().size(), 0u);
+	}
+	catch (const std::exception &e)
+	{
+		FAIL() << e.what();
+	}
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+TEST_F(PDDLParserTests, ParseStorageDomain)
+{
+	try
+	{
+		const auto description = plasp::pddl::Description::fromStream(m_storageDomainFile);
+
+		ASSERT_NO_THROW(description.domain());
+
+		const auto &domain = description.domain();
+
+		ASSERT_EQ(domain.name(), "Storage-Propositional");
+
+		ASSERT_EQ(domain.requirements().size(), 1u);
+		ASSERT_EQ(domain.requirements()[0], plasp::pddl::Requirement::Type::Typing);
+
+		const auto area = domain.types().find("area");
+		ASSERT_NE(area, domain.types().cend());
+		const auto hoist = domain.types().find("hoist");
+		ASSERT_NE(hoist, domain.types().cend());
+		const auto object = domain.types().find("object");
+		ASSERT_NE(object, domain.types().cend());
+		const auto storearea = domain.types().find("storearea");
+		ASSERT_NE(storearea, domain.types().cend());
+		const auto surface= domain.types().find("surface");
+		ASSERT_NE(surface, domain.types().cend());
+
+		const auto &hoistParents = hoist->second.parentTypes();
+		ASSERT_EQ(hoistParents.size(), 1u);
+		ASSERT_TRUE(std::find(hoistParents.cbegin(), hoistParents.cend(), &object->second) != hoistParents.cend());
+
+		const auto &areaParents = area->second.parentTypes();
+		ASSERT_EQ(areaParents.size(), 2u);
+		ASSERT_TRUE(std::find(areaParents.cbegin(), areaParents.cend(), &object->second) != areaParents.cend());
+		ASSERT_TRUE(std::find(areaParents.cbegin(), areaParents.cend(), &surface->second) != areaParents.cend());
 	}
 	catch (const std::exception &e)
 	{

tests/data/storage-domain.pddl

@@ -0,0 +1,46 @@
+(define (domain Storage-Propositional)
+(:requirements :typing)
+(:types hoist surface place area - object
+	container depot - place
+	storearea transitarea - area
+	area crate - surface)
+
+(:predicates (clear ?s - storearea)
+	     (in ?x - (either storearea crate) ?p - place)
+	     (available ?h - hoist) 
+	     (lifting ?h - hoist ?c - crate) 
+	     (at ?h - hoist ?a - area)
+	     (on ?c - crate ?s - storearea) 
+	     (connected ?a1 ?a2 - area)
+             (compatible ?c1 ?c2 - crate)) 
+
+(:action lift
+ :parameters (?h - hoist ?c - crate ?a1 - storearea ?a2 - area ?p - place)
+ :precondition (and (connected ?a1 ?a2) (at ?h ?a2) (available ?h) 
+		    (on ?c ?a1) (in ?a1 ?p))
+ :effect (and (not (on ?c ?a1)) (clear ?a1)
+	      (not (available ?h)) (lifting ?h ?c) (not (in ?c ?p))))
+				
+(:action drop
+ :parameters (?h - hoist ?c - crate ?a1 - storearea ?a2 - area ?p - place)
+ :precondition (and (connected ?a1 ?a2) (at ?h ?a2) (lifting ?h ?c) 
+		    (clear ?a1) (in ?a1 ?p))
+ :effect (and (not (lifting ?h ?c)) (available ?h)
+	      (not (clear ?a1)) (on ?c ?a1) (in ?c ?p)))
+
+(:action move
+ :parameters (?h - hoist ?from ?to - storearea)
+ :precondition (and (at ?h ?from) (clear ?to) (connected ?from ?to))
+ :effect (and (not (at ?h ?from)) (at ?h ?to) (not (clear ?to)) (clear ?from)))
+
+(:action go-out
+ :parameters (?h - hoist ?from - storearea ?to - transitarea)
+ :precondition (and (at ?h ?from) (connected ?from ?to))
+ :effect (and (not (at ?h ?from)) (at ?h ?to) (clear ?from)))
+
+(:action go-in
+ :parameters (?h - hoist ?from - transitarea ?to - storearea)
+ :precondition (and (at ?h ?from) (connected ?from ?to) (clear ?to))
+ :effect (and (not (at ?h ?from)) (at ?h ?to) (not (clear ?to))))
+)
+