[planning] Allow the definition of custom predefined symbols.

planner/src/main/scala/dahu/planner/Chronicle.scala

@@ -39,7 +39,7 @@ case class ObjLit(value: Instance) extends Literal {
 
 case class ProblemContext(intTag: BoxedInt[Literal],
                           topTag: TagIsoInt[Literal],
-                          specializedTags: Type => TagIsoInt[Literal]) {
+                          specializedTags: Type => TagIsoInt[Literal])(implicit predef: Predef) {
 
   def intBox(tpe: TagIsoInt[Literal], i: Tentative[Int]): Tentative[Literal] =
     Computation(tpe.box, i)
@@ -49,19 +49,19 @@ case class ProblemContext(intTag: BoxedInt[Literal],
       case _                     => unexpected
     }
   }
-  private val booleanTag = specializedTags(Type.Boolean)
+  private val booleanTag = specializedTags(predef.Boolean)
   val boolBoxing = new Reversible[Boolean, Literal]()(Tag[Boolean], booleanTag) { self =>
     override def reverse: Reversible[Literal, Boolean] =
       new Reversible[Literal, Boolean]()(booleanTag, Tag[Boolean]) {
         override def reverse: Reversible[Boolean, Literal] = self
         override def of(in: Literal): Boolean = in match {
-          case ObjLit(Type.True)  => true
-          case ObjLit(Type.False) => false
-          case _                  => unexpected
+          case ObjLit(predef.True)  => true
+          case ObjLit(predef.False) => false
+          case _                    => unexpected
         }
         override def name: String = "unbox"
       }
-    override def of(in: Boolean): Literal = if(in) ObjLit(Type.True) else ObjLit(Type.False)
+    override def of(in: Boolean): Literal = if(in) ObjLit(predef.True) else ObjLit(predef.False)
     override def name: String = "box"
   }
   def boolUnbox(i: Tentative[Literal]): Tentative[Boolean] = Computation(boolBoxing.reverse, i)
@@ -70,11 +70,11 @@ case class ProblemContext(intTag: BoxedInt[Literal],
   def encode(v: common.Term)(implicit argRewrite: Arg => Tentative[Literal]): Tentative[Literal] =
     v match {
       case IntLiteral(i) => IntLit(i).asConstant(intTag)
-      case lv @ LocalVar(id, tpe) if tpe.isSubtypeOf(Type.Time) =>
-        assert(tpe == Type.Time)
-        val e: Tentative[Int] = id match {
-          case Type.Start => temporalOrigin
-          case Type.End   => temporalHorizon
+      case lv @ LocalVar(id, tpe) if tpe.isSubtypeOf(predef.Time) =>
+        assert(tpe == predef.Time)
+        val e: Tentative[Int] = lv match {
+          case predef.Start => temporalOrigin
+          case predef.End   => temporalHorizon
           case _ =>
             Input[Int](Ident(lv)).subjectTo(tp => temporalOrigin <= tp && tp <= temporalHorizon)
         }

planning/anml/src/main/scala/dahu/planning/package.scala

@@ -2,13 +2,17 @@ package dahu
 
 import java.io.File
 
+import dahu.planning.model.common.Predef
 import dahu.planning.model.core.CoreModel
 import dahu.planning.model.transforms.FullToCore
 import dahu.planning.model.{core, full}
 import dahu.planning.parsing.anml
+import dahu.planning.parsing.anml.AnmlPredef
 
 package object planning {
 
+  implicit val predef = AnmlPredef
+
   sealed trait Result[+T] {
     def map[B](f: T => B): Result[B]
   }

