292 lines
8.6 KiB
C++
292 lines
8.6 KiB
C++
#include <plasp/pddl/Expression.h>
|
|
|
|
#include <plasp/pddl/Context.h>
|
|
#include <plasp/pddl/Domain.h>
|
|
#include <plasp/pddl/ExpressionContext.h>
|
|
#include <plasp/pddl/IO.h>
|
|
#include <plasp/pddl/expressions/And.h>
|
|
#include <plasp/pddl/expressions/Imply.h>
|
|
#include <plasp/pddl/expressions/Not.h>
|
|
#include <plasp/pddl/expressions/Or.h>
|
|
#include <plasp/pddl/expressions/Predicate.h>
|
|
#include <plasp/pddl/expressions/PredicateDeclaration.h>
|
|
#include <plasp/pddl/expressions/Unsupported.h>
|
|
#include <plasp/utils/ParserException.h>
|
|
|
|
namespace plasp
|
|
{
|
|
namespace pddl
|
|
{
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// Expression
|
|
//
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer Expression::normalized()
|
|
{
|
|
return reduced()->negationNormalized();
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer Expression::reduced()
|
|
{
|
|
return this;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer Expression::negationNormalized()
|
|
{
|
|
return this;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer Expression::negated()
|
|
{
|
|
if (expressionType() == Type::Not)
|
|
{
|
|
auto ¬Expression = dynamic_cast<expressions::Not &>(*this);
|
|
|
|
return notExpression.argument();
|
|
}
|
|
|
|
auto notExpression = expressions::NotPointer(new expressions::Not);
|
|
notExpression->setArgument(this);
|
|
|
|
return notExpression;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer parseEffectBodyExpression(Context &context, ExpressionContext &expressionContext);
|
|
ExpressionPointer parsePredicate(Context &context, ExpressionContext &expressionContext);
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer parsePreconditionExpression(Context &context,
|
|
ExpressionContext &expressionContext)
|
|
{
|
|
auto &parser = context.parser;
|
|
|
|
parser.skipWhiteSpace();
|
|
|
|
ExpressionPointer expression;
|
|
|
|
if ((expression = expressions::And::parse(context, expressionContext, parsePreconditionExpression)))
|
|
return expression;
|
|
|
|
const auto position = parser.position();
|
|
|
|
parser.expect<std::string>("(");
|
|
|
|
const auto expressionIdentifierPosition = parser.position();
|
|
|
|
if (parser.testIdentifierAndSkip("forall")
|
|
|| parser.testIdentifierAndSkip("preference"))
|
|
{
|
|
// TODO: refactor
|
|
parser.seek(expressionIdentifierPosition);
|
|
const auto expressionIdentifier = parser.parseIdentifier();
|
|
|
|
parser.seek(position);
|
|
return expressions::Unsupported::parse(context);
|
|
}
|
|
|
|
parser.seek(position);
|
|
return parseExpression(context, expressionContext);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer parseExpression(Context &context, ExpressionContext &expressionContext)
|
|
{
|
|
auto &parser = context.parser;
|
|
|
|
parser.skipWhiteSpace();
|
|
|
|
ExpressionPointer expression;
|
|
|
|
if ((expression = expressions::And::parse(context, expressionContext, parseExpression))
|
|
|| (expression = expressions::Or::parse(context, expressionContext, parseExpression))
|
|
|| (expression = expressions::Not::parse(context, expressionContext, parseExpression))
|
|
|| (expression = expressions::Imply::parse(context, expressionContext, parseExpression))
|
|
|| (expression = expressions::Predicate::parse(context, expressionContext)))
|
|
{
|
|
return expression;
|
|
}
|
|
|
|
const auto position = parser.position();
|
|
|
|
parser.expect<std::string>("(");
|
|
|
|
const auto expressionIdentifierPosition = parser.position();
|
|
|
|
if (parser.testIdentifierAndSkip("exists")
|
|
|| parser.testIdentifierAndSkip("forall")
|
|
|| parser.testIdentifierAndSkip("-")
|
|
|| parser.testIdentifierAndSkip("=")
|
|
|| parser.testIdentifierAndSkip("*")
|
|
|| parser.testIdentifierAndSkip("+")
|
|
|| parser.testIdentifierAndSkip("-")
|
|
|| parser.testIdentifierAndSkip("/")
|
|
|| parser.testIdentifierAndSkip(">")
|
|
|| parser.testIdentifierAndSkip("<")
|
|
|| parser.testIdentifierAndSkip("=")
|
|
|| parser.testIdentifierAndSkip(">=")
|
|
|| parser.testIdentifierAndSkip("<="))
|
|
{
|
|
parser.seek(expressionIdentifierPosition);
|
|
const auto expressionIdentifier = parser.parseIdentifier();
|
|
|
|
parser.seek(position);
|
|
