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plasp/lib/pddlparse/tests/TestOfficialPDDLInstances.cpp

209 lines
12 KiB
C++

#include <catch.hpp>
#include <experimental/filesystem>
#include <pddlparse/AST.h>
#include <pddlparse/Parse.h>
namespace fs = std::experimental::filesystem;
const pddl::Context::WarningCallback ignoreWarnings = [](const auto &, const auto &){};
const auto pddlInstanceBasePath = fs::path("data") / "pddl-instances";
////////////////////////////////////////////////////////////////////////////////////////////////////
TEST_CASE("[PDDL parser] The official PDDL instances are parsed correctly", "[PDDL parser]")
{
pddl::Tokenizer tokenizer;
pddl::Context context(std::move(tokenizer), ignoreWarnings);
SECTION("types, predicates, and actions in blocksworld domain")
{
const auto domainFile = pddlInstanceBasePath / "ipc-2000" / "domains" / "blocks-strips-typed" / "domain.pddl";
context.tokenizer.read(domainFile);
auto description = pddl::parseDescription(context);
CHECK(description.domain->name == "blocks");
CHECK(description.domain->constants.empty());
const auto &types = description.domain->types;
REQUIRE(types.size() == 1);
const auto &typeBlock = types[0];
CHECK(typeBlock->name == "block");
const auto &predicates = description.domain->predicates;
REQUIRE(predicates.size() == 5);
CHECK(predicates[0]->name == "on");
REQUIRE(predicates[0]->parameters.size() == 2);
CHECK(predicates[0]->parameters[0]->name == "x");
CHECK(predicates[0]->parameters[0]->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
CHECK(predicates[0]->parameters[1]->name == "y");
CHECK(predicates[0]->parameters[1]->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
CHECK(predicates[1]->name == "ontable");
REQUIRE(predicates[1]->parameters.size() == 1);
CHECK(predicates[1]->parameters[0]->name == "x");
CHECK(predicates[1]->parameters[0]->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
CHECK(predicates[2]->name == "clear");
REQUIRE(predicates[2]->parameters.size() == 1);
CHECK(predicates[2]->parameters[0]->name == "x");
CHECK(predicates[2]->parameters[0]->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
CHECK(predicates[3]->name == "handempty");
CHECK(predicates[3]->parameters.empty());
CHECK(predicates[4]->name == "holding");
REQUIRE(predicates[4]->parameters.size() == 1);
CHECK(predicates[4]->parameters[0]->name == "x");
CHECK(predicates[4]->parameters[0]->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &actions = description.domain->actions;
REQUIRE(actions.size() == 4);
CHECK(actions[3]->name == "unstack");
REQUIRE(actions[3]->parameters.size() == 2);
CHECK(actions[3]->parameters[0]->name == "x");
CHECK(actions[3]->parameters[0]->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
CHECK(actions[3]->parameters[1]->name == "y");
CHECK(actions[3]->parameters[1]->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &preconditionAnd = actions[3]->precondition.value().get<pddl::ast::AndPointer<pddl::ast::Precondition>>();
const auto &precondition0 = preconditionAnd->arguments[0].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(precondition0->arguments.size() == 2);
CHECK(precondition0->arguments[0].get<pddl::ast::VariablePointer>()->declaration->name == "x");
CHECK(precondition0->arguments[0].get<pddl::ast::VariablePointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
CHECK(precondition0->arguments[1].get<pddl::ast::VariablePointer>()->declaration->name == "y");
CHECK(precondition0->arguments[1].get<pddl::ast::VariablePointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &precondition1 = preconditionAnd->arguments[1].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(precondition1->arguments.size() == 1);
CHECK(precondition1->arguments[0].get<pddl::ast::VariablePointer>()->declaration->name == "x");
CHECK(precondition1->arguments[0].get<pddl::ast::VariablePointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &precondition2 = preconditionAnd->arguments[2].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(precondition2->arguments.empty());
const auto &effectAnd = actions[3]->effect.value().get<pddl::ast::AndPointer<pddl::ast::Effect>>();
const auto &effect0 = effectAnd->arguments[0].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(effect0->arguments.size() == 1);
CHECK(effect0->arguments[0].get<pddl::ast::VariablePointer>()->declaration->name == "x");
CHECK(effect0->arguments[0].get<pddl::ast::VariablePointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &effect1 = effectAnd->arguments[1].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(effect1->arguments.size() == 1);
CHECK(effect1->arguments[0].get<pddl::ast::VariablePointer>()->declaration->name == "y");
CHECK(effect1->arguments[0].get<pddl::ast::VariablePointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &effectNot2 = effectAnd->arguments[2].get<pddl::ast::NotPointer<pddl::ast::Effect>>()->argument.get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(effectNot2->arguments.size() == 1);
CHECK(effectNot2->arguments[0].get<pddl::ast::VariablePointer>()->declaration->name == "x");
CHECK(effectNot2->arguments[0].get<pddl::ast::VariablePointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &effectNot3 = effectAnd->arguments[3].get<pddl::ast::NotPointer<pddl::ast::Effect>>()->argument.get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(effectNot3->arguments.empty());
