Fix alternative HDDL plan formats.

HDDL permits tasks to be entered in three different variant syntaxes.
Previously, only the one emitted by PANDA was tested.  Now the
s-expression and comma-separated notations are also working.

hddl-utils/tests/example-plan-comma-separated.hddl

@@ -0,0 +1,20 @@
+==>
+0 drive truck-0, city-loc-2, city-loc-1
+1 pick-up truck-0, city-loc-1, package-0, capacity-0, capacity-1
+2 drive truck-0, city-loc-1, city-loc-0
+3 drop truck-0, city-loc-0, package-0, capacity-0, capacity-1
+4 drive truck-0, city-loc-0, city-loc-1
+5 pick-up truck-0, city-loc-1, package-1, capacity-0, capacity-1
+6 drive truck-0, city-loc-1, city-loc-2
+7 drop truck-0, city-loc-2, package-1, capacity-0, capacity-1
+root 15 14
+8 load truck-0, city-loc-1, package-0 -> m-load 1
+9 unload truck-0, city-loc-0, package-0 -> m-unload 3
+10 get-to truck-0, city-loc-1, -> m-drive-to 0
+11 unload truck-0, city-loc-2, package-1 -> m-unload 7
+12 get-to truck-0, city-loc-0 -> m-drive-to 2
+13 load truck-0, city-loc-1, package-1 -> m-load 5
+14 deliver package-0, city-loc-0 -> m-deliver 10 8 12 9
+15 deliver package-1, city-loc-2 -> m-deliver 16 13 17 11
+16 get-to truck-0, city-loc-1 -> m-drive-to 4
+17 get-to truck-0, city-loc-2 -> m-drive-to 6

hddl-utils/tests/example-plan-sexp.hddl

@@ -0,0 +1,20 @@
+==>
+0 (drive truck-0 city-loc-2 city-loc-1)
+1 (pick-up truck-0 city-loc-1 package-0 capacity-0 capacity-1)
+2 (drive truck-0 city-loc-1 city-loc-0)
+3 (drop truck-0 city-loc-0 package-0 capacity-0 capacity-1)
+4 (drive truck-0 city-loc-0 city-loc-1)
+5 (pick-up truck-0 city-loc-1 package-1 capacity-0 capacity-1)
+6 (drive truck-0 city-loc-1 city-loc-2)
+7 (drop truck-0 city-loc-2 package-1 capacity-0 capacity-1)
+root 15 14
+8 (load truck-0 city-loc-1 package-0) -> m-load 1
+9 (unload truck-0 city-loc-0 package-0) -> m-unload 3
+10 (get-to truck-0 city-loc-1) -> m-drive-to 0
+11 (unload truck-0 city-loc-2 package-1) -> m-unload 7
+12 (get-to truck-0 city-loc-0) -> m-drive-to 2
+13 (load truck-0 city-loc-1 package-1) -> m-load 5
+14 (deliver package-0 city-loc-0) -> m-deliver 10 8 12 9
+15 (deliver package-1 city-loc-2) -> m-deliver 16 13 17 11
+16 (get-to truck-0 city-loc-1) -> m-drive-to 4
+17 (get-to truck-0 city-loc-2) -> m-drive-to 6

hddl-utils/tests/hddl-data.lisp

@@ -9,16 +9,64 @@
 (cl:defparameter hddl-utils-tests::*method*
   '(:task get-to :parameters (?l - location)))
 
+(cl:defparameter hddl-utils-tests::*parsed-plan*
+  '(:HDDL-PLAN :ACTIONS
+ ((0 DRIVE TRUCK-0 CITY-LOC-2
+   CITY-LOC-1)
+  (1 PICK-UP TRUCK-0 CITY-LOC-1
+   PACKAGE-0 CAPACITY-0 CAPACITY-1)
+  (2 DRIVE TRUCK-0 CITY-LOC-1
+   CITY-LOC-0)
+  (3 DROP TRUCK-0 CITY-LOC-0
+   PACKAGE-0 CAPACITY-0 CAPACITY-1)
+  (4 DRIVE TRUCK-0 CITY-LOC-0
+   CITY-LOC-1)
+  (5 PICK-UP TRUCK-0 CITY-LOC-1
+   PACKAGE-1 CAPACITY-0 CAPACITY-1)
+  (6 DRIVE TRUCK-0 CITY-LOC-1
+   CITY-LOC-2)
+  (7 DROP TRUCK-0 CITY-LOC-2
+   PACKAGE-1 CAPACITY-0 CAPACITY-1))
+ :ROOTS (15 14) :DECOMPOSITIONS
+ ((8
+   (LOAD TRUCK-0 CITY-LOC-1
+    PACKAGE-0)
+   M-LOAD 1)
+  (9
+   (UNLOAD TRUCK-0 CITY-LOC-0
+    PACKAGE-0)
+   M-UNLOAD 3)
+  (10 (GET-TO TRUCK-0 CITY-LOC-1)
+   M-DRIVE-TO 0)
+  (11
+   (UNLOAD TRUCK-0 CITY-LOC-2
+    PACKAGE-1)
+   M-UNLOAD 7)
+  (12 (GET-TO TRUCK-0 CITY-LOC-0)
+   M-DRIVE-TO 2)
+  (13
+   (LOAD TRUCK-0 CITY-LOC-1
+    PACKAGE-1)
+   M-LOAD 5)
+  (14 (DELIVER PACKAGE-0 CITY-LOC-0)
+   M-DELIVER 10 8 12 9)
+  (15 (DELIVER PACKAGE-1 CITY-LOC-2)
+   M-DELIVER 16 13 17 11)
+  (16 (GET-TO TRUCK-0 CITY-LOC-1)
+   M-DRIVE-TO 4)
+  (17 (GET-TO TRUCK-0 CITY-LOC-2)
+   M-DRIVE-TO 6))))
+
 #|
 (cl:defparameter pddl-utils-tests::*pddl-keywords*
-  '(:adl :strips 
-    :typing 
+  '(:adl :strips
+    :typing
     :negative-preconditions
     :disjunctive-preconditions
     :equality
     :existential-preconditions
     :universal-preconditions
-    :quantified-preconditions 
+    :quantified-preconditions
     :existential-preconditions
     :universal-preconditions
     :conditional-effects

