feat(planning): Support task network constraints in HDDL.

planning/planning/src/parsing/mod.rs

@@ -757,6 +757,25 @@ fn read_task_network(
             .0;
         chronicle.constraints.push(Constraint::lt(first_end, second_start));
     }
+    for c in &tn.constraints {
+        // treat constraints exactly as we treat preconditions
+        let as_chronicle_atom = |x: &sexpr::SAtom| as_chronicle_atom(x, context);
+        let conditions = read_conjunction(c, as_chronicle_atom)?;
+        for TermLoc(term, _) in conditions {
+            match term {
+                Term::Binding(sv, val) => {
+                    chronicle.conditions.push(Condition {
+                        start: chronicle.start,
+                        end: chronicle.start,
+                        state_var: sv,
+                        value: val,
+                    });
+                }
+                Term::Eq(a, b) => chronicle.constraints.push(Constraint::eq(a, b)),
+                Term::Neq(a, b) => chronicle.constraints.push(Constraint::neq(a, b)),
+            }
+        }
+    }
 
     Ok(())
 }

planning/planning/src/parsing/pddl.rs

@@ -276,6 +276,7 @@ pub struct TaskNetwork {
     pub ordered_tasks: Vec<Task>,
     pub unordered_tasks: Vec<Task>,
     pub orderings: Vec<Ordering>,
+    pub constraints: Vec<SExpr>,
 }
 
 /// Constraint specifying that the task identified by `first_task_id` should end
@@ -605,10 +606,8 @@ fn parse_task_network(mut key_values: ListIter) -> R<TaskNetwork> {
                 }
             }
             ":constraints" => {
-                let value = key_values.pop_list()?;
-                if !value.iter().is_empty() {
-                    return Err(value.invalid("No support yet for non-empty constraint lists in task networks."));
-                }
+                let value = key_values.pop()?;
+                tn.constraints.push(value.clone());
             }
             _ => return Err(key_loc.invalid("Unsupported keyword in task network")),
         }