Add PDDL

.gitmodules

@@ -1194,6 +1194,9 @@
 [submodule "vendor/grammars/vscode-opa"]
 	path = vendor/grammars/vscode-opa
 	url = https://github.com/tsandall/vscode-opa
+[submodule "vendor/grammars/vscode-pddl"]
+	path = vendor/grammars/vscode-pddl
+	url = https://github.com/jan-dolejsi/vscode-pddl.git
 [submodule "vendor/grammars/vscode-plantuml"]
 	path = vendor/grammars/vscode-plantuml
 	url = https://github.com/qjebbs/vscode-plantuml

grammars.yml

@@ -1065,6 +1065,10 @@ vendor/grammars/vscode-move-syntax:
 - source.move
 vendor/grammars/vscode-opa:
 - source.rego
+vendor/grammars/vscode-pddl:
+- source.pddl
+- source.pddl.happenings
+- source.pddl.plan
 vendor/grammars/vscode-plantuml:
 - markdown.plantuml.codeblock
 - source.wsd

lib/linguist/languages.yml

@@ -4646,6 +4646,14 @@ P4:
   tm_scope: source.p4
   ace_mode: text
   language_id: 348895984
+PDDL:
+  type: programming
+  color: "#0d00ff"
+  extensions:
+  - ".pddl"
+  tm_scope: source.pddl
+  ace_mode: text
+  language_id: 736235603
 PEG.js:
   type: programming
   color: "#234d6b"

samples/PDDL/domain_testproblem.pddl

@@ -0,0 +1,100 @@
+(define (domain search-and-rescure-scenario)
+
+	(:requirements :strips :typing :fluents :disjunctive-preconditions :durative-actions)
+
+	(:types drone package location dronezones)
+
+	(:constants Area1 Area2 Area3 Area4 - location)
+
+	(:functions 
+		(total-cost)
+	)
+
+	(:predicates
+		(drone-empty ?d - drone)
+		(holding ?d - drone ?p - package)
+		(at-drone ?d - drone ?l - location)
+		(at-package ?p - package ?l - location)
+		(drone-ground ?d - drone) 
+		(drone-fly ?d - drone) 
+		(location-available ?l - location)
+		(location-available-drone ?d - drone ?l -location)
+
+	)
+
+	(:durative-action TAKEOFF
+		:parameters (?d - drone ?l - location)
+		:duration ( = ?duration 5)
+		:condition (and (at start (drone-ground ?d))
+					(at start(location-available-drone ?d ?l))
+					(over all(at-drone ?d ?l))
+					(at start(at-drone ?d ?l))
+					) 
+		:effect (and (at start(not (drone-ground ?d)))
+					 (at end(drone-fly ?d))
+					 (at start(not (location-available ? l)))
+					 (at start(not(location-available-drone ?d ?l)))
+					 (at start(increase (total-cost) 10))
+					 )
+	)
+
+	(:durative-action LAND
+		:parameters (?d - drone ?l - location)
+		:duration ( = ?duration 5)
+		:condition (and (at start(drone-fly ?d))
+						(at start(location-available-drone ?d ?l))
+						(over all(at-drone ?d ?l))
+						(at start(at-drone ?d ?l))
+					) 
+		:effect  (and (at end(drone-ground ?d))
+					(at start(not (drone-fly ?d)))
+					(at start(increase (total-cost) 10))
+					)
+
+	)
+
+
+	(:durative-action LOAD
+		:parameters (?d - drone ?p - package ?l - location)
+		:duration (= ?duration 5)
+		:condition (and (over all(at-drone ?d ?l))
+						(at start(drone-empty ?d))
+						(at start(at-package ?p ?l))
+						(over all(drone-ground ?d)))
+		:effect (and (at end(holding ?d ?p))
+					 (at start(not (drone-empty ?d)))
+					 (at start(not (location-available ? l)))
+					 (at start(not (at-package ?p ?l)))
+					 (at start(increase (total-cost) 10))
+					 )
+	)
+
+	(:durative-action UNLOAD
+		:parameters (?d - drone ?p - package ?l - location)
+		:duration (= ?duration 5)
+		:condition (and (over all(at-drone ?d ?l))
+						(at start(holding ?d ?p))
+						(over all(drone-ground ?d)))
+		:effect (and (at start(not (holding ?d ?p)))
+					 (at end(drone-empty ?d))
+					 (at end(at-package ?p ?l))
+					 (at start(increase (total-cost) 10))
+					 )
+	)
+
+	(:durative-action MOVE
+		:parameters (?d - drone ?from ?to - location)
+		:duration (= ?duration 5)
+		:condition (and (at start(at-drone ?d ?from))
+							(over all(drone-fly ?d))
+							(at start(location-available ?to))
+							)
+		:effect (and (at start(not(at-drone ?d ?from)))
+					 (at end(at-drone ?d ?to))
+					 (at start(not (location-available ?to)))
+					 (at start(location-available ?from))
+					 (at end(location-available-drone ?d ?to))
+					 (at start(increase (total-cost) 10))
+					 )
+	)
+)