const auto &effectNot4 = effectAnd->arguments[4].get<pddl::ast::NotPointer<pddl::ast::Effect>>()->argument.get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(effectNot4->arguments.size() == 2);
CHECK(effectNot4->arguments[0].get<pddl::ast::VariablePointer>()->declaration->name == "x");
CHECK(effectNot4->arguments[0].get<pddl::ast::VariablePointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
CHECK(effectNot4->arguments[1].get<pddl::ast::VariablePointer>()->declaration->name == "y");
CHECK(effectNot4->arguments[1].get<pddl::ast::VariablePointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
}
SECTION("types, predicates, and actions in blocksworld instance")
{
const auto domainFile = pddlInstanceBasePath / "ipc-2000" / "domains" / "blocks-strips-typed" / "domain.pddl";
const auto instanceFile = pddlInstanceBasePath / "ipc-2000" / "domains" / "blocks-strips-typed" / "instances" / "instance-1.pddl";
context.tokenizer.read(domainFile);
context.tokenizer.read(instanceFile);
auto description = pddl::parseDescription(context);
const auto &types = description.domain->types;
const auto &typeBlock = types[0];
REQUIRE(description.problem);
const auto &problem = description.problem.value();
CHECK(problem->name == "blocks-4-0");
CHECK(problem->domain->name == "blocks");
const auto &objects = problem->objects;
REQUIRE(objects.size() == 4);
CHECK(objects[0]->name == "d");
CHECK(objects[1]->name == "b");
CHECK(objects[2]->name == "a");
CHECK(objects[3]->name == "c");
const auto &facts = problem->initialState.facts;
REQUIRE(facts.size() == 9);
const auto &fact0 = facts[0].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(fact0->arguments.size() == 1);
CHECK(fact0->arguments[0].get<pddl::ast::ConstantPointer>()->declaration->name == "c");
CHECK(fact0->arguments[0].get<pddl::ast::ConstantPointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &fact5 = facts[5].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(fact5->arguments.size() == 1);
CHECK(fact5->arguments[0].get<pddl::ast::ConstantPointer>()->declaration->name == "a");
CHECK(fact5->arguments[0].get<pddl::ast::ConstantPointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &fact8 = facts[8].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(fact8->arguments.empty());
REQUIRE(problem->goal);
const auto &goal = problem->goal.value();
const auto &goalAnd = goal.get<pddl::ast::AndPointer<pddl::ast::Precondition>>();
REQUIRE(goalAnd->arguments.size() == 3);
const auto &goal0 = goalAnd->arguments[0].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(goal0->arguments.size() == 2);
CHECK(goal0->arguments[0].get<pddl::ast::ConstantPointer>()->declaration->name == "d");
CHECK(goal0->arguments[0].get<pddl::ast::ConstantPointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
CHECK(goal0->arguments[1].get<pddl::ast::ConstantPointer>()->declaration->name == "c");
CHECK(goal0->arguments[1].get<pddl::ast::ConstantPointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &goal1 = goalAnd->arguments[1].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(goal0->arguments.size() == 2);
CHECK(goal1->arguments[0].get<pddl::ast::ConstantPointer>()->declaration->name == "c");
CHECK(goal1->arguments[0].get<pddl::ast::ConstantPointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
CHECK(goal1->arguments[1].get<pddl::ast::ConstantPointer>()->declaration->name == "b");
CHECK(goal1->arguments[1].get<pddl::ast::ConstantPointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
const auto &goal2 = goalAnd->arguments[2].get<pddl::ast::AtomicFormula>().get<pddl::ast::PredicatePointer>();
// TODO: check declaration once implemented
REQUIRE(goal0->arguments.size() == 2);
CHECK(goal2->arguments[0].get<pddl::ast::ConstantPointer>()->declaration->name == "b");
CHECK(goal2->arguments[0].get<pddl::ast::ConstantPointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
CHECK(goal2->arguments[1].get<pddl::ast::ConstantPointer>()->declaration->name == "a");
CHECK(goal2->arguments[1].get<pddl::ast::ConstantPointer>()->declaration->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration == typeBlock.get());
}
SECTION("“either” type in zenotravel domain")
{
const auto domainFile = pddlInstanceBasePath / "ipc-2002" / "domains" / "zenotravel-numeric-hand-coded" / "domain.pddl";
context.tokenizer.read(domainFile);
auto description = pddl::parseDescription(context);
const auto &predicates = description.domain->predicates;
REQUIRE(predicates.size() == 2);
REQUIRE(predicates[0]->name == "at");
REQUIRE(predicates[0]->parameters.size() == 2);
REQUIRE(predicates[0]->parameters[0]->name == "x");
REQUIRE(predicates[0]->parameters[0]->type);
CHECK(predicates[0]->parameters[0]->type.value().get<pddl::ast::EitherPointer<pddl::ast::PrimitiveTypePointer>>()->arguments[0]->declaration->name == "person");
CHECK(predicates[0]->parameters[0]->type.value().get<pddl::ast::EitherPointer<pddl::ast::PrimitiveTypePointer>>()->arguments[1]->declaration->name == "aircraft");
REQUIRE(predicates[0]->parameters[1]->name == "c");
REQUIRE(predicates[0]->parameters[1]->type);
CHECK(predicates[0]->parameters[1]->type.value().get<pddl::ast::PrimitiveTypePointer>()->declaration->name == "city");
}
}