Fawkes API Fawkes Development Version
clips-executive-rest-api.h
1
2/***************************************************************************
3 * clips-executive-rest-api.h - CLIPS Executive REST API
4 *
5 * Created: Fri Mar 16 17:15:34 2018
6 * Copyright 2006-2018 Tim Niemueller [www.niemueller.de]
7 ****************************************************************************/
8
9/* This program is free software; you can redistribute it and/or modify
10 * it under the terms of the GNU General Public License as published by
11 * the Free Software Foundation; either version 2 of the License, or
12 * (at your option) any later version.
13 *
14 * This program is distributed in the hope that it will be useful,
15 * but WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 * GNU Library General Public License for more details.
18 *
19 * Read the full text in the LICENSE.GPL file in the doc directory.
20 */
21
22#pragma once
23
24#include "model/DomainFact.h"
25#include "model/DomainObject.h"
26#include "model/DomainOperator.h"
27#include "model/DomainPredicate.h"
28#include "model/Goal.h"
29#include "model/GroundedFormula.h"
30#include "model/GroundedPDDLFormula.h"
31#include "model/GroundedPDDLPredicate.h"
32#include "model/PDDLFormula.h"
33#include "model/PDDLGrounding.h"
34#include "model/PDDLPredicate.h"
35#include "model/Plan.h"
36
37#include <aspect/logging.h>
38#include <aspect/webview.h>
39#include <clipsmm/fact.h>
40#include <core/threading/thread.h>
41#include <core/utils/lockptr.h>
42#include <plugins/clips/aspect/clips_manager.h>
43#include <webview/rest_api.h>
44#include <webview/rest_array.h>
45
46namespace CLIPS {
47class Environment;
48}
49
54{
55public:
58
59 virtual void init();
60 virtual void loop();
61 virtual void finalize();
62
63private:
64 typedef std::pair<std::string, std::string> PlanKey;
65 typedef std::tuple<std::string, std::string, int64_t> PlanActionKey;
66 typedef std::tuple<std::string, std::string> GroundedPDDLKey;
67 typedef std::list<CLIPS::Fact::pointer> ClipsFactList;
68 typedef std::map<PlanActionKey, ClipsFactList> PreCompoundMap;
69 typedef std::map<PlanActionKey, ClipsFactList> PreAtomMap;
70 typedef std::map<PlanKey, CLIPS::Fact::pointer> PlanMap;
71 typedef std::map<PlanKey, ClipsFactList> PlanActionMap;
72 typedef std::map<std::string, CLIPS::Fact::pointer> PDDLGroundingMap;
73 typedef std::map<std::string, CLIPS::Fact::pointer> PDDLFormulaMap;
74 typedef std::map<std::string, CLIPS::Fact::pointer> PDDLPredicateMap;
75 typedef std::map<std::string, ClipsFactList> GroundedPDDLFormulaMap;
76 typedef std::map<std::string, ClipsFactList> GroundedPDDLPredicateMap;
77 typedef std::tuple<CLIPS::Fact::pointer, CLIPS::Fact::pointer> PDDLFormulaTreeNode;
78 typedef std::list<PDDLFormulaTreeNode> PDDLFormulaTreeLevel;
79 typedef std::map<std::string, PDDLFormulaTreeLevel> PDDLFormulaTreeMap;
80 typedef std::map<std::string, std::shared_ptr<GroundedFormula>> GroundedFormulaMap;
81
82private:
83 WebviewRestArray<Goal> cb_list_goals();
84 WebviewRestArray<DomainOperator> cb_list_domain_operators();
85 WebviewRestArray<DomainObject> cb_list_domain_objects();
86 WebviewRestArray<DomainPredicate> cb_list_domain_predicates();
87 WebviewRestArray<DomainFact> cb_list_domain_facts();
88 WebviewRestArray<Plan> cb_list_plans();
89 WebviewRestArray<PDDLGrounding> cb_list_pddl_groundings();