planning/anml/src/main/scala/dahu/planning/parsing/anml/AnmlPredef.scala

+package dahu.planning.parsing.anml
+
+import dahu.planning.model.common._
+import dahu.planning.model.common.Type._
+import dahu.planning.model.full
+import dahu.planning.model.full._
+
+object AnmlPredef extends dahu.planning.model.common.Predef {
+  override val Time: IRealType = IntSubType(Id(RootScope, "time"), Integers)
+
+  override val Boolean: BooleanType = BooleanType(Id(RootScope, "boolean"))
+
+  override val True: Instance = Instance(Id(RootScope, "true"), Boolean)
+  override val False: Instance = Instance(Id(RootScope, "false"), Boolean)
+
+  override val Start = LocalVar(Id(RootScope, "start"), Time)
+  override val End = LocalVar(Id(RootScope, "end"), Time)
+
+  override def baseModel: full.Model =
+    (Model() ++ Seq(
+      TypeDeclaration(ObjectTop),
+      TypeDeclaration(Boolean),
+      TypeDeclaration(Reals),
+      TypeDeclaration(Integers),
+      InstanceDeclaration(True),
+      InstanceDeclaration(False),
+      LocalVarDeclaration(Start),
+      LocalVarDeclaration(End),
+    )).getOrElse(sys.error("Could not instantiate base model"))
+}

planning/anml/src/main/scala/dahu/planning/parsing/anml/Parser.scala

@@ -22,7 +22,7 @@ import dahu.planning.model.full._
 import scala.annotation.tailrec
 import scala.util.Try
 
-abstract class AnmlParser(val initialContext: Ctx) {
+abstract class AnmlParser(val initialContext: Ctx)(implicit predef: Predef) {
 
   /** Denotes the current context of this AnmlParser.
     * It is used by many suparsers to find the variable/fluent/type associated to an identifier.
@@ -73,7 +73,7 @@ abstract class AnmlParser(val initialContext: Ctx) {
 
   val timepointDeclaration: Parser[LocalVarDeclaration] =
     timepointKW ~/
-      freeIdent.map(name => TimepointDeclaration(ctx.id(name))) ~
+      freeIdent.map(name => LocalVarDeclaration(Timepoint(ctx.id(name)))) ~
       ";"
 
   protected val definedTP: Parser[LocalVar] =
@@ -421,7 +421,7 @@ abstract class AnmlParser(val initialContext: Ctx) {
       }, "assignment-to-const-func-only")
       .namedFilter({
         case (_, Some(_)) => true
-        case (expr, None) => expr.typ.isSubtypeOf(Type.Boolean)
+        case (expr, None) => expr.typ.isSubtypeOf(predef.Boolean)
       }, "boolean-if-not-assignment")
       .map {
         case (left: Constant, Some((":=", right))) => StaticAssignmentAssertion(left, right)
@@ -501,7 +501,7 @@ class AnmlModuleParser(val initialModel: Model) extends AnmlParser(initialModel)
         case (_, _, None) => Seq()
         case (t, _, Some(funcDecl)) =>
           funcDecl.map(fd => {
-            val id = new Id(t.asScope, fd.id.name)
+            val id = Id(t.asScope, fd.id.name)
             val functionScope = t.asScope + id.name
             val selfArg = new Arg(new Id(functionScope, "self"), t)
             val params = selfArg +: fd.func.params.map(arg =>
@@ -541,7 +541,8 @@ class AnmlModuleParser(val initialModel: Model) extends AnmlParser(initialModel)
   }
 }
 
-class AnmlActionParser(superParser: AnmlModuleParser) extends AnmlParser(superParser.currentModel) {
+class AnmlActionParser(superParser: AnmlModuleParser)(implicit predef: Predef)
+    extends AnmlParser(superParser.currentModel) {
 
   private def currentAction: ActionTemplate = ctx match {
     case a: ActionTemplate => a
@@ -556,8 +557,8 @@ class AnmlActionParser(superParser: AnmlModuleParser) extends AnmlParser(superPa
     }
     val emptyAct = new ActionTemplate(actionName, container)
     emptyAct +
-      TimepointDeclaration(Id(emptyAct.scope, "start")) +
-      TimepointDeclaration(Id(emptyAct.scope, "end"))
+      LocalVarDeclaration(Timepoint(Id(emptyAct.scope, "start"))) +
+      LocalVarDeclaration(Timepoint(Id(emptyAct.scope, "end")))
   }
 
   /** FIXME: this interprets a "constant" as a local variable. This is is compatible with FAPE but not with official ANML. */
@@ -594,7 +595,8 @@ class AnmlActionParser(superParser: AnmlModuleParser) extends AnmlParser(superPa
 }
 
