public Problem ParseProblem(string sProblemFile, Domain d)
{
StreamReader sr = new StreamReader(sProblemFile);
CompoundExpression exp = (CompoundExpression)ToExpression(sr);
sr.Close();
Problem p = null;
CompoundExpression eSub = null;
foreach (Expression e in exp.SubExpressions)
{
eSub = (CompoundExpression)e;
if (eSub.Type == "problem")
{
p = new Problem(eSub.SubExpressions.First().ToString(), d);
}
if (eSub.Type == ":domain")
{
if (eSub.SubExpressions.First().ToString() != d.Name)
{
throw new InvalidDataException("Domain and problem files don't match!");
}
}
if (eSub.Type == ":objects")
{
ReadConstants(eSub, d);
}
if (eSub.Type == ":init")
{
CompoundExpression eAnd = (CompoundExpression)eSub.SubExpressions.First();
if (eAnd.Type == "and")
{
ReadInitState(p, d, eAnd);
}
else
{
ReadInitState(p, d, eSub);
}
//throw new InvalidDataException("Expecting 'and', got " + eAnd.Type);
}
if (eSub.Type == ":goal")
{
ReadGoal(p, d, eSub.SubExpressions[0]);
}
if (eSub.Type == ":metric")
{
ReadMetric(p, d, eSub);
}
}
//p.AddReasoningActions(); not needed as long as we use FF to do the planning for us
d.ComputeAlwaysKnown();
p.CompleteKnownState();
List <Predicate> lConstantPredicates = new List <Predicate>();
foreach (Predicate pKnown in p.Known)
{
if (d.AlwaysConstant(pKnown))
{
lConstantPredicates.Add(pKnown);
}
}
//Problem here - sometimes ~p and p are both effects (remove p and immediately add it), and the current code forbids that - not sure what to do...
//d.RemoveUniversalQuantifiers(lConstantPredicates);
//p.RemoveUniversalQuantifiers();
d.ComputePrivateActions();
return(p);
}