framework/cg/freecad/Frames/pddl/freecad2pddl.py

import FreeCAD as App
import FreeCADGui as Gui


doc = App.ActiveDocument



#функции для создания обьектов PDDL

def add_types():
    types = doc.addObject('App::FeaturePython', 'types')
    types.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
    types.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Types'
    types.addProperty("App::PropertyStringList", 'Types', 'PDDL')
    sortEntity(types)
    print('Types of objects added successfully')
    return(types)
#слишком много types
    
def add_parameters():

    params = doc.addObject('App::FeaturePython', 'Parameters')
    params.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
    params.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Parameters'    
    params.addProperty('App::PropertyPythonObject', 'Parameters','PDDl')
    sortEntity(params)
    print('Domain parameters added successfully')
    return(params)

def add_action(name):
    
    #создаем обьект по шаблону, потом заполним ее вручную
    # 
    # name = input('Название действия:')
    action = doc.addObject('App::FeaturePython', str(name))
    action.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
    action.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Action'
    action.addProperty("App::PropertyStringList", 'Parameters', 'PDDL')
    action.addProperty("App::PropertyStringList", 'Conditions', 'PDDL')
    action.addProperty("App::PropertyStringList", 'Effects', 'PDDL')
    sortEntity(action)
    print('Action ' + name + 'added successfully')
    return(action)
    
    
def add_predicate(name, parms):
    #вероятно, нужно создавать предикаты отдельно и функции отдельно
    #ссылаться на них ссылками внутри обьектов
    #нужно название предиката и вовлеченные в него сущности
    # name = input('Название предиката:')
    predicate = doc.addObject('App::FeaturePython', str(name))
    predicate.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
    predicate.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Predicate'
    # predicate.addProperty("App::PropertyStringList", 'Name', 'PDDL')
    predicate.addProperty("App::PropertyStringList", 'Parameters', 'PDDL').Parameters = parms
    sortEntity(predicate)
    print('Predicate ' + name + 'added successfully')
    return(predicate)
    
    
def add_durative_action(name):
    
    # name = input('Название действия:')
    action = doc.addObject('App::FeaturePython', str(name))
    action.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
    action.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'DurativeAction'
    action.addProperty("App::PropertyStringList", 'Parameters', 'PDDL')
    action.addProperty("App::PropertyStringList", 'Conditions', 'PDDL')
    action.addProperty("App::PropertyStringList", 'Effects', 'PDDL')
    action.addProperty('App::PropertyString', 'Duration', 'PDDL')
    sortEntity(action)
    print('Durative Action ' + name + ' added successfully')
    return(action)
 
 
#цель задается не здесь, а в problem    
# def add_goal(name):
    
#     # name = input('Название цели:')
#     goal = doc.addObject('App::FeaturePython', str(name))
#     goal.addProperty("App::PropertyString", 'PDDL', 'PDDL').PDDL = 'PDDL'
#     goal.addProperty("App::PropertyString", 'Type', 'PDDL').Type = 'Goal'
#     goal.addProperty("App::PropertyStringList", 'Conditions', 'PDDL')


  #сюда нужно поставить нормальную относительную ссылку
#лучше вообще сохранять это туда, где лежит директория с файлом freecad

def export_to_file(file_path):
        objs = doc.Objects
        with open(file_path, 'w') as f:
            f.write('(define (domain '+ filename +')\n \n')
            f.write('(:requirements :strips :typing :fluents :durative-actions)\n')
            
            # Типы обьектов
            types = doc.getObjectsByLabel('Types')[0]
            f.write('(:types \n')            
            
            for obj_type in types.Types:
                f.write('    ' + obj_type + ' \n')
            f.write(')\n')
            
            # предикаты
            f.write('   (:predicates\n')
            for obj in objs:
                if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'Predicate':
                    f.write('       ('+ obj.Label)
                    for params in obj.Parameters:
                        f.write(' ' + params)
                    f.write(')\n')
            f.write('   )\n')
            
            # функции
            f.write('   (:functions\n')
            f.write('       )\n')
                       
            #действия:
            for obj in objs:
                if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'Action':
                    f.write('(:action ' + obj.Label + '\n')
                    f.write('    :parameters (')
                    for params in obj.Parameters:
                        f.write('' + params + ' ')
                    f.write(')\n')
                    f.write('    :condition (and \n')         
                    
                    for condition in obj.Conditions:
                        f.write('       (' + condition + ') \n')
                        # f.write(') ')
                    # f.write(')\n')
                    f.write('  )\n')
                    
                    f.write('    :effect (and \n')
                    
                    for effect in obj.Effects:
                        f.write('       (' + effect + ') \n')
                        # f.write(' ')
                    f.write(')\n')
                    
                    f.write('  )\n')
                    
            # длительные действия:
            for obj in objs:
                if hasattr(obj, 'PDDL') and hasattr(obj, 'Type') and obj.Type == 'DurativeAction':
                    f.write('(:durative-action ' + obj.Label + '\n')
                    f.write('    :parameters (')
                    for params in obj.Parameters:
                        f.write(' ' + params )
                    f.write(' )\n')
                    f.write('       :duration ( = ?duration '+ str(obj.Duration) +')\n')
                    f.write('    :condition (and \n')         
                    
                    for condition in obj.Conditions:
                        f.write('       (' + condition + ') \n')
                        # f.write(') ')
                    # f.write(')\n')
                    f.write('  )\n')
                    
                    f.write('    :effect (and \n')
                    
                    for effect in obj.Effects:
                        f.write('       (' + effect + ') \n')
                        # f.write(' ')
                    f.write(')\n')
                    
                    f.write('  )\n')
                    


            f.write(' )\n')
                    