 /** First phase parser used to extract all type declarations from a given ANML string. */
-class AnmlTypeParser(val initialModel: Model) extends AnmlParser(initialModel) {
+class AnmlTypeParser(val initialModel: Model)(implicit predef: Predef)
+    extends AnmlParser(initialModel) {
 
   val nonTypeToken: Parser[String] =
     (word | int | CharIn("{}[]();=:<>-+.,!/*")).!.namedFilter(_ != "type", "non-type-token")
@@ -625,17 +627,7 @@ class AnmlTypeParser(val initialModel: Model) extends AnmlParser(initialModel) {
 object Parser {
 
   /** ANML model with default definitions already added */
-  val baseAnmlModel: Model =
-    (Model() ++ Seq(
-      TypeDeclaration(Type.ObjectTop),
-      TypeDeclaration(Type.Boolean),
-      TypeDeclaration(Type.Reals),
-      TypeDeclaration(Type.Integers),
-      InstanceDeclaration(Type.True),
-      InstanceDeclaration(Type.False),
-      TimepointDeclaration(Type.Start),
-      TimepointDeclaration(Type.End),
-    )).getOrElse(sys.error("Could not instantiate base model"))
+  def baseAnmlModel(implicit predef: Predef): Model = predef.baseModel
 
   /** Parses an ANML string. If the previous model parameter is Some(m), then the result
     * of parsing will be appended to m.

planning/model/src/main/scala/dahu/planning/model/common/operators.scala

@@ -29,22 +29,23 @@ object operators {
                                        val precedence: Int,
                                        val associativity: Associativity)
       extends Operator {
-    def tpe(lhs: Type, rhs: Type): TypingResult
+    def tpe(lhs: Type, rhs: Type)(implicit predef: Predef): TypingResult
   }
 
   sealed abstract class BooleanBinaryOperator(op: String,
                                               precedence: Int,
                                               associativity: Associativity)
       extends BinaryOperator(op, precedence, associativity) {
-    override def tpe(lhs: Type, rhs: Type): TypingResult = (lhs, rhs) match {
-      case (Type.Boolean, Type.Boolean) => Right(Type.Boolean)
-      case _                            => Left("On of the subexpression does not have the boolean type.")
-    }
+    override def tpe(lhs: Type, rhs: Type)(implicit predef: Predef): TypingResult =
+      (lhs, rhs) match {
+        case (predef.Boolean, predef.Boolean) => Right(predef.Boolean)
+        case _                                => Left("On of the subexpression does not have the boolean type.")
+      }
   }
 
   sealed abstract class NumericBinaryOperator(op: String, precedence: Int)
       extends BinaryOperator(op, precedence, Associativity.Left) {
-    override def tpe(lhs: Type, rhs: Type): TypingResult = {
+    override def tpe(lhs: Type, rhs: Type)(implicit predef: Predef): TypingResult = {
       lhs.lowestCommonAncestor(rhs) match {
         case None if !lhs.isNum       => Left(s"Left hand side is not a numeric type but: $lhs")
         case None if !rhs.isNum       => Left(s"Right hand side is not a numeric type but: $rhs")
@@ -58,11 +59,11 @@ object operators {
 
   sealed abstract class NumericComparison(op: String, precedence: Int)
       extends BinaryOperator(op, precedence, Associativity.Non) {
-    override def tpe(lhs: Type, rhs: Type): TypingResult = {
+    override def tpe(lhs: Type, rhs: Type)(implicit predef: Predef): TypingResult = {
       lhs.lowestCommonAncestor(rhs) match {
         case None if !lhs.isNum     => Left(s"Left hand side is not a numeric type but: $lhs")
         case None if !rhs.isNum     => Left(s"Right hand side is not a numeric type but: $rhs")
-        case Some(tpe) if tpe.isNum => Right(Type.Boolean)
+        case Some(tpe) if tpe.isNum => Right(predef.Boolean)
         case x                      => sys.error(s"Unhandled case: $x")
       }
     }
@@ -70,11 +71,11 @@ object operators {
 
   sealed abstract class EqualityOperator(op: String, precedence: Int)
       extends BinaryOperator(op, precedence, Associativity.Non) {
-    override def tpe(lhs: Type, rhs: Type): TypingResult = {
+    override def tpe(lhs: Type, rhs: Type)(implicit predef: Predef): TypingResult = {
       if(!lhs.overlaps(rhs))
         Left(s"Comparing unrelated types: $lhs $rhs")
       else
-        Right(Type.Boolean)
+        Right(predef.Boolean)
     }
   }
 

planning/model/src/main/scala/dahu/planning/model/common/package.scala

@@ -2,6 +2,7 @@ package dahu.planning.model
 
 import dahu.planning.model
 import dahu.planning.model.common.operators.{BinaryOperator, UnaryOperator}
+import dahu.planning.model.full.Model
 import spire.math.Real
 import spire.implicits._
 
