From bb1c0f6943ced42b6c0f459c8cf68e58765d33da Mon Sep 17 00:00:00 2001
From: Javier Segovia <jsego6@gmail.com>
Date: Thu, 25 May 2023 13:42:29 +0200
Subject: [PATCH] Generate PDDL plans in root folder when validating GP plans

---
 src/action.h  | 11 +++++++++++
 src/program.h | 25 +++++++++++++++++++++++--
 src/runner.h  | 16 +++++++++++++---
 3 files changed, 47 insertions(+), 5 deletions(-)

diff --git a/src/action.h b/src/action.h
index d5995b208..e2606f772 100644
--- a/src/action.h
+++ b/src/action.h
@@ -237,6 +237,17 @@ class Action{
 		}
 		return ret;
 	}
+
+    [[nodiscard]] virtual std::string to_pddl_grounded() const{
+        auto pddl_grounded = std::string("(") + _name;
+        if(not _pointer_parameters.empty()){
+            // Action grounded over pointer parameters
+            for (const auto &ptr_param: _pointer_parameters)
+                pddl_grounded += " " + ptr_param->get_object()->get_name();
+        }
+        pddl_grounded += ")";
+        return pddl_grounded;
+    }
 	
 protected:
     std::string _name;
diff --git a/src/program.h b/src/program.h
index 7246b70c6..67343926f 100644
--- a/src/program.h
+++ b/src/program.h
@@ -193,8 +193,13 @@ class Program{
         return ptr_assigned;
     }
 
-    std::vector< std::unique_ptr<ProgramState> > run(GeneralizedPlanningProblem *gpp){
+    std::vector< std::unique_ptr<ProgramState> > run(GeneralizedPlanningProblem *gpp,
+                                                     bool save_pddl_plans = false){
         reset_performance_variables();
+        if(save_pddl_plans){
+            _pddl_plans.clear();
+            _pddl_plans.resize(gpp->get_num_instances()+1);
+        }
 
         auto actions_theory = gpp->is_actions_theory();
         auto infinite_detection = gpp->get_infinite_detection();
@@ -268,7 +273,15 @@ class Program{
                 line = ps->get_line();
                 auto ins_type = _instructions[line]->get_type();
                 if( ins_type == ActionType::Math ) _num_of_math_planning_actions++;
-                else if(ins_type == ActionType::Memory ) _num_of_mem_planning_actions++;
+                else if(ins_type == ActionType::Memory ) {
+                    _num_of_mem_planning_actions++;
+                    // Memory planning actions are saved in PDDL plans
+                    if(save_pddl_plans) {
+                        auto act = dynamic_cast<instructions::PlanningAction*>(_instructions[line]);
+                        if(act and act->is_applicable(ins, ps))
+                            _pddl_plans[ins->get_instance_id()].emplace_back(act->get_action()->to_pddl_grounded());
+                    }
+                }
 
 				// Applying current instruction
                 //std::cout << _instructions[line]->to_string(false) << "\n";
@@ -493,6 +506,11 @@ class Program{
         return _failed_instance_idx;
     }
 
+    [[nodiscard]] vec_str_t get_plan(size_t instance_id) const{
+        assert(instance_id < _pddl_plans.size());
+        return _pddl_plans[instance_id];
+    }
+
     [[nodiscard]] std::string to_string(bool full_info) const{
         std::string ret;
         for(size_t line = 0; line < _instructions.size(); line++ ){
@@ -514,6 +532,9 @@ class Program{
     long long _num_of_mem_planning_actions;
     long long _failed_instance_idx;
 
+    /// PDDL plans
+    std::vector<vec_str_t> _pddl_plans;
+
     /// Landmarks data
     //std::vector< std::shared_ptr<landmarks::LandmarkGraph> > _landmark_graphs;  // accessible from gpp
     //value_t _landmark_count;
diff --git a/src/runner.h b/src/runner.h
index b7a20741e..a09ac83b8 100644
--- a/src/runner.h
+++ b/src/runner.h
@@ -72,8 +72,18 @@ namespace runner{
 
     void run_program(Program *prog,
                      GeneralizedPlanningProblem *gpp,
-                     StatsInfo *stats_info){
-        auto vps = prog->run( gpp );
+                     StatsInfo *stats_info,
+                     bool save_pddl_plans = false){
+        auto vps = prog->run( gpp, save_pddl_plans );
+        // ToDo: print pddl_plans to files here
+        if(save_pddl_plans){
+            for(size_t instance_id = 1; instance_id <= gpp->get_num_instances(); instance_id++){
+                std::ofstream ofs("plan." + std::to_string(instance_id));
+                for(const auto& str_act : prog->get_plan(instance_id))
+                    ofs << str_act << "\n";
+                ofs.close();
+            }
+        }
         stats_info->add_info_msg("Number of instances: " + std::to_string(gpp->get_num_instances()));
         if( !vps.empty() ) stats_info->add_info_msg("GOAL ACHIEVED!");
         else stats_info->add_info_msg("INVALID GENERAL PLAN :(");
@@ -180,7 +190,7 @@ namespace runner{
 
         if(arg_parser->get_mode() == "validation-prog") {
             auto th_name = arg_parser->get_theory_name();
-            run_program(prog.get(), gpp.get(), stats_info.get());
+            run_program(prog.get(), gpp.get(), stats_info.get(), true);
         }
         else if(arg_parser->get_mode() == "validation-cpp"){
             generate_cpp_code(gpp.get(), prog.get(), dest_folder_file.first, dest_folder_file.second, stats_info.get(), arg_parser.get());