samples/PDDL/pathfinding.pddl

@@ -0,0 +1,119 @@
+;;Domain for cleaning floor tiles
+;; A domain file for CMP2020M assignment 2018/2019
+;;Myles Leslie 15614035
+
+;; Define the name for this domain (needs to match the domain definition
+;;   in the problem files)
+
+(define (domain floor-tile)
+
+	;; We only require some typing to make this plan faster. We can do without!
+	(:requirements :typing)
+
+	;; We have two types: robots and the tiles, both are objects
+	(:types robot tile - object)
+
+	;; define all the predicates as they are used in the probem files
+	(:predicates  
+
+    ;; described what tile a robot is at
+    (robot-at ?r - robot ?x - tile)
+
+    ;; indicates that tile ?x is above tile ?y
+    (up ?x - tile ?y - tile)
+
+    ;; indicates that tile ?x is below tile ?y
+    (down ?x - tile ?y - tile)
+
+    ;; indicates that tile ?x is right of tile ?y
+    (right ?x - tile ?y - tile)
+
+    ;; indicates that tile ?x is left of tile ?y
+    (left ?x - tile ?y - tile)
+
+    ;; indicates that a tile is clear (robot can move there)
+    (clear ?x - tile)
+
+    ;; indicates that a tile is cleaned
+    (cleaned ?x - tile)
+ 	)
+
+;; ACTIONS that need to be defined:
+;; defining actions - if tile is cleaned below the robot
+(:action clean-down
+
+;; find what tile the robot is at and the where the tile it's going to is
+ :parameters (?r - robot ?x - tile ?y - tile)
+
+;; find if the tile is below the robot and if it's cleaned
+ :precondition (and( down ?y ?x)(robot-at ?r ?x)  (not(cleaned ?y)))
+
+ ;; if not cleaned then clean 
+ :effect (and(cleaned ?y))
+ )
+
+(:action clean-up
+
+;; find what tile the robot is at and the where the tile it's going to is
+ :parameters (?r - robot ?x - tile ?y - tile)
+
+ ;; find if the tile is above the robot and if it's cleaned
+ :precondition (and ( up ?y ?x) (robot-at ?r ?x) (not(cleaned ?y)))
+
+ ;; if not cleaned then clean
+ :effect (and(cleaned ?y))
+ )
+
+;; all further actions are the same except the direction the robot is going
+;;when there is a tile below
+(:action down 
+
+;; find what tile the robot is at and the where the tile it's going to is
+	:parameters (?r - robot ?x - tile ?y - tile)
+
+;; find if the tile is below the robot, checks if it's clear and if it's cleaned or not
+  	:precondition (and  (down ?y ?x )(robot-at ?r ?x ) (clear ?y )(not(cleaned?y)))  
+
+;; robot moves to tile if it's clear and doesn't if it isn't clear.
+  	:effect (and (robot-at ?r ?y) (not(robot-at ?r ?x)) (not (clear ?y)) (clear ?x))
+ )
+
+ ;;when there is a tile above the robot
+ (:action up   
+
+;; find what tile the robot is at and the where the tile it's going to is
+ 	:parameters (?r - robot ?x - tile ?y - tile)  
+
+;;find if the tile is above the robot, checks if it's clear and if it's cleaned or not
+  	:precondition (and  (up ?y ?x )(robot-at ?r ?x ) (clear ?y )(not(cleaned?y)))
+
+;;robot moves to tile if it's clear and doesn't if it isn't clear.	
+  	:effect (and (robot-at ?r ?y) (not(robot-at ?r ?x)) (not (clear ?y)) (clear ?x))
+ )
+
+;;when there is a tile to the left
+ (:action left
+
+ ;; find what tile the robot is at and the where the tile it's going to is
+	:parameters (?r - robot ?x - tile ?y - tile)  
+
+;;find if the tile is to the left of the robot, checks if it's clear and if it's cleaned or not	
+  	:precondition (and  (left ?y ?x )(robot-at ?r ?x ) (clear ?y )(not(cleaned?y)))  
+
+;;robot moves to tile if it's clear and doesn't if it isn't clear.	
+  	:effect (and (robot-at ?r ?y) (not(robot-at ?r ?x)) (not (clear ?y)) (clear ?x))
+ )
+
+;;when there is a tile to the right
+ (:action right 
+
+ ;; find what tile the robot is at and the where the tile it's going to is
+	:parameters (?r - robot ?x - tile ?y - tile)
+
+;;find if the tile is to the right of the robot, checks if it's clear and if it's cleaned or not
+  	:precondition (and  (right ?y ?x )(robot-at ?r ?x ) (clear ?y )(not(cleaned?y))) 
+
+;;robot moves to tile if it's clear and doesn't if it isn't clear.
+  	:effect (and (robot-at ?r ?y) (not(robot-at ?r ?x)) (not (clear ?y)) (clear ?x))
+ )
+)