@@ -9,17 +10,16 @@ package object common {
 
   final case class Id(scope: Scope, name: String) {
     override def toString: String = scope.toScopedString(name)
-
-    def toTPId = Timepoint(this)
   }
 
   object Timepoint {
-    def apply(id: Id): LocalVar = LocalVar(id, Type.Time)
+    def apply(id: Id)(implicit predef: Predef): LocalVar = LocalVar(id, predef.Time)
   }
 
   sealed trait Scope {
 
     def +(nestedScope: String): InnerScope = InnerScope(this, nestedScope)
+    def /(name: String): Id = Id(this, name)
 
     def makeNewId(): Id = Id(this, model.defaultId())
     def toScopedString(name: String): String
@@ -44,6 +44,8 @@ package object common {
     def isSubtypeOf(typ: Type): Boolean =
       this == typ || parent.exists(t => t == typ || t.isSubtypeOf(typ))
 
+    def isBoolean: Boolean = this.isInstanceOf[Type.BooleanType]
+
     def overlaps(typ: Type): Boolean =
       this.isSubtypeOf(typ) || typ.isSubtypeOf(this)
 
@@ -77,6 +79,9 @@ package object common {
     final case class ObjSubType(id: Id, father: ObjType) extends ObjType {
       def parent: Some[ObjType] = Some(father)
     }
+    final case class BooleanType(id: Id) extends ObjType {
+      override def parent: Option[ObjType] = Some(ObjectTop)
+    }
 
     sealed trait IRealType extends Type {
       def min: Option[Real]
@@ -126,22 +131,23 @@ package object common {
       override def parent: Some[IIntType] = Some(father)
     }
 
-    val Time = IntSubType(Id(RootScope, "time"), Integers)
+  }
+
+  trait Predef {
+    import Type._
+    val Time: IRealType
 
-    val Boolean = ObjSubType(Id(RootScope, "boolean"), ObjectTop)
+    val Boolean: BooleanType
 
-//    val Numeric = Type(Id(RootScope, "__numeric__"), None)
-//    val Integer = Type(Id(RootScope, "integer"), Some(Numeric))
-//    val Time = Integer //Type(Id(RootScope, "time"), Some(Integer))
-//    val Float = Type(Id(RootScope, "float"), Some(Numeric))
-//    val Boolean = Type(Id(RootScope, "boolean"), None)
+    val True: Instance
+    val False: Instance
 
-    val True = Instance(Id(RootScope, "true"), Boolean)
-    val False = Instance(Id(RootScope, "false"), Boolean)
+    val Start: Var
+    val End: Var
 
-    val Start = Id(RootScope, "start")
-    val End = Id(RootScope, "end")
+    def baseModel: Model
   }
+
   sealed trait Expr {
     def typ: Type
   }
@@ -176,7 +182,7 @@ package object common {
     override def toString: String = id.toString
   }
 
-  case class Op2(op: BinaryOperator, lhs: Expr, rhs: Expr) extends Expr {
+  case class Op2(op: BinaryOperator, lhs: Expr, rhs: Expr)(implicit predef: Predef) extends Expr {
     override def typ: Type = op.tpe(lhs.typ, rhs.typ) match {
       case Right(t)  => t
       case Left(err) => sys.error(err)

planning/model/src/main/scala/dahu/planning/model/core/package.scala

@@ -84,7 +84,7 @@ package object core {
 
   sealed trait StaticAssertion extends Statement
   final case class StaticBooleanAssertion(e: Expr) extends StaticAssertion {
-    require(e.typ.isSubtypeOf(Type.Boolean))
+    require(e.typ.isBoolean)
     override def toString: String = s"assert($e)"
   }
   final case class StaticAssignmentAssertion(left: BoundConstant, right: Cst)
@@ -133,7 +133,8 @@ package object core {
     override def toString: String = s"[$start, $end] $fluent == $from :-> $to"
   }
 
