{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "-O38cYGqUwCJ"
   },
   "source": [
    "# PDDL I/O Example\n",
    "\n",
    "This notebook will show the possible interations between the pddl language and the unified_planning usage.\n",
    "\n",
    "[![Open In GitHub](https://img.shields.io/badge/see-Github-579aca?logo=github)](https:///github.com/aiplan4eu/unified-planning/blob/master/docs/notebooks/io/01-pddl-usage-example.ipynb)\n",
    "[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/aiplan4eu/unified-planning/blob/master/docs/notebooks/io/01-pddl-usage-example.ipynb)\n",
    "\n",
    "## Setup\n",
    "We start by installing the library with PIP\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "id": "x-vPi8y9ce2y",
    "tags": [
     "remove_from_CI"
    ]
   },
   "outputs": [],
   "source": [
    "!pip install --pre unified-planning"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Sample pddl domain and problem\n",
    "\n",
    "Using wget, download from the unified_planning repository the pddl files we need for testing."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "id": "01nDJbkoVZU1"
   },
   "outputs": [],
   "source": [
    "!wget https://raw.githubusercontent.com/aiplan4eu/unified-planning/master/unified_planning/test/pddl/counters/domain.pddl -O /tmp/counters_domain.pddl"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "id": "-fFY3Q3mZo4P"
   },
   "outputs": [],
   "source": [
    "!wget https://raw.githubusercontent.com/aiplan4eu/unified-planning/master/unified_planning/test/pddl/counters/problem.pddl -O /tmp/counters_problem.pddl"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## PDDL Reader\n",
    "\n",
    "As the name suggests, the [PDDLReader](https://unified-planning.readthedocs.io/en/latest/api_ref.html#unified_planning.io.PDDLReader) offers the capability of parsing a problem from a pddl file and creates a semantically equivalent problem in the `unified_planning` framework.\n",
    "\n",
    "There are 2 possible usages:\n",
    "- the first one is parsing both a domain file and a problem file.\n",
    "- the second one is parsing only a domain file and then populate the problem using the `unified_planning` capabilities."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Parsing domain and problem files\n",
    "\n",
    "In the following example the `PDDLReader` will be used to parse a complete PDDL problem; so it will need a `domain.pddl` file and a `problem.pddl` file."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "id": "1xp1How6aClP"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "problem name = instance_4\n",
      "\n",
      "types = [counter]\n",
      "\n",
      "fluents = [\n",
      "  real value[c=counter]\n",
      "  real max_int\n",
      "]\n",
      "\n",
      "actions = [\n",
      "  action increment(counter c) {\n",
      "    preconditions = [\n",
      "      ((value(c) + 1) <= max_int)\n",
      "    ]\n",
      "    effects = [\n",
      "      value(c) += 1\n",
      "    ]\n",
      "  }\n",
      "  action decrement(counter c) {\n",
      "    preconditions = [\n",
      "      (1 <= value(c))\n",
      "    ]\n",
      "    effects = [\n",
      "      value(c) -= 1\n",
      "    ]\n",
      "  }\n",
      "]\n",
      "\n",
      "objects = [\n",
      "  counter: [c0, c1, c2, c3]\n",
      "]\n",
      "\n",
      "initial fluents default = [\n",
      "]\n",
      "\n",
      "initial values = [\n",
      "  max_int := 10\n",
      "  value(c0) := 0\n",
      "  value(c1) := 0\n",
      "  value(c2) := 0\n",
      "  value(c3) := 0\n",
      "]\n",
      "\n",
      "goals = [\n",
      "  (((value(c0) + 1) <= value(c1)) and ((value(c1) + 1) <= value(c2)) and ((value(c2) + 1) <= value(c3)))\n",
      "]\n",
      "\n",
      "\n"
     ]
    }
   ],
   "source": [
    "# Import the PDDLReader and PDDLWriter classes\n",
    "from unified_planning.io import PDDLReader, PDDLWriter\n",
    "\n",
    "reader = PDDLReader()\n",
    "pddl_problem = reader.parse_problem('/tmp/counters_domain.pddl', '/tmp/counters_problem.pddl')\n",
    "print(pddl_problem)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Parsing only a domain file\n",
    "\n",
