14 #include "PlanAction.h"
16 #include <rapidjson/document.h>
17 #include <rapidjson/prettywriter.h>
18 #include <rapidjson/stringbuffer.h>
19 #include <rapidjson/writer.h>
45 rapidjson::Document d;
49 rapidjson::StringBuffer buffer;
51 rapidjson::PrettyWriter<rapidjson::StringBuffer> writer(buffer);
54 rapidjson::Writer<rapidjson::StringBuffer> writer(buffer);
58 return buffer.GetString();
64 rapidjson::Document::AllocatorType &allocator = d.GetAllocator();
70 rapidjson::Value v_kind;
71 v_kind.SetString(*kind_, allocator);
72 v.AddMember(
"kind", v_kind, allocator);
75 rapidjson::Value v_apiVersion;
76 v_apiVersion.SetString(*apiVersion_, allocator);
77 v.AddMember(
"apiVersion", v_apiVersion, allocator);
80 rapidjson::Value v_id;
82 v.AddMember(
"id", v_id, allocator);
85 rapidjson::Value v_operator_name;
86 v_operator_name.SetString(*operator_name_, allocator);
87 v.AddMember(
"operator-name", v_operator_name, allocator);
89 rapidjson::Value v_param_values(rapidjson::kArrayType);
90 v_param_values.Reserve(param_values_.size(), allocator);
91 for (
const auto &e : param_values_) {
93 v.SetString(e, allocator);
94 v_param_values.PushBack(v, allocator);
96 v.AddMember(
"param-values", v_param_values, allocator);
98 rapidjson::Value v_duration;
99 v_duration.SetFloat(*duration_);
100 v.AddMember(
"duration", v_duration, allocator);
102 if (dispatch_time_) {
103 rapidjson::Value v_dispatch_time;
104 v_dispatch_time.SetFloat(*dispatch_time_);
105 v.AddMember(
"dispatch-time", v_dispatch_time, allocator);
108 rapidjson::Value v_state;
109 v_state.SetString(*state_, allocator);
110 v.AddMember(
"state", v_state, allocator);
113 rapidjson::Value v_executable;
114 v_executable.SetBool(*executable_);
115 v.AddMember(
"executable", v_executable, allocator);
118 rapidjson::Value v__operator(rapidjson::kObjectType);
119 _operator_->to_json_value(d, v__operator);
120 v.AddMember(
"operator", v__operator, allocator);
123 rapidjson::Value v_precondition(rapidjson::kObjectType);
124 precondition_->to_json_value(d, v_precondition);
125 v.AddMember(
"precondition", v_precondition, allocator);
127 rapidjson::Value v_effects(rapidjson::kArrayType);
128 v_effects.Reserve(effects_.size(), allocator);
129 for (
const auto &e : effects_) {
130 rapidjson::Value v(rapidjson::kObjectType);
131 e->to_json_value(d, v);
132 v_effects.PushBack(v, allocator);
134 v.AddMember(
"effects", v_effects, allocator);
135 if (preconditions_) {
136 rapidjson::Value v_preconditions(rapidjson::kObjectType);
137 preconditions_->to_json_value(d, v_preconditions);
138 v.AddMember(
"preconditions", v_preconditions, allocator);
145 rapidjson::Document d;
154 if (d.HasMember(
"kind") && d[
"kind"].IsString()) {
155 kind_ = d[
"kind"].GetString();
157 if (d.HasMember(
"apiVersion") && d[
"apiVersion"].IsString()) {
158 apiVersion_ = d[
"apiVersion"].GetString();
160 if (d.HasMember(
"id") && d[
"id"].IsInt64()) {
161 id_ = d[
"id"].GetInt64();
163 if (d.HasMember(
"operator-name") && d[
"operator-name"].IsString()) {
164 operator_name_ = d[
"operator-name"].GetString();
166 if (d.HasMember(
"param-values") && d[
"param-values"].IsArray()) {
167 const rapidjson::Value &a = d[
"param-values"];
168 param_values_ = std::vector<std::string>{};
170 param_values_.reserve(a.Size());
171 for (
auto &v : a.GetArray()) {
172 param_values_.push_back(v.GetString());
175 if (d.HasMember(
"duration") && d[
"duration"].IsFloat()) {
176 duration_ = d[
"duration"].GetFloat();
178 if (d.HasMember(
"dispatch-time") && d[
"dispatch-time"].IsFloat()) {
179 dispatch_time_ = d[
"dispatch-time"].GetFloat();
181 if (d.HasMember(
"state") && d[
"state"].IsString()) {
182 state_ = d[
"state"].GetString();
184 if (d.HasMember(
"executable") && d[
"executable"].IsBool()) {
185 executable_ = d[
"executable"].GetBool();
187 if (d.HasMember(
"operator") && d[
"operator"].IsObject()) {
188 std::shared_ptr<DomainOperator> nv{
new DomainOperator(d[
"operator"])};
189 _operator_ = std::move(nv);
191 if (d.HasMember(
"precondition") && d[
"precondition"].IsObject()) {
192 std::shared_ptr<PDDLGrounding> nv{
new PDDLGrounding(d[
"precondition"])};
193 precondition_ = std::move(nv);
195 if (d.HasMember(
"effects") && d[
"effects"].IsArray()) {
196 const rapidjson::Value &a = d[
"effects"];
197 effects_ = std::vector<std::shared_ptr<DomainEffect>>{};
199 effects_.reserve(a.Size());
200 for (
auto &v : a.GetArray()) {
203 effects_.push_back(std::move(nv));
206 if (d.HasMember(
"preconditions") && d[
"preconditions"].IsObject()) {
207 std::shared_ptr<GroundedFormula> nv{
new GroundedFormula(d[
"preconditions"])};
208 preconditions_ = std::move(nv);
215 std::vector<std::string> missing;
217 missing.push_back(
"kind");
220 missing.push_back(
"apiVersion");
223 missing.push_back(
"id");
225 if (!operator_name_) {
226 missing.push_back(
"operator-name");
229 missing.push_back(
"state");
232 missing.push_back(
"executable");
234 if (!preconditions_) {
235 missing.push_back(
"preconditions");
237 for (
size_t i = 0; i < effects_.size(); ++i) {
239 missing.push_back(
"effects[" + std::to_string(i) +
"]");
242 effects_[i]->validate(
true);
243 }
catch (std::vector<std::string> &subcall_missing) {
244 for (
const auto &s : subcall_missing) {
245 missing.push_back(
"effects[" + std::to_string(i) +
"]." + s);
251 if (!missing.empty()) {
256 std::accumulate(std::next(missing.begin()),
259 [](std::string &s,
const std::string &n) { return s +
", " + n; });
260 throw std::runtime_error(
"PlanAction is missing " + s);
DomainEffect representation for JSON transfer.
virtual void from_json_value(const rapidjson::Value &v)
Retrieve data from JSON string.
DomainOperator representation for JSON transfer.
PDDLGrounding representation for JSON transfer.
virtual ~PlanAction()
Destructor.
virtual void from_json(const std::string &json)
Retrieve data from JSON string.
virtual std::string to_json(bool pretty=false) const
Render object to JSON.
virtual void validate(bool subcall=false) const
Validate if all required fields have been set.
virtual void to_json_value(rapidjson::Document &d, rapidjson::Value &v) const
Render object to JSON.
virtual void from_json_value(const rapidjson::Value &v)
Retrieve data from JSON string.