-  final case class ActionTemplate(scope: InnerScope, content: Seq[InActionBlock])
+  final case class ActionTemplate(scope: InnerScope, content: Seq[InActionBlock])(
+      implicit predef: Predef)
       extends InModuleBlock {
     def name: String = scope.name
     lazy val args: Seq[Arg] = content.collect { case ArgDeclaration(a) => a }
@@ -143,34 +144,33 @@ package object core {
 
     lazy val start: LocalVar = content
       .collectFirst {
-        case LocalVarDeclaration(tp @ LocalVar(Id(`scope`, "start"), Type.Time)) => tp
+        case LocalVarDeclaration(tp @ LocalVar(Id(`scope`, "start"), predef.Time)) => tp
       }
       .getOrElse(sys.error("No start timepoint in this action"))
 
     lazy val end: LocalVar = content
       .collectFirst {
-        case LocalVarDeclaration(tp @ LocalVar(Id(`scope`, "end"), Type.Time)) => tp
+        case LocalVarDeclaration(tp @ LocalVar(Id(`scope`, "end"), predef.Time)) => tp
       }
       .getOrElse(sys.error("No end timepoint in this action"))
 
   }
 
   /** Instance of an action template */
-  final case class Action(scope: InnerScope,
-                          content: Seq[InActionBlock],
-                          template: ActionTemplate) {
+  final case class Action(scope: InnerScope, content: Seq[InActionBlock], template: ActionTemplate)(
+      implicit predef: Predef) {
     def name: String = scope.name
     val args: Seq[Arg] = content.collect { case ArgDeclaration(a) => a }
 
     lazy val start: LocalVar = content
       .collectFirst {
-        case LocalVarDeclaration(tp @ LocalVar(Id(`scope`, "start"), Type.Time)) => tp
+        case LocalVarDeclaration(tp @ LocalVar(Id(`scope`, "start"), predef.Time)) => tp
       }
       .getOrElse(sys.error("No start timepoint in this action"))
 
     lazy val end: LocalVar = content
       .collectFirst {
-        case LocalVarDeclaration(tp @ LocalVar(Id(`scope`, "end"), Type.Time)) => tp
+        case LocalVarDeclaration(tp @ LocalVar(Id(`scope`, "end"), predef.Time)) => tp
       }
       .getOrElse(sys.error("No end timepoint in this action"))
   }

planning/model/src/main/scala/dahu/planning/model/full/package.scala

 package dahu.planning.model
 
+import dahu.planning.model.common.Type.BooleanType
 import dahu.planning.model.common._
 import dahu.planning.model.common.operators.{BinaryOperator, UnaryOperator}
 
@@ -14,11 +15,6 @@ package object full {
     def id: Id
   }
 
-  object TimepointDeclaration {
-    def apply(id: Id): LocalVarDeclaration =
-      LocalVarDeclaration(LocalVar(id, Type.Time))
-  }
-
   case class TypeDeclaration(typ: Type) extends Declaration[Type] with InModuleBlock {
     override def id: Id = typ.id
     override def toString: String = s"type $id" + {
@@ -64,7 +60,9 @@ package object full {
   sealed trait TimedExpr extends Expr
 
   sealed trait ExprTree extends StaticExpr
-  case class BinaryExprTree(op: BinaryOperator, lhs: StaticExpr, rhs: StaticExpr) extends ExprTree {
+  case class BinaryExprTree(op: BinaryOperator, lhs: StaticExpr, rhs: StaticExpr)(
+      implicit predef: Predef)
+      extends ExprTree {
     override val typ: Type = op.tpe(lhs.typ, rhs.typ) match {
       case Right(tpe) => tpe
       case Left(err) =>
@@ -110,7 +108,9 @@ package object full {
     def wrapped: Seq[Block]
   }
 
