Merge pull request #16 from LBonassi95/master

Fix in parser

.gitignore

@@ -37,6 +37,9 @@ Temporary Items
 .idea/**/dictionaries
 .idea/**/shelf
 
+#VScode
+.vscode
+
 # Sensitive or high-churn files
 .idea/**/dataSources/
 .idea/**/dataSources.ids

Dockerfile

@@ -0,0 +1,32 @@
+FROM ubuntu:18.04
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    ca-certificates \
+    cmake           \
+    g++             \
+    git             \
+    libgmp3-dev     \
+    make            \
+    python3         \
+    wget            \
+    time            \
+    zlib1g-dev
+
+# Set up some environment variables.
+ENV CXX g++
+
+RUN apt-get install -y mona && \
+    apt-get install -y libssl-dev && \
+    apt-get install -y python3 && \
+    apt-get install -y python3-pip && \
+    python3 -m pip install --upgrade pip
+
+RUN git clone https://github.com/whitemech/FOND4LTLf.git && \
+    cd FOND4LTLf && \
+    pip install .
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV LC_ALL C.UTF-8
+ENV LANG C.UTF-8
+
+CMD ["fond4ltlfpltlf"]

README.md

@@ -1,5 +1,5 @@
 <h1 align="center">
-  FOND 4 LTL<sub>f</sub> - PLTL<sub>f</sub>
+  FOND 4 LTL<sub>f</sub>
 </h1>
 
 <p align="center">
@@ -21,7 +21,7 @@
     <img alt="docs" src="https://github.com/whitemech/FOND4LTLfPLTLf/workflows/docs/badge.svg">
   </a>
   <a href="https://codecov.io/gh/whitemech/FOND4LTLfPLTLf">
-    <img alt="codecov" src="https://codecov.io/gh/whitemech/FOND4LTLfPLTLf/branch/master/graph/badge.svg">
+    <img src="https://codecov.io/gh/whitemech/FOND4LTLfPLTLf/branch/master/graph/badge.svg?token=KKWRAH29O7"/>
   </a>
 </p>
 <p align="center">
@@ -44,11 +44,11 @@
 <a href="https://doi.org/10.5281/zenodo.4876281"><img src="https://zenodo.org/badge/DOI/10.5281/zenodo.4876281.svg" alt="DOI"></a>
 </p>
 
-FOND 4 LTL<sub>f</sub>/PLTL<sub>f</sub> is a tool that compiles Fully Observable Non-Deterministic (FOND) planning
+FOND 4 LTL<sub>f</sub> is a tool that compiles Fully Observable Non-Deterministic (FOND) planning
 problems with temporally extended goals, specified either in LTL<sub>f</sub> or in PLTL<sub>f</sub>, into classical FOND
 planning problems.
 
-It is also available online at [fond4ltlfpltlf.diag.uniroma1.it](https://fond4ltlf.herokuapp.com/).
+It is also available online at [https://fond4ltlf.herokuapp.com/](https://fond4ltlf.herokuapp.com/).
 
 ## Prerequisites
 
@@ -58,20 +58,20 @@ This tool is based on the following libraries:
 - [ply](https://pypi.org/project/ply/)
 - [click](https://pypi.org/project/click/)
 
-They are automatically added while installing FOND4LTL<sub>f</sub>/PLTL<sub>f</sub>.
+They are automatically added while installing FOND4LTL<sub>f</sub>.
 
 ## Install
 
 - Intall from source (`master` branch):
 
 ```
-pip install git+https://github.com/whitemech/FOND4LTLfPLTLf.git
+pip install git+https://github.com/whitemech/FOND4LTLf.git
 ```
 
 - or, clone the repository and install:
 
 ```
-git clone https://github.com/whitemech/FOND4LTLfPLTLf.git
+git clone https://github.com/whitemech/FOND4LTLf.git
 cd fond4ltlfpltlf
 pip install .
 ```
@@ -102,9 +102,9 @@ To run only the code style checks: `tox -e flake8`
 
 ## License
 
-FOND4LTL<sub>f</sub>/PLTL<sub>f</sub> is released under the GNU Lesser General Public License v3.0 or later (LGPLv3+).
+FOND4LTL<sub>f</sub> is released under the GNU Lesser General Public License v3.0 or later (LGPLv3+).
 
