FreeCAD: Workbench Refactor

freecad_workbench/pddl/freecad2pddl.py

@@ -0,0 +1,181 @@
+import FreeCAD as App
+import FreeCADGui as Gui
+
+
+
+
+
+#функции для создания обьектов PDDL
+
+def add_types():
+    doc = App.ActiveDocument
+    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')
+
+    print('Types of objects added successfully')
+    return(types)
+#слишком много types
+    
+def add_parameters():
+    doc = App.ActiveDocument
+    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')
+
+    print('Domain parameters added successfully')
+    return(params)
+
+def add_action():
+    doc = App.ActiveDocument
+
+    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():
+    doc = App.ActiveDocument
+
+    name = input('Название предиката:')
+    parms = input('Переменные')
+    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():
+    doc = App.ActiveDocument
+    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)
+ 
+ 
+
+
+def export_to_file():
+    filename = App.ActiveDocument.Name
+    file_path = App.ActiveDocument.FileName.rsplit("/", 1)[0] + filename + '_domain.pddl'
+
+    doc = App.ActiveDocument    
+    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('  )\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 sortEntity(object):
+    doc = App.ActiveDocument
+
+    
+    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()
+    
+
+