-  abstract class TimedAssertion(parent: Option[Ctx], name: String) extends Ctx with Block {
+  abstract class TimedAssertion(parent: Option[Ctx], name: String)(implicit predef: Predef)
+      extends Ctx
+      with Block {
     override val scope: InnerScope = parent.map(_.scope).getOrElse(RootScope) + name
 
     val start: LocalVar = Timepoint(this.id("start"))
@@ -123,7 +123,7 @@ package object full {
   case class TimedEqualAssertion(left: TimedExpr, // TODO: should not restrict this to be symbolic
                                  right: StaticExpr,
                                  parent: Option[Ctx],
-                                 name: String)
+                                 name: String)(implicit predef: Predef)
       extends TimedAssertion(parent, name) {
     if(name == "__296")
       println(name)
@@ -136,7 +136,7 @@ package object full {
                                       from: StaticExpr,
                                       to: StaticExpr,
                                       parent: Option[Ctx],
-                                      name: String)
+                                      name: String)(implicit predef: Predef)
       extends TimedAssertion(parent, name) {
     override def toString: String =
       if(name.startsWith(reservedPrefix)) s"$fluent == $from :-> $to"
@@ -146,7 +146,7 @@ package object full {
   case class TimedAssignmentAssertion(fluent: TimedExpr,
                                       to: StaticExpr,
                                       parent: Option[Ctx],
-                                      name: String)
+                                      name: String)(implicit predef: Predef)
       extends TimedAssertion(parent, name) {
     override def toString: String =
       if(name.startsWith(reservedPrefix)) s"$fluent := $to"
@@ -171,7 +171,7 @@ package object full {
 
   trait StaticAssertion extends Statement
   case class BooleanAssertion(expr: StaticExpr) extends StaticAssertion {
-    require(expr.typ.isSubtypeOf(Type.Boolean))
+    require(expr.typ.isInstanceOf[BooleanType])
     override def toString: String = expr.toString
   }
 
@@ -302,10 +302,10 @@ package object full {
         case _                       => None
       }
 
-    def findTimepoint(name: String): Option[LocalVar] =
+    def findTimepoint(name: String)(implicit predef: Predef): Option[LocalVar] =
       findDeclaration(name).flatMap {
-        case LocalVarDeclaration(v @ LocalVar(_, tpe)) if tpe.isSubtypeOf(Type.Time) => Some(v)
-        case _                                                                       => None
+        case LocalVarDeclaration(v @ LocalVar(_, tpe)) if tpe.isSubtypeOf(predef.Time) => Some(v)
+        case _                                                                         => None
       }
 
     def findType(name: String): Option[Type] =

planning/model/src/main/scala/dahu/planning/model/transforms/ActionInstantiation.scala

@@ -10,22 +10,22 @@ object ActionInstantiation {
     trait IdRewrite[T] {
 
       /** Transforms a type T, recursively replacing any id: Id in it with f(id) */
-      def map(a: T, f: Id => Id): T
+      def map(a: T, f: Id => Id)(implicit predef: Predef): T
     }
     // provides syntax for boilerplate
     implicit class Rewrite[T](private val lhs: T) extends AnyVal {
-      def rw(f: Id => Id)(implicit rewrite: IdRewrite[T]): T = rewrite.map(lhs, f)
+      def rw(f: Id => Id)(implicit rewrite: IdRewrite[T], predef: Predef): T = rewrite.map(lhs, f)
     }
 
     implicit object ofCst extends IdRewrite[Cst] {
-      override def map(a: Cst, f: Id => Id): Cst = a match {
+      override def map(a: Cst, f: Id => Id)(implicit predef: Predef): Cst = a match {
         case i: IntLiteral     => i
         case Instance(id, tpe) => Instance(f(id), tpe)
       }
     }
 
     implicit object ofExpr extends IdRewrite[Expr] {
-      override def map(a: Expr, f: Id => Id): Expr = a match {
+      override def map(a: Expr, f: Id => Id)(implicit predef: Predef): Expr = a match {
         case x: Cst            => x.rw(f)
         case Arg(id, tpe)      => Arg(f(id), tpe)
         case LocalVar(id, tpe) => LocalVar(f(id), tpe)
@@ -35,44 +35,48 @@ object ActionInstantiation {
     }
 