    "In the following example the `PDDLReader` will be used to parse only a domain file, and then the problem will be populated using the `unified_planning` framework."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "problem name = fn-counters\n",
      "\n",
      "types = [counter]\n",
      "\n",
      "fluents = [\n",
      "  real value[c=counter]\n",
      "  real max_int\n",
      "]\n",
      "\n",
      "actions = [\n",
      "  action increment(counter c) {\n",
      "    preconditions = [\n",
      "      ((value(c) + 1) <= max_int)\n",
      "    ]\n",
      "    effects = [\n",
      "      value(c) += 1\n",
      "    ]\n",
      "  }\n",
      "  action decrement(counter c) {\n",
      "    preconditions = [\n",
      "      (1 <= value(c))\n",
      "    ]\n",
      "    effects = [\n",
      "      value(c) -= 1\n",
      "    ]\n",
      "  }\n",
      "]\n",
      "\n",
      "objects = [\n",
      "  counter: [c0, c1, c2, c3, c4]\n",
      "]\n",
      "\n",
      "initial fluents default = [\n",
      "]\n",
      "\n",
      "initial values = [\n",
      "  max_int := 10\n",
      "  value(c0) := 0\n",
      "  value(c1) := 0\n",
      "  value(c2) := 0\n",
      "  value(c3) := 0\n",
      "  value(c4) := 0\n",
      "]\n",
      "\n",
      "goals = [\n",
      "  ((value(c0) + 1) <= value(c1))\n",
      "  ((value(c1) + 1) <= value(c2))\n",
      "  ((value(c2) + 1) <= value(c3))\n",
      "  ((value(c3) + 1) <= value(c4))\n",
      "]\n",
      "\n",
      "\n",
      "problem name = fn-counters\n",
      "\n",
      "types = [counter]\n",
      "\n",
      "fluents = [\n",
      "  real value[c=counter]\n",
      "  real max_int\n",
      "]\n",
      "\n",
      "actions = [\n",
      "  action increment(counter c) {\n",
      "    preconditions = [\n",
      "      ((value(c) + 1) <= max_int)\n",
      "    ]\n",
      "    effects = [\n",
      "      value(c) += 1\n",
      "    ]\n",
      "  }\n",
      "  action decrement(counter c) {\n",
      "    preconditions = [\n",
      "      (1 <= value(c))\n",
      "    ]\n",
      "    effects = [\n",
      "      value(c) -= 1\n",
      "    ]\n",
      "  }\n",
      "]\n",
      "\n",
      "objects = [\n",
      "  counter: [c0, c1, c2, c3, c4, c5]\n",
      "]\n",
      "\n",
      "initial fluents default = [\n",
      "]\n",
      "\n",
      "initial values = [\n",
      "  max_int := 10\n",
      "  value(c0) := 0\n",
      "  value(c1) := 0\n",
      "  value(c2) := 0\n",
      "  value(c3) := 0\n",
      "  value(c4) := 0\n",
      "  value(c5) := 0\n",
      "]\n",
      "\n",
      "goals = [\n",
      "  ((value(c0) + 1) <= value(c1))\n",
      "  ((value(c1) + 1) <= value(c2))\n",
      "  ((value(c2) + 1) <= value(c3))\n",
      "  ((value(c3) + 1) <= value(c4))\n",
      "  ((value(c4) + 1) <= value(c5))\n",
      "]\n",
      "\n",
      "\n"
     ]
    }
   ],
   "source": [
    "# Domain is a up.model.Problem that contains only the pddl domain. \n",
    "domain = reader.parse_problem('/tmp/counters_domain.pddl', None) # None is the default, so it can be avoided\n",
    "counter_type = domain.user_type(\"counter\")              # get the counter type\n",
    "domain.set_initial_value(domain.fluent(\"max_int\"), 10)  # initialize the fluent \"max_int\"\n",
    "value_fluent = domain.fluent(\"value\")                   # get the \"value\" fluent\n",
    "for i in range(4, 6):\n",
    "    problem = domain.clone()                            # Clone the parsed domain, then populate it\n",
    "    # Populate the problem. \"j\" iterates in [0, i], creates an object of type\n",
    "    # \"counter\", sets it's initial value to 0, and then sets the goal:\n",
    "    # \"value(c{j-1}) + 1 <=  value(c{j})\". \n",
    "    # This means that every value of the added objects must be\n",
    "    # at least 1 bigger than the object added before.\n",
    "    for j in range(i + 1):\n",
    "        object_j = problem.add_object(f\"c{str(j)}\", counter_type)   # Create and add object\n",
    "        problem.set_initial_value(value_fluent(object_j), 0)        # Set the initial value of \"value(object)\" to 0\n",
    "        if j > 0:  \n",
    "            previous_object = problem.object(f\"c{str(j-1)}\")        # Get previous object\n",
    "            problem.add_goal(                                       # Add the goal \"value(c{j-1})+1 <=  value(c{j})\"\n",