# def set_parameters()

def sortEntity(object):
    #если нету директории, то создадим ее
    # if  len(doc.getObjectsByLabel(object.Type)) == 0 :
        # pddl_group = doc.addObject("App::DocumentObjectGroup", object.Type)
    # else:
    pddl_group = doc.addObject("App::DocumentObjectGroup", object.Type)
    
    if len(doc.getObjectsByLabel(object.Type)) == 0:
        pddl_group = doc.addObject("App::DocumentObjectGroup", object.Type)
    else:
        pddl_group = doc.getObjectsByLabel(object.Type)[0]
        pddl_group.addObject(object)    
        
    
    Gui.updateGui()
    

                
#сделаем задание обьектов прямо здесь


filename = doc.Name    
file_path = '/home/mark-voltov/GitProjects/framework/cg/freecad/Frames/pddl/'+ str(filename) + '_domain.pddl'

obj = add_types()
obj.Types = ['printer workspace - zone',
             'part',
             'arm'  ,
             'assembly',
             'human',
             'filament']

obj = add_parameters()
obj.Parameters = {
    'arm':['?a'], 
    'zone':['?z'], 
    'part':['?part'],
    'assembly': ['?whole', '?prev', '?next'],
    'human':['?h'],
    'filament': ['?f']
    }

#list_of_predicates
#temp 



add_predicate('arm_available', '?a - arm' )
add_predicate('part_at', '?p - part ?z - zone' )
add_predicate('printer_ready', '?p - printer' )
add_predicate('printer_checked', '?p - printer' )
add_predicate('printer_at_work', '?p - printer' )
add_predicate('part_of', '?part - part ?whole - assembly' )
add_predicate('assembly_order', '?prev ?next - assembly' )
add_predicate('assembled', '?whole - assembly ?z - zone' )
add_predicate('observer_free', '?h - human' )
add_predicate('filament_at', '?f - filament ?z - zone' )

# doc.getObject(name).Parameters = '?a - arm'




obj = add_durative_action('print')
obj.Parameters = ['?p - part', '?pr - printer']
obj.Duration = '20'
obj.Conditions = ['at start(printer_ready ?pr)'] #должно быть at start и at end, todo
obj.Effects = ['at start (not (printer_ready ?pr))',
               'at start (printer_at_work ?pr )',
               'at end(part_at ?p ?pr)',
               'at end (not (printer_at_work ?pr ))']

obj = add_durative_action('remove')
obj.Parameters = ['?p - part',
                  '?pr - printer',
                  '?z - zone',
                  '?a - arm'
                  ]
obj.Duration = '1'
obj.Conditions = ['at start (part_at ?p ?pr)',
                  'at start (arm_available ?a)'] 
obj.Effects = ['at start (not (arm_available ?a))',
               'at end (part_at ?p ?z)',
               'at end (arm_available ?a)',
               'at end (printer_ready ?pr)']

obj = add_durative_action('assemble')
obj.Parameters = ['?p - part',
                  '?prev ?next - assembly',
                  '?z - zone',
                  '?arm - arm',
                  '?w - workspace'
                  ]
obj.Duration = '5'
obj.Conditions = ['at start (assembled ?prev ?w)',
                  'at start (part_at ?p ?w)',
                  'at start (part_of ?p ?next)',
                  'at start (arm_available ?arm)',
                  'at start (assembly_order ?prev ?next)'] 
obj.Effects = ['at start (not (arm_available ?arm))',
               'at end (not (part_at ?p ?w))',
               'at end (arm_available ?arm)',
               'at end (assembled ?next ?w)']


obj = add_durative_action('printer_check')
obj.Parameters = ['?p - printer',
                  '?h - human'
                  ]
obj.Duration = '1'
obj.Conditions = ['at start ( observer_free ?h )'] 
obj.Effects = ['at start (not (observer_free ?h))',
               'at end (observer_free ?h)',
               'at end (printer_checked ?p)']


obj = add_durative_action('printer_filament_load')
obj.Parameters = ['?p - printer',
                  '?h - human',
                  '?f - filament',
                  '?z - zone'
                  ]
obj.Duration = '5'
obj.Conditions = ['at start (printer_checked ?p)',
                  'at start (observer_free ?h)',
                  'at start (filament_at ?f ?z)'
                #   'at start (not (printer_at_work ?p))'
                  ] 
obj.Effects = ['at start (not(observer_free ?h))',
               'at end (observer_free ?h)',
               'at end (printer_ready ?p)',
               'at end (not (filament_at ?f ?z))']


# add_action('assemble')
# obj = doc.getObject('assemble')
# obj.Parameters = ['?r - roboarm' ,'?w - workspace', '?a - assembly']
# obj.Conditions = ['not(roboarm_free ?r)', 'not(roboarm_available ?r)']
# obj.Effects = ['roboarm_free ?r', 'roboarm_available ?r', 'assembled ?a']

# add_predicate()
# obj = doc.getObject('Predicates')
# obj.Name = ['roboarm_free', 'roboarm_available', 'assembled']
# obj.Parameters = ['?r - roboarm', '?w - workspace']


# # add_goal('goal')
# doc.getObject('goal').Conditions = ['roboarm_free ?r', 'assembled ?a']


export_to_file(file_path)