     implicit object ofConstantTemplate extends IdRewrite[ConstantTemplate] {
-      override def map(a: ConstantTemplate, f: Id => Id): ConstantTemplate = a match {
+      override def map(a: ConstantTemplate, f: Id => Id)(
+          implicit predef: Predef): ConstantTemplate = a match {
         case ConstantTemplate(id, tpe, params) =>
           ConstantTemplate(f(id), tpe, params.map { case Arg(id, tpe) => Arg(f(id), tpe) })
       }
     }
     implicit object ofFluentTemplate extends IdRewrite[FluentTemplate] {
-      override def map(a: FluentTemplate, f: Id => Id): FluentTemplate = a match {
-        case FluentTemplate(id, tpe, params) =>
-          FluentTemplate(f(id), tpe, params.map { case Arg(id, tpe) => Arg(f(id), tpe) })
-      }
+      override def map(a: FluentTemplate, f: Id => Id)(implicit predef: Predef): FluentTemplate =
+        a match {
+          case FluentTemplate(id, tpe, params) =>
+            FluentTemplate(f(id), tpe, params.map { case Arg(id, tpe) => Arg(f(id), tpe) })
+        }
     }
     implicit object ofFluent extends IdRewrite[Fluent] {
-      override def map(a: Fluent, f: Id => Id): Fluent = a match {
+      override def map(a: Fluent, f: Id => Id)(implicit predef: Predef): Fluent = a match {
         case Fluent(template, params) => Fluent(template.rw(f), params.map(_.rw(f)))
       }
     }
 
     implicit object ofBlock extends IdRewrite[InActionBlock] {
-      override def map(a: InActionBlock, f: Id => Id): InActionBlock = a match {
-        case StaticBooleanAssertion(e)              => StaticBooleanAssertion(e.rw(f))
-        case ArgDeclaration(Arg(id, tpe))           => ArgDeclaration(Arg(f(id), tpe))
-        case LocalVarDeclaration(LocalVar(id, tpe)) => LocalVarDeclaration(LocalVar(f(id), tpe))
-        case StaticAssignmentAssertion(x: BoundConstant, cst) =>
-          StaticAssignmentAssertion(new BoundConstant(x.template, x.params.map(_.rw(f))), cst.rw(f))
-        case TimedAssignmentAssertion(st, ed, fl, value) =>
-          TimedAssignmentAssertion(st.rw(f), ed.rw(f), fl.rw(f), value.rw(f))
-        case TimedEqualAssertion(st, ed, fl, value) =>
-          TimedEqualAssertion(st.rw(f), ed.rw(f), fl.rw(f), value.rw(f))
-        case TimedTransitionAssertion(st, ed, fl, from, to) =>
-          TimedTransitionAssertion(st.rw(f), ed.rw(f), fl.rw(f), from.rw(f), to.rw(f))
-        case BindAssertion(Constant(template, params), LocalVar(id, tpe)) =>
-          BindAssertion(Constant(template.rw(f), params.map(_.rw(f))), LocalVar(f(id), tpe))
-      }
+      override def map(a: InActionBlock, f: Id => Id)(implicit predef: Predef): InActionBlock =
+        a match {
+          case StaticBooleanAssertion(e)              => StaticBooleanAssertion(e.rw(f))
+          case ArgDeclaration(Arg(id, tpe))           => ArgDeclaration(Arg(f(id), tpe))
+          case LocalVarDeclaration(LocalVar(id, tpe)) => LocalVarDeclaration(LocalVar(f(id), tpe))
+          case StaticAssignmentAssertion(x: BoundConstant, cst) =>
+            StaticAssignmentAssertion(new BoundConstant(x.template, x.params.map(_.rw(f))),
+                                      cst.rw(f))
+          case TimedAssignmentAssertion(st, ed, fl, value) =>
+            TimedAssignmentAssertion(st.rw(f), ed.rw(f), fl.rw(f), value.rw(f))
+          case TimedEqualAssertion(st, ed, fl, value) =>
+            TimedEqualAssertion(st.rw(f), ed.rw(f), fl.rw(f), value.rw(f))
+          case TimedTransitionAssertion(st, ed, fl, from, to) =>
+            TimedTransitionAssertion(st.rw(f), ed.rw(f), fl.rw(f), from.rw(f), to.rw(f))
+          case BindAssertion(Constant(template, params), LocalVar(id, tpe)) =>
+            BindAssertion(Constant(template.rw(f), params.map(_.rw(f))), LocalVar(f(id), tpe))
+        }
     }
   }
 