90 WebviewRestArray<PDDLFormula> cb_list_pddl_formulas();
91 WebviewRestArray<PDDLPredicate> cb_list_pddl_predicates();
92 WebviewRestArray<GroundedPDDLFormula> cb_list_grounded_pddl_formulas();
93 WebviewRestArray<GroundedPDDLPredicate> cb_list_grounded_pddl_predicates();
94
95 Goal cb_get_goal(fawkes::WebviewRestParams &params);
96 Plan cb_get_plan(fawkes::WebviewRestParams &params);
97 PDDLGrounding cb_get_pddl_groundings(fawkes::WebviewRestParams &params);
98 PDDLFormula cb_get_pddl_formulas(fawkes::WebviewRestParams &params);
99 PDDLPredicate cb_get_pddl_predicates(fawkes::WebviewRestParams &params);
100 GroundedPDDLFormula cb_get_grounded_pddl_formulas(fawkes::WebviewRestParams &params);
101 GroundedPDDLPredicate cb_get_grounded_pddl_predicates(fawkes::WebviewRestParams &params);
102
103 Goal generate_goal(CLIPS::Fact::pointer fact);
104 void gen_plan_precompute(std::map<PlanKey, CLIPS::Fact::pointer> &plans,
105 std::map<PlanKey, ClipsFactList> & plan_actions,
106 PreCompoundMap & prec,
107 PreAtomMap & prea,
108 PDDLGroundingMap & pgm,
109 PDDLFormulaMap & pfm,
110 PDDLPredicateMap & ppm,
111 GroundedPDDLFormulaMap & gpfm,
112 GroundedPDDLPredicateMap & gppm);
113 GroundedFormula gen_plan_compute_precons(PDDLFormulaTreeNode node,
114 PDDLFormulaTreeMap tree,
115 PDDLGroundingMap groundings);
116
117 Plan gen_plan(const PlanKey & plan_key,
118 const CLIPS::Fact::pointer fact,
119 PlanActionMap & plan_actions,
120 PreCompoundMap & prec,
121 PreAtomMap & prea,
122 PDDLGroundingMap & pgm,
123 PDDLFormulaMap & pfm,
124 PDDLPredicateMap & ppm,
125 GroundedPDDLFormulaMap & gpfm,
126 GroundedPDDLPredicateMap & gppm);
127
128 std::shared_ptr<PDDLGrounding> gen_pddl_grounding(const CLIPS::Fact::pointer fact);
129
130 std::shared_ptr<PDDLFormula> gen_pddl_formula(const CLIPS::Fact::pointer fact);
131
132 std::shared_ptr<PDDLPredicate> gen_pddl_predicate(const CLIPS::Fact::pointer fact);
133
134 std::shared_ptr<GroundedPDDLFormula> gen_grounded_pddl_formula(const CLIPS::Fact::pointer fact);
135
136 std::shared_ptr<GroundedPDDLPredicate>
137 gen_grounded_pddl_predicate(const CLIPS::Fact::pointer fact);
138
139private:
140 fawkes::WebviewRestApi * rest_api_;
142};
REST API backend for the CLIPS executive.
virtual void finalize()
Finalize the thread.
virtual void init()
Initialize the thread.
virtual void loop()
Code to execute in the thread.
Environment representation for JSON transfer.
Definition: Environment.h:28
Goal representation for JSON transfer.
Definition: Goal.h:28
GroundedFormula representation for JSON transfer.
GroundedPDDLFormula representation for JSON transfer.
GroundedPDDLPredicate representation for JSON transfer.
PDDLFormula representation for JSON transfer.
Definition: PDDLFormula.h:28
PDDLGrounding representation for JSON transfer.
Definition: PDDLGrounding.h:28
PDDLPredicate representation for JSON transfer.
Definition: PDDLPredicate.h:28
Plan representation for JSON transfer.
Definition: Plan.h:29
Container to return array via REST.
Definition: rest_array.h:36
Thread aspect access the CLIPS environment manager.
Definition: clips_manager.h:36
Thread aspect to log output.
Definition: logging.h:33
Thread class encapsulation of pthreads.
Definition: thread.h:46
Thread aspect to provide web pages via Webview.
Definition: webview.h:37
Webview REST API component.
Definition: rest_api.h:221
REST parameters to pass to handlers.
Definition: rest_api.h:125