hddl-utils/tests/tests.lisp

@@ -220,3 +220,25 @@
     (is (equalp goal-expr (hddl-utils:problem-goal problem)))
     )
   )
+
+
+
+(test check-reading-plan
+  (let ((plan (hddl-utils:read-hddl-plan-file
+               (asdf:system-relative-pathname "hddl-utils" "hddl-utils/tests/example-plan.hddl"))))
+    (is (equalp *parsed-plan* plan))))
+
+(test check-reading-plan-sexp
+  (let ((plan (hddl-utils:read-hddl-plan-file
+               (asdf:system-relative-pathname "hddl-utils" "hddl-utils/tests/example-plan-sexp.hddl"))))
+    (is (equalp *parsed-plan* plan))))
+
+(test check-comma-separated-task
+  (let ((string "drive truck-0, city-loc-2, city-loc-1"))
+    (is (equalp HDDL::'(drive truck-0 city-loc-2 city-loc-1)
+                (hddl-pprinter::comma-separated-task->sexp string)))))
+
+(test check-reading-plan-comma-separated
+  (let ((plan (hddl-utils:read-hddl-plan-file
+               (asdf:system-relative-pathname "hddl-utils" "hddl-utils/tests/example-plan-comma-separated.hddl"))))
+    (is (equalp *parsed-plan* plan))))

hddl/hddl-pprint.lisp

@@ -80,6 +80,17 @@ in the form of a list of actions."
   (with-open-file (str filename)
     (read-HDDL-plan str)))
 
+(defun comma-separated-task->sexp (raw-string)
+  (let* ((string (string-upcase raw-string))
+         (task-name-pos (or (position #\space string)
+                            (error "Unable to parse task from \"~a\"" raw-string)))
+         (task-name (string-right-trim (list #\space) (subseq string 0 task-name-pos)))
+         (parameters
+           (mapcar #'(lambda (x) (string-right-trim (list #\space)
+                                                    (string-left-trim (list #\space) x)))
+                   (cl-ppcre:split "," string :start (1+ task-name-pos)))))
+    (mapcar #'hddl-symbol (cons task-name parameters))))
+
 (defun read-HDDL-plan (stream)
   ;; FIXME: rewrite the docstring with return value
   "Read a HDDL plan from STREAM and return it
@@ -115,11 +126,9 @@ in the form of a list of actions."
                (cons id
                 (ecase format
                   (:comma-separated
-                   (let ((components
-                           (cl-ppcre:split "," line :start (1+ pos))))
-                     (mapcar #'hddl-symbol components)))
+                   (comma-separated-task->sexp (subseq (string-upcase line) (1+ pos))))
                   (:s-expression
-                   (let ((*package* *hddl-package*))
+                   (let ((*package* (find-package *hddl-package*)))
                      (read-from-string line t nil :start (1+ pos))))
                   (:default
                    (space-separated-string->hddl-list (subseq line pos))
@@ -144,7 +153,14 @@ in the form of a list of actions."
                   (partition-method-line (subseq line (1+ pos)))
                 (declare (type string task-string method-id subtasks))
                 (collecting `(,id
-                              ,(space-separated-string->hddl-list task-string)
+                              ,(ecase format
+                                 (:default
+                                  (space-separated-string->hddl-list (string-upcase task-string)))
+                                 (:s-expression
+                                  (let ((*package* (find-package *hddl-package*)))
+                                    (read-from-string task-string)))
+                                 (:comma-separated
+                                  (comma-separated-task->sexp (string-upcase task-string))))
                               .
                               (,(intern (string-upcase method-id) *hddl-package*)
                                ,@(read-integer-list subtasks))))))))