(define (domain tea-2)
  (:requirements :typing)
  (:types room - loc )    /* room is a subtype of loc */

(:static  (connected ?l1 ?l2 - loc)
          (cupstack ?r - room)
          (teamachine ?r - room)
	  (allowed ?p - robot ?l -loc))
(:predicates (at ?r - robot ?l - loc)
             (free ?r -robot)
             (emptycuploaded ?r - robot)
             (fullcuploaded ?r - robot)
             (ordered ?r - room)) 
(:constants (hallway - loc))

(:theory  (forall (?r -room) (connected ?r hallway)) 
          (forall (?p -robot) (allowed ?p hallway))
       /* a robot can never be in a room where he's not 
          allowed - in this general form, it generates 
          a very slow encoding 
        (forall (?p -robot ?r -room)
           (implies (at ?p ?r) (allowed ?p ?r))) */
 )

(:action getcup
       :parameters  (?p - robot ?r - room)
       :precondition (at ?p ?r) (cupstack ?r) (free ?p)
       :effect (emptycuploaded ?p) (not (free ?p))
       :asap (forsome (?x - room) (ordered ?x))
)

(:action fillcup
       :parameters  (?p - robot ?r - room )
       :precondition (at ?p ?r) (teamachine ?r) (emptycuploaded ?p)
       :effect  (fullcuploaded ?p) (not (emptycuploaded ?p)) 
       :s-asap
)

(:action deliver
       :parameters  (?p - robot ?r - room)
       :precondition (at ?p ?r) (ordered ?r) (fullcuploaded ?p)
       :effect (free ?p) 
               (not (ordered ?r)) (not (fullcuploaded ?p)) 
       :s-asap
)

(:action exchangecup
	:parameters (?from ?to - robot ?where -loc)
	:precondition (at ?from ?where)(at ?to ?where)
	              (or (emptycuploaded ?from)(fullcuploaded ?from))
	              (free ?to)
        :effect (free ?from) (not (emptycuploaded ?from))
                (not (fullcuploaded ?from)) (not(free ?to))
	        (when (emptycuploaded ?from)(emptycuploaded ?to))
	        (when (fullcuploaded ?from)(fullcuploaded ?to)) )


(:action go
       :parameters  (?r -robot ?from ?to - loc)
       :precondition (or (connected ?from ?to) (connected ?to ?from) )
                     (at ?r ?from)
       :effect  (at ?r ?to) (not (at ?r ?from))
       :only-if (or (= ?to hallway)
		    (and(ordered ?to)(fullcuploaded ?r))
		    (and(emptycuploaded ?r)(teamachine ?to))
		    (and(free ?r)(cupstack ?to)))  
       :next (or (= ?to hallway)
                 (deliver ?r ?to)
                 (fillcup ?r ?to)
                 (getcup ?r ?to))
)

; ----------------------------------------------------------
/* representation of exchangecup with no conditional effects:

(:action exchange_emptycup
	:parameters (?from ?to - robot ?where -loc)
	:precondition (at ?from ?where)(at ?to ?where)
	              (emptycuploaded ?from)
	              (free ?to)
        :effect (free ?from) (not (emptycuploaded ?from))
                (not(free ?to))
	        (emptycuploaded ?to)
	:next (not(exchange_emptycup ?to ?from ?where)) )

(:action exchange_fullcup
	:parameters (?from ?to - robot ?where -loc)
	:precondition (at ?from ?where)(at ?to ?where)
	              (fullcuploaded ?from)
	              (free ?to)
        :effect (free ?from) (not (fullcuploaded ?from))
                (not(free ?to))
	        (fullcuploaded ?to)
	:next (not(exchange_fullcup ?to ?from ?where)))
*/

)