    "                value_fluent(previous_object)+1 <= value_fluent(object_j),\n",
    "            )\n",
    "    print(problem)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## PDDL Writer\n",
    "\n",
    "As the `PDDLReader` allows a unified_planning user to parse a problem from pddl, the [PDDLWriter](https://unified-planning.readthedocs.io/en/latest/api_ref.html#unified_planning.io.PDDLWriter) offers the capability of dumping a `unified_planning Problem` in pddl.\n",
    "\n",
    "There are 3 possible usages of the `PDDLWriter`:\n",
    "- printing pddl domain and problem to a file\n",
    "- getting pddl domain and problem as a python str\n",
    "- printing pddl domain and problem to `STDOUT`"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Writing to file\n",
    "\n",
    "To write the pddl equivalent of a `unified_planning Problem` to a file we use the `PDDLWriter.write_domain` and `PDDLWriter.write_problem` methods."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "id": "s_lwgr5pVEsC"
   },
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   "source": [
    "w = PDDLWriter(problem)\n",
    "w.write_domain('/tmp/written_counters_domain.pddl')\n",
    "w.write_problem('/tmp/written_counters_problem.pddl')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Getting domain and problem as a python string\n",
    "\n",
    "To get the pddl equivalent of a `unified_planning Problem` as a python string we use the `PDDLWriter.get_domain` and `PDDLWriter.get_problem` methods."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(define (domain fn_counters-domain)\n",
      " (:requirements :strips :typing :numeric-fluents)\n",
      " (:types counter)\n",
      " (:functions (value ?c - counter) (max_int))\n",
      " (:action increment\n",
      "  :parameters ( ?c - counter)\n",
      "  :precondition (and (<= (+ 1 (value ?c)) (max_int)))\n",
      "  :effect (and (increase (value ?c) 1)))\n",
      " (:action decrement\n",
      "  :parameters ( ?c - counter)\n",
      "  :precondition (and (<= 1 (value ?c)))\n",
      "  :effect (and (decrease (value ?c) 1)))\n",
      ")\n",
      "\n",
      "(define (problem fn_counters-problem)\n",
      " (:domain fn_counters-domain)\n",
      " (:objects\n",
      "   c0 c1 c2 c3 c4 c5 - counter\n",
      " )\n",
      " (:init (= (max_int) 10) (= (value c0) 0) (= (value c1) 0) (= (value c2) 0) (= (value c3) 0) (= (value c4) 0) (= (value c5) 0))\n",
      " (:goal (and (<= (+ 1 (value c0)) (value c1)) (<= (+ 1 (value c1)) (value c2)) (<= (+ 1 (value c2)) (value c3)) (<= (+ 1 (value c3)) (value c4)) (<= (+ 1 (value c4)) (value c5))))\n",
      ")\n",
      "\n"
     ]
    }
   ],
   "source": [
    "print(w.get_domain())\n",
    "print(w.get_problem())"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Printing domain and problem to STDOUT\n",
    "\n",
    "To print the pddl equivalent of a `unified_planning Problem` to `STDOUT` we use the `PDDLWriter.print_domain` and `PDDLWriter.print_problem` methods."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(define (domain fn_counters-domain)\n",
      " (:requirements :strips :typing :numeric-fluents)\n",
      " (:types counter)\n",
      " (:functions (value ?c - counter) (max_int))\n",
      " (:action increment\n",
      "  :parameters ( ?c - counter)\n",
      "  :precondition (and (<= (+ 1 (value ?c)) (max_int)))\n",
      "  :effect (and (increase (value ?c) 1)))\n",
      " (:action decrement\n",
      "  :parameters ( ?c - counter)\n",
      "  :precondition (and (<= 1 (value ?c)))\n",
      "  :effect (and (decrease (value ?c) 1)))\n",
      ")\n",
      "(define (problem fn_counters-problem)\n",
      " (:domain fn_counters-domain)\n",
      " (:objects\n",
      "   c0 c1 c2 c3 c4 c5 - counter\n",
      " )\n",
      " (:init (= (max_int) 10) (= (value c0) 0) (= (value c1) 0) (= (value c2) 0) (= (value c3) 0) (= (value c4) 0) (= (value c5) 0))\n",
      " (:goal (and (<= (+ 1 (value c0)) (value c1)) (<= (+ 1 (value c1)) (value c2)) (<= (+ 1 (value c2)) (value c3)) (<= (+ 1 (value c3)) (value c4)) (<= (+ 1 (value c4)) (value c5))))\n",
      ")\n"
     ]
    }
   ],
   "source": [
    "w.print_domain()\n",
    "w.print_problem()"
   ]
  }
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