-Copyright 2019-2020 WhiteMech
+Copyright 2019-2022 WhiteMech
 
 ## Author
 

fond4ltlfpltlf/automa/automaton.py

@@ -111,21 +111,29 @@ def create_operators_trans(self, domain_predicates, grounded_symbols):
                     source_action, vars_mapping, my_predicates, my_variables
                 )
                 if isinstance(fluents_list_precond, FormulaAnd):
-                    new_precondition = fluents_list_precond
+                    new_preconditions = [fluents_list_precond]
                 else:
-                    new_precondition = FormulaAnd(
-                        [fluents_list_precond]
-                        + [Literal.negative(Predicate("turnDomain"))]
-                    )
-                new_effects = self.compute_effects(destination, my_variables)
-                new_operators.append(
-                    Action(
-                        "trans-" + str(counter),
-                        parameters,
-                        new_precondition,
-                        new_effects,
+                    # Luigi: this should be an Or
+                    assert isinstance(fluents_list_precond, FormulaOr)
+                    # For each disjunct I create a new precondition
+                    new_preconditions = [
+                        FormulaAnd(pre.andList + [Literal.negative(Predicate("turnDomain"))])
+                        if isinstance(pre, FormulaAnd)
+                        else FormulaAnd([pre] + [Literal.negative(Predicate("turnDomain"))])
+                        for pre in fluents_list_precond.orList
+                    ]
+                subcounter = 0
+                for newpre in new_preconditions:
+                    new_effects = self.compute_effects(destination, my_variables)
+                    new_operators.append(
+                        Action(
+                            "trans-" + str(counter) + str(subcounter),
+                            parameters,
+                            newpre,
+                            new_effects,
+                        )
                     )
-                )
+                    subcounter += 1
                 counter += 1
             else:
                 pass

fond4ltlfpltlf/parser/parser.py

@@ -208,8 +208,11 @@ def p_typed_constants_lst(self, p):
 
     def p_action_def_lst(self, p):
         """action_def_lst : action_def action_def_lst
-                          | action_def"""
-        if len(p) == 2:
+                          | action_def
+                          | """
+        if len(p) == 1:
+            p[0] = []
+        elif len(p) == 2:
             p[0] = [p[1]]
         else:
             p[0] = [p[1]] + p[2]

fond4ltlfpltlf/pddl/domain.py

@@ -47,7 +47,7 @@ def __str__(self):
         domain_str = "(define (domain {0})\n".format(self.name)
         domain_str += "\t(:requirements {0})\n".format(" ".join(self.requirements))
         if self.types:
-            domain_str += "\t(:types {0})\n".format(" ".join(self.types))
+            domain_str += "\t(:types {0})\n".format(" ".join(map(str, self.types)))
         if self.constants:
             domain_str += "\t(:constants {0})\n".format(
                 " ".join(map(str, self.constants))

tests/data/pddl-domains/robot-coffee/coffee2.pddl

@@ -0,0 +1,24 @@
+(define (problem coffee1)
+   (:domain robot_coffee)
+   (:objects o1 o2 o3 lab - office
+             c - kitchen)
+   (:init (robot_at lab)
+          (connected lab o1)
+          (connected o1 lab)
+          (connected o1 o2)
+          (connected o2 o1)
+          (connected o1 o3)
+          (connected o3 o1)
+          (connected o3 o2)
+          (connected o2 o3)
+          (connected c o3)
+          (connected o3 c))
+;    (:goal (and
+; 	  (until (true) (coffee_at o1))
+; 	  (until (true) (coffee_at o2))
+; 	  (until (true) (coffee_at o3))
+; 	))
+
+(:goal (and (connected o3 c)))
+
+)

tests/data/pddl-domains/robot-coffee/domain-fond.pddl

@@ -0,0 +1,49 @@
+(define (domain robot_coffee)
+  (:requirements :strips :non-deterministic)
+
+  (:types office - room
+	kitchen - room)
+(:predicates (robot_at ?x - room)
+	     (coffeeat ?x - room)
+	     (connected ?x - room ?y - room)
+	     (has_coffee)
+             )
+
+(:action move_to
+  :parameters
+   (?x - room
+    ?y - room)
+  :precondition
+   (and
+   (robot_at ?x) (connected ?x ?y))
+  :effect
+   (and
+   (robot_at ?y) (not (robot_at ?x)))
+)
+
+(:action prepare_coffee
+  :parameters
+   (?x - kitchen)
+  :precondition
+   (and
+   (robot_at ?x) (not (has_coffee)))
+  :effect
+   (has_coffee)
+)
+
+(:action put_coffee
+  :parameters
+   (?x - office)
+  :precondition
+   (and
+   (robot_at ?x) (has_coffee))
+  :effect
+   (and (not (has_coffee))
+   (oneof
+    (and (coffeeat ?x))
+    (and)
+   ))
+)
+
+
+)

tests/test_parsing.py

@@ -669,3 +669,22 @@ def test_problem_init(self):
     def test_problem_goal(self):
         """Test that the goal condition is correct."""
         assert self.pddl_goal == Predicate("vehicleat", ["l13"])
+
+
+def test_robot_coffee():
+    planning_domain = open(str(Path(TEST_ROOT_DIR,
+                                    "data",
+                                    "pddl-domains",
+                                    "robot-coffee",
+                                    "domain-fond.pddl",))).read()
+    planning_problem = open(str(Path(TEST_ROOT_DIR,
+                                    "data",
+                                    "pddl-domains",
+                                    "robot-coffee",
+                                    "coffee2.pddl",))).read()
+    pddl_parser = PDDLParser()
+    tmp = list(planning_problem[400:])
+    parsed_domain = pddl_parser(planning_domain)
+    parsed_problem = pddl_parser(planning_problem)
+    assert parsed_domain is not None
+    assert parsed_problem is not None