From b376c78e3b71e6490474c443cb25161f648c5c08 Mon Sep 17 00:00:00 2001
From: IDONTSUDO <idontsudo@gmail.com>
Date: Mon, 6 Mar 2023 17:23:04 +0300
Subject: [PATCH] adding domain

---
 pddl/helper/fs.py                             |  2 ++
 pddl/mocks/domain.txt                         | 20 +++++++++++++++++++
 .../src/usecases/assembly_to_pddl_use_case.py |  8 +++++++-
 3 files changed, 29 insertions(+), 1 deletion(-)
 create mode 100644 pddl/mocks/domain.txt

diff --git a/pddl/helper/fs.py b/pddl/helper/fs.py
index 2030e73..0c60e01 100644
--- a/pddl/helper/fs.py
+++ b/pddl/helper/fs.py
@@ -13,3 +13,5 @@ class FS:
 
         f.write(data)
 
+    def readFile(path:str):
+        return open(path).read()
diff --git a/pddl/mocks/domain.txt b/pddl/mocks/domain.txt
new file mode 100644
index 0000000..4f750fd
--- /dev/null
+++ b/pddl/mocks/domain.txt
@@ -0,0 +1,20 @@
+;; Modified domain taken from
+;; "Knowledge transfer in robot manipulation tasks" by Jacob O. Huckaby 2014 
+(define (domain robossembler)
+    (:requirements :strips :typing :adl :fluents :durative-actions)
+    (:types
+        printer workspace - zone
+        part
+        arm
+        assembly
+    )
+
+    (:predicates
+        (arm_available ?a - arm)
+        (part_at ?p - part ?z - zone)
+        (printer_ready ?p - printer)
+        (part_of ?part - part ?whole - assembly)
+        (assembly_order ?prev ?next - assembly)
+        (assembled ?whole - assembly ?z - zone)
+    )
+);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;
diff --git a/pddl/src/usecases/assembly_to_pddl_use_case.py b/pddl/src/usecases/assembly_to_pddl_use_case.py
index f1bfe9b..3d66f47 100644
--- a/pddl/src/usecases/assembly_to_pddl_use_case.py
+++ b/pddl/src/usecases/assembly_to_pddl_use_case.py
@@ -1,6 +1,8 @@
 from typing import List
+from helper.fs import FS
 from unified_planning.shortcuts import *
 from unified_planning import *
+import os
 
 
 class AssemblyToPddlUseCase:
@@ -34,4 +36,8 @@ class AssemblyToPddlUseCase:
         goal = Fluent(rootLabel)
         problem.add_goal(connected(objectsPartPddl[objectsPartPddl.__len__(
         ) - 1], objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]),)
-        return {"problem": unified_planning.io.PDDLWriter(problem).get_problem(), 'domain': unified_planning.io.PDDLWriter(problem).get_domain()}
+
+        return {
+            "problem": unified_planning.io.PDDLWriter(problem).get_problem(),
+            'domain':  FS.readFile(os.path.dirname(os.path.realpath(__file__)) + '/../../mocks' + '/domain.txt'),
+        }