samples/PDDL/problem_4d_5p.pddl

@@ -0,0 +1,79 @@
+(define (problem search-and-rescure-scenario_task)
+(:domain search-and-rescure-scenario)
+(:objects
+    drone1 drone2 drone3 drone4 - drone
+    RZ1 RZ2 RZ3 RZ4 - location
+    water1 water2 food1 food2 medicine1  - package
+)
+(:init
+    (at-drone drone1 Area1)
+    (at-drone drone2 Area2)
+    (at-drone drone3 Area3)
+    (at-drone drone4 Area4)
+
+    (at-package water1 Area1)
+    (at-package water2 Area1)
+    (at-package food1 Area2)
+    (at-package food2 Area3)
+    (at-package medicine1 Area4)
+
+    (drone-empty drone1)
+    (drone-empty drone2)
+    (drone-empty drone3)
+    (drone-empty drone4)
+
+    (drone-ground drone1)
+    (drone-ground drone2)
+    (drone-ground drone3)
+    (drone-ground drone4)
+
+    (location-available-drone drone1 Area1)
+    (location-available-drone drone1 Area2)
+    (location-available-drone drone1 Area3)
+    (location-available-drone drone1 Area4)
+
+    (location-available-drone drone2 Area1)
+    (location-available-drone drone2 Area2)
+    (location-available-drone drone2 Area3)
+    (location-available-drone drone2 Area4)
+
+    (location-available-drone drone3 Area1)
+    (location-available-drone drone3 Area2)
+    (location-available-drone drone3 Area3)
+    (location-available-drone drone3 Area4)
+
+    (location-available-drone drone4 Area1)
+    (location-available-drone drone4 Area2)
+    (location-available-drone drone4 Area3)
+    (location-available-drone drone4 Area4)
+
+    (location-available Area1)
+    (location-available Area2)
+    (location-available Area3)
+    (location-available Area4)
+    (location-available RZ1)
+    (location-available RZ2)
+    (location-available RZ3)
+    (location-available RZ4)
+
+    (= (total-cost) 0)
+)
+(:goal (and
+    (at-package water1 RZ1)
+    (at-package water2 RZ3)
+    (at-package medicine1 RZ2)
+    (at-package food2 RZ2)
+    (at-package food1 RZ4)
+    (at-drone drone1 Area1)
+    (at-drone drone2 Area2)
+    (drone-ground drone1)
+    (drone-ground drone2)
+    (at-drone drone3 Area3)
+    (at-drone drone4 Area4)
+    (drone-ground drone3)
+    (drone-ground drone4)
+))
+
+(:metric minimize (total-cost))
+
+)

vendor/README.md

@@ -373,6 +373,7 @@ This is a list of grammars that Linguist selects to provide syntax highlighting
 - **Ox:** [andreashetland/sublime-text-ox](https://github.com/andreashetland/sublime-text-ox)
 - **Oz:** [eregon/oz-tmbundle](https://github.com/eregon/oz-tmbundle)
 - **P4:** [TakeshiTseng/atom-language-p4](https://github.com/TakeshiTseng/atom-language-p4)
+- **PDDL:** [jan-dolejsi/vscode-pddl](https://github.com/jan-dolejsi/vscode-pddl)
 - **PEG.js:** [Alhadis/language-grammars](https://github.com/Alhadis/language-grammars)
 - **PHP:** [tree-sitter/tree-sitter-php](https://github.com/tree-sitter/tree-sitter-php) 🐌
 - **PLpgSQL:** [textmate/sql.tmbundle](https://github.com/textmate/sql.tmbundle)

vendor/licenses/git_submodule/vscode-pddl.dep.yml

@@ -0,0 +1,31 @@
+---
+name: vscode-pddl
+version: 24a0736f1f247a986593c923ebd4235125d157d7
+type: git_submodule
+homepage: https://github.com/jan-dolejsi/vscode-pddl.git
+license: mit
+licenses:
+- sources: LICENSE
+  text: |
+    MIT License
+
+    Copyright (c) 2017 jan-dolejsi
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is
+    furnished to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in all
+    copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+    SOFTWARE.
+notices: []