return expressions::Unsupported::parse(context);
|
|
}
|
|
|
|
parser.seek(expressionIdentifierPosition);
|
|
const auto expressionIdentifier = parser.parseIdentifier();
|
|
|
|
parser.seek(position);
|
|
throw utils::ParserException(parser.coordinate(), "expression type “" + expressionIdentifier + "” unknown or not allowed in this context");
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer parseEffectExpression(Context &context, ExpressionContext &expressionContext)
|
|
{
|
|
auto &parser = context.parser;
|
|
|
|
ExpressionPointer expression;
|
|
|
|
if ((expression = expressions::And::parse(context, expressionContext, parseEffectExpression)))
|
|
return expression;
|
|
|
|
const auto position = parser.position();
|
|
|
|
parser.expect<std::string>("(");
|
|
|
|
const auto expressionIdentifierPosition = parser.position();
|
|
|
|
if (parser.testIdentifierAndSkip("forall")
|
|
|| parser.testIdentifierAndSkip("when"))
|
|
{
|
|
parser.seek(expressionIdentifierPosition);
|
|
const auto expressionIdentifier = parser.parseIdentifier();
|
|
|
|
parser.seek(position);
|
|
return expressions::Unsupported::parse(context);
|
|
}
|
|
|
|
parser.seek(position);
|
|
return parseEffectBodyExpression(context, expressionContext);
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer parseEffectBodyExpression(Context &context, ExpressionContext &expressionContext)
|
|
{
|
|
auto &parser = context.parser;
|
|
|
|
ExpressionPointer expression;
|
|
|
|
if ((expression = expressions::Not::parse(context, expressionContext, parsePredicate))
|
|
|| (expression = expressions::Predicate::parse(context, expressionContext)))
|
|
{
|
|
return expression;
|
|
}
|
|
|
|
const auto position = parser.position();
|
|
|
|
parser.expect<std::string>("(");
|
|
|
|
const auto expressionIdentifierPosition = parser.position();
|
|
|
|
if (parser.testIdentifierAndSkip("=")
|
|
|| parser.testIdentifierAndSkip("assign")
|
|
|| parser.testIdentifierAndSkip("scale-up")
|
|
|| parser.testIdentifierAndSkip("scale-down")
|
|
|| parser.testIdentifierAndSkip("increase")
|
|
|| parser.testIdentifierAndSkip("decrease"))
|
|
{
|
|
parser.seek(expressionIdentifierPosition);
|
|
const auto expressionIdentifier = parser.parseIdentifier();
|
|
|
|
parser.seek(position);
|
|
return expressions::Unsupported::parse(context);
|
|
}
|
|
|
|
parser.seek(expressionIdentifierPosition);
|
|
const auto expressionIdentifier = parser.parseIdentifier();
|
|
|
|
parser.seek(position);
|
|
throw utils::ParserException(parser.coordinate(), "expression type “" + expressionIdentifier + "” unknown or not allowed in this context");
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer parsePredicate(Context &context, ExpressionContext &expressionContext)
|
|
{
|
|
auto &parser = context.parser;
|
|
|
|
ExpressionPointer expression;
|
|
|
|
if ((expression = expressions::Predicate::parse(context, expressionContext)))
|
|
return expression;
|
|
|
|
throw utils::ParserException(parser.coordinate(), "expected predicate");
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer parseLiteral(Context &context, ExpressionContext &expressionContext)
|
|
{
|
|
ExpressionPointer expression;
|
|
|
|
if ((expression = parseAtomicFormula(context, expressionContext))
|
|
|| (expression = expressions::Not::parse(context, expressionContext, parseAtomicFormula)))
|
|
{
|
|
return expression;
|
|
}
|
|
|
|
return nullptr;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
ExpressionPointer parseAtomicFormula(Context &context, ExpressionContext &expressionContext)
|
|
{
|
|
auto &parser = context.parser;
|
|
|
|
ExpressionPointer expression;
|
|
|
|
if ((expression = expressions::Predicate::parse(context, expressionContext)))
|
|
return expression;
|
|
|
|
const auto position = parser.position();
|
|
|
|
if (!parser.testAndSkip<std::string>("("))
|
|
return nullptr;
|
|
|
|
const auto expressionIdentifierPosition = parser.position();
|
|
|
|
if (parser.testIdentifierAndSkip("="))
|
|
{
|
|
parser.seek(expressionIdentifierPosition);
|
|
const auto expressionIdentifier = parser.parseIdentifier();
|
|
|
|
parser.seek(position);
|
|
return expressions::Unsupported::parse(context);
|
|
}
|
|
|
|
parser.seek(position);
|
|
return nullptr;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
}
|
|
}
|