   /** Builds a new action instance with the given name*/
-  def instance(template: ActionTemplate, instanceName: String): Action = {
+  def instance(template: ActionTemplate, instanceName: String)(implicit predef: Predef): Action = {
     val instanceScope: InnerScope = template.scope.parent + instanceName
 
     val trans: Id => Id = x => {

planning/model/src/main/scala/dahu/planning/model/transforms/FullToCore.scala

@@ -9,17 +9,19 @@ object FullToCore {
   private object ImplicitConversions {
     import scala.language.implicitConversions
 
+    implicit def extractPredef(implicit ctx: Context): Predef = ctx.predef
+
     implicit class ExprOps(private val lhs: Expr) extends AnyVal {
-      def ===(rhs: Expr): Expr = Op2(operators.Eq, lhs, rhs)
-      def <=(rhs: Expr): Expr = Op2(operators.LEQ, lhs, rhs)
-      def <(rhs: Expr): Expr = Op2(operators.LT, lhs, rhs)
+      def ===(rhs: Expr)(implicit predef: Predef): Expr = Op2(operators.Eq, lhs, rhs)
+      def <=(rhs: Expr)(implicit predef: Predef): Expr = Op2(operators.LEQ, lhs, rhs)
+      def <(rhs: Expr)(implicit predef: Predef): Expr = Op2(operators.LT, lhs, rhs)
 
       def toStatement: core.Statement = core.StaticBooleanAssertion(lhs)
     }
   }
   import ImplicitConversions._
 
-  case class Context(scope: Scope, config: Config = Config())
+  case class Context(predef: Predef, scope: Scope, config: Config = Config())
 
   /** Monad that represent an expression of type A that is subject to the associated statements to restrict its values. */
   private case class CoreM[+A](value: A, statements: Seq[core.Statement]) {
@@ -85,7 +87,7 @@ object FullToCore {
       case full.ArgDeclaration(arg) => Seq(core.ArgDeclaration(arg))
       case x: full.Statement        => f2c(x)(actionContext).statements
     }
-    core.ActionTemplate(act.scope, statements)
+    core.ActionTemplate(act.scope, statements)(actionContext.predef)
   }
 
   private def f2c(block: full.Statement)(implicit ctx: Context): CoreM[Unit] = block match {
@@ -176,13 +178,14 @@ object FullToCore {
     case full.LocalVarDeclaration(v) => CoreM.unit(core.LocalVarDeclaration(v))
   }
 
-  def trans(model: full.Model, config: Config = Config()): Seq[core.InModuleBlock] = {
+  def trans(model: full.Model, config: Config = Config())(
+      implicit predef: Predef): Seq[core.InModuleBlock] = {
     model.store.blocks.flatMap {
       case full.FunctionDeclaration(x) => Seq(core.FunctionDeclaration(x))
       case full.InstanceDeclaration(x) => Seq(core.InstanceDeclaration(x))
       case full.TypeDeclaration(x)     => Seq(core.TypeDeclaration(x))
-      case x: full.Statement           => f2c(x)(Context(model.scope, config)).statements
-      case x: full.ActionTemplate      => Seq(f2c(x)(Context(model.scope, config)))
+      case x: full.Statement           => f2c(x)(Context(predef, model.scope, config)).statements
+      case x: full.ActionTemplate      => Seq(f2c(x)(Context(predef, model.scope, config)))
     }
   }
 

planning/pddl/src/main/scala/dahu/planning/pddl/Main.scala

@@ -8,6 +8,7 @@ import dahu.utils.errors._
 
 import scala.collection.JavaConverters._
 import scala.collection.mutable
+import scala.language.implicitConversions
 
 object Main extends App {
 
@@ -28,16 +29,37 @@ object Main extends App {
   println(dom)
 //  println(pb)
 
+  object PddlPredef extends Predef {
+    import common.Type._
+    private val scope = RootScope + "_predef_"
+    override val Time: IRealType = IntSubType(scope / "time", Integers)
+
+    override val Boolean: BooleanType = BooleanType(scope / "boolean")
+
+    override val True: Instance = Instance(scope / "true", Boolean)