* Goal description providing full ADL. * RETURNS a tree with the connectives in the nodes and the atomic  * predicates in the leafs. **********************************************************************/adl_goal_description:literal_term{   if (TRUE == sis_negated)    {      $$ = new_pl_node(NOT);      $$->sons = new_pl_node(ATOM);      $$->sons->atom = $1;      sis_negated = FALSE;    }  else    {      $$ = new_pl_node(ATOM);      $$->atom = $1;    }}|OPEN_PAREN  AND_TOK  adl_goal_description_star  CLOSE_PAREN{   $$ = new_pl_node(AND);  $$->sons = $3;}|OPEN_PAREN  OR_TOK  adl_goal_description_star  CLOSE_PAREN{   $$ = new_pl_node(OR);  $$->sons = $3;}|OPEN_PAREN  NOT_TOK  adl_goal_description  CLOSE_PAREN{   $$ = new_pl_node(NOT);  $$->sons = $3;}|OPEN_PAREN  IMPLY_TOK  adl_goal_description  adl_goal_description  CLOSE_PAREN{   PlNode * np = new_pl_node(NOT);  np->sons = $3;  np->next = $4;  $$ = new_pl_node(OR);  $$->sons = np;}|OPEN_PAREN  EXISTS_TOK OPEN_PAREN  typed_list_variable  CLOSE_PAREN adl_goal_description  CLOSE_PAREN{   PlNode *pln;  pln = new_pl_node(EX);  pln->parse_vars = $4;  $$ = pln;  pln->sons = $6;}|OPEN_PAREN  FORALL_TOK OPEN_PAREN  typed_list_variable  CLOSE_PAREN adl_goal_description  CLOSE_PAREN{   PlNode *pln;  pln = new_pl_node(ALL);  pln->parse_vars = $4;  $$ = pln;  pln->sons = $6;};/**********************************************************************/adl_goal_description_star:/* empty */{  $$ = NULL;}|adl_goal_description  adl_goal_description_star{  $1->next = $2;  $$ = $1;}/********************************************************************** * effects as allowed in pddl are saved in IPP data structures * describes everything after the keyword :effect *********************************************************************/adl_effect:literal_term{   if (TRUE == sis_negated)    {      $$ = new_pl_node(NOT);      $$->sons = new_pl_node(ATOM);      $$->sons->atom = $1;      sis_negated = FALSE;    }  else    {      $$ = new_pl_node(ATOM);      $$->atom = $1;    }}|OPEN_PAREN  AND_TOK  adl_effect_star  CLOSE_PAREN{   $$ = new_pl_node(AND);  $$->sons = $3;}|OPEN_PAREN  NOT_TOK  adl_effect  CLOSE_PAREN{   $$ = new_pl_node(NOT);  $$->sons = $3;}|OPEN_PAREN  FORALL_TOK OPEN_PAREN  typed_list_variable  CLOSE_PAREN adl_effect  CLOSE_PAREN{   PlNode *pln;  pln = new_pl_node(ALL);  pln->parse_vars = $4;  $$ = pln;  pln->sons = $6;}|OPEN_PAREN  WHEN_TOK  adl_goal_description  adl_effect  CLOSE_PAREN{  /* This will be conditional effects in IPP representation, but here     a formula like (WHEN p q) will be saved as:      [WHEN]      [sons]       /  \     [p]  [q]     That means, the first son is p, and the second one is q. */  $$ = new_pl_node(WHEN);  $3->next = $4;  $$->sons = $3;};/**********************************************************************/adl_effect_star:{   $$ = NULL; }|adl_effect  adl_effect_star{  $1->next = $2;  $$ = $1;};/********************************************************************** * some expressions used in many different rules **********************************************************************/literal_term:OPEN_PAREN  NOT_TOK  atomic_formula_term  CLOSE_PAREN{   $$ = $3;  sis_negated = TRUE;/*   $$ = new_token_list(); *//*   $$->item = new_token( strlen($3->item)+2 ); *//*   sprintf($$->item, "!%s", $3->item); *//*   $$->next = $3->next; */}|atomic_formula_term{  $$ = $1;};/**********************************************************************/atomic_formula_term:OPEN_PAREN  predicate  term_star  CLOSE_PAREN{   $$ = new_token_list();  $$->item = $2;  $$->next = $3;};/**********************************************************************/term_star:/* empty */{ $$ = NULL; }|term  term_star{  $$ = new_token_list();  $$->item = $1;  $$->next = $2;};/**********************************************************************/term:NAME{   $$ = new_token( strlen($1)+1 );  strcpy( $$, $1 );}|VARIABLE{   $$ = new_token( strlen($1)+1 );  strcpy( $$, $1 );};/**********************************************************************/name_plus:NAME{  $$ = new_token_list();  $$->item = new_token( strlen($1)+1 );  strcpy( $$->item, $1 );}|NAME  name_plus{  $$ = new_token_list();  $$->item = new_token( strlen($1)+1 );  strcpy( $$->item, $1 );  $$->next = $2;}/**********************************************************************/predicate:NAME{   $$ = new_token( strlen($1)+1 );  strcpy( $$, $1 );}|EQUAL_TOK{   $$ = new_token( strlen(EQ_STR)+1 );  strcpy( $$, EQ_STR );};/**********************************************************************/typed_list_name:     /* returns TypedList *//* empty */{ $$ = NULL; }|NAME  EITHER_TOK  name_plus  CLOSE_PAREN  typed_list_name{   $$ = new_TypedList();  $$->name = new_token( strlen($1)+1 );  strcpy( $$->name, $1 );  $$->type = $3;  $$->next = $5;}|NAME  TYPE  typed_list_name   /* end of list for one type */{  $$ = new_TypedList();  $$->name = new_token( strlen($1)+1 );  strcpy( $$->name, $1 );  $$->type = new_token_list();  $$->type->item = new_token( strlen($2)+1 );  strcpy( $$->type->item, $2 );  $$->next = $3;}|NAME  typed_list_name        /* a list element (gets type from next one) */{  $$ = new_TypedList();  $$->name = new_token( strlen($1)+1 );  strcpy( $$->name, $1 );  if ( $2 ) {/* another element (already typed) is following */    $$->type = copy_token_list( $2->type );  } else {/* no further element - it must be an untyped list */    $$->type = new_token_list();    $$->type->item = new_token( strlen(STANDARD_TYPE)+1 );    strcpy( $$->type->item, STANDARD_TYPE );  }  $$->next = $2;};/***********************************************/typed_list_variable:     /* returns TypedList *//* empty */{ $$ = NULL; }|VARIABLE  EITHER_TOK  name_plus  CLOSE_PAREN  typed_list_variable{   $$ = new_TypedList();  $$->name = new_token( strlen($1)+1 );  strcpy( $$->name, $1 );  $$->type = $3;  $$->next = $5;}|VARIABLE  TYPE  typed_list_variable   /* end of list for one type */{  $$ = new_TypedList();  $$->name = new_token( strlen($1)+1 );  strcpy( $$->name, $1 );  $$->type = new_token_list();  $$->type->item = new_token( strlen($2)+1 );  strcpy( $$->type->item, $2 );  $$->next = $3;}|VARIABLE  typed_list_variable        /* a list element (gets type from next one) */{  $$ = new_TypedList();  $$->name = new_token( strlen($1)+1 );  strcpy( $$->name, $1 );  if ( $2 ) {/* another element (already typed) is following */    $$->type = copy_token_list( $2->type );  } else {/* no further element - it must be an untyped list */    $$->type = new_token_list();    $$->type->item = new_token( strlen(STANDARD_TYPE)+1 );    strcpy( $$->type->item, STANDARD_TYPE );  }  $$->next = $2;};%%#include "lex.ops_pddl.c"/********************************************************************** * Functions **********************************************************************//* call	bison -pops -bscan-ops scan-ops.y*/void opserr(int errno, char * par){  sact_err = errno;  if (NULL != sact_err_par)    {      free(sact_err_par);    }  if (NULL != par)    {      sact_err_par = new_token(strlen(par)+1);      strcpy(sact_err_par, par);    }  else    {      sact_err_par = NULL;    }}  int yyerror(char * msg){  fflush(stdout);  fprintf(stderr, "\n%s: syntax error in line %d, '%s':\n", 	  gact_filename, lineno, yytext);  if (NULL != sact_err_par)    {      fprintf(stderr, "%s %s\n", serrmsg[sact_err], sact_err_par);    }  else    {      fprintf(stderr, "%s\n", serrmsg[sact_err]);    }  switch (sact_err)    {    case NOT_SUPPORTED:      exit( NOT_SUPPORTED_ERROR_CODE );    default:      exit( OPS_PARSE_ERROR_CODE );     }}void load_ops_file(char * filename){  FILE * fp;/* pointer to input files */  char tmp[MAX_LENGTH] = "";  /* open operator file */  if( ( fp = fopen( filename, "r" ) ) == NULL )     {      sprintf(tmp, "\nipp: can't find operator file: %s\n\n", filename );      perror(tmp);      exit( OPS_MISSING_ERROR_CODE );    }  gact_filename = filename;  lineno = 1;   yyin = fp;  yyparse();  fclose( fp );/* and close file again */}