[emscripten] javascript translator

.gitignore

@@ -7,3 +7,9 @@ __pycache__/
 /experiments/issue*/data/
 /misc/.tox/
 /misc/autodoc/downward-xmlrpc.secret
+*.cc.o
+/src/bin
+/src/CMakeFiles
+/src/Makefile
+/src/search/Makefile
+/src/search/CMakeFiles

src/javascript/configure_cmake.sh → src/javascript/search/configure_cmake.sh

@@ -1,5 +1,5 @@
 #!/bin/sh
-cd "$(dirname "$0")/../"
+cd "$(dirname "$0")/../../"
 if [ $# -eq 0 ]; then
     echo "No arguments provided"
     echo "Run either with "

src/javascript/usage_example.js → src/javascript/search/usage_example.js

@@ -18,7 +18,7 @@ downwardscript.onload = function() {
             let stream = FS.open('output.sas', 'w+');
             FS.write(stream, data, 0, data.length, 0);
             FS.close(stream);
-            console.log('wrote to output.sas');
+            console.log('wrote to' + PATH_TO_INPUT);
         }
     }
     inputXHR.send();

src/javascript/translator/README.md

@@ -0,0 +1,19 @@
+# Translator in the browser 
+We offer to build the translator as python wheel.
+This is done by executing the `setup.py` script.
+**Pyodide** can then be used to load the python wheel in the browser.
+
+## How to execute the translator using pyodide
+The following steps are exemplarily presented in `usage_example.html` and `usage_example.js`
+- you need to serve the JS file through a server; python can be used for that: `python -m http.server`
+- in your javascript file, load the current pyodide version
+- load pyodide's *micropip* package
+- load the *.pddl* files into two javascript strings
+- use micropip to install the translator-wheel created by `setup.py` into the python environment
+- store the pddl strings to the browser's virtual filesystem using python
+- import and execute the translator in python:
+	```Python
+from translator.translate import run
+run(["domain.pddl", "problem.pddl", "--sas-file", "output.sas"])
+	```
+- load the result from the python environment to the javascript environment for further use

src/javascript/translator/exampleFiles/domain.pddl

@@ -0,0 +1,34 @@
+(define (domain gripper-strips)
+   (:predicates (room ?r)
+		(ball ?b)
+		(gripper ?g)
+		(at-robby ?r)
+		(at ?b ?r)
+		(free ?g)
+		(carry ?o ?g))
+
+   (:action move
+       :parameters  (?from ?to)
+       :precondition (and  (room ?from) (room ?to) (at-robby ?from))
+       :effect (and  (at-robby ?to)
+		     (not (at-robby ?from))))
+
+
+
+   (:action pick
+       :parameters (?obj ?room ?gripper)
+       :precondition  (and  (ball ?obj) (room ?room) (gripper ?gripper)
+			    (at ?obj ?room) (at-robby ?room) (free ?gripper))
+       :effect (and (carry ?obj ?gripper)
+		    (not (at ?obj ?room)) 
+		    (not (free ?gripper))))
+
+
+   (:action drop
+       :parameters  (?obj  ?room ?gripper)
+       :precondition  (and  (ball ?obj) (room ?room) (gripper ?gripper)
+			    (carry ?obj ?gripper) (at-robby ?room))
+       :effect (and (at ?obj ?room)
+		    (free ?gripper)
+		    (not (carry ?obj ?gripper)))))
+

src/javascript/translator/exampleFiles/problem.pddl

@@ -0,0 +1,22 @@
+(define (problem strips-gripper-x-1)
+   (:domain gripper-strips)
+   (:objects rooma roomb ball4 ball3 ball2 ball1 left right)
+   (:init (room rooma)
+          (room roomb)
+          (ball ball4)
+          (ball ball3)
+          (ball ball2)
+          (ball ball1)
+          (at-robby rooma)
+          (free left)
+          (free right)
+          (at ball4 rooma)
+          (at ball3 rooma)
+          (at ball2 rooma)
+          (at ball1 rooma)
+          (gripper left)
+          (gripper right))
+   (:goal (and (at ball4 roomb)
+               (at ball3 roomb)
+               (at ball2 roomb)
+               (at ball1 roomb))))

src/javascript/translator/setup.py

@@ -0,0 +1,35 @@
+#! /usr/bin/python3
+import os
+import sys
+
+sys.argv.append("bdist_wheel")
+
+home = os.getcwd()
+
+# go to translator root folder
+os.chdir("../../translate")
+
+# setup for bdist_wheel
+from setuptools import setup, find_packages
+setup(
+    name = 'translator',
+    version='1.0',
+    # Use one of the below approach to define package and/or module names:
+
+    #if there are only handful of modules placed in root directory, and no packages/directories exist then can use below syntax
+#     packages=[''], #have to import modules directly in code after installing this wheel, like import mod2 (respective file name in this case is mod2.py) - no direct use of distribution name while importing
+
+    #can list down each package names - no need to keep __init__.py under packages / directories
+    packages=['translator', 'translator/pddl', 'translator/pddl_parser'], #importing is like: from package1 import mod2, or import package1.mod2 as m2
+
+    # this approach automatically finds out all directories (packages) - those must contain a file named __init__.py (can be empty)
+    # packages=find_packages(), #include/exclude arguments take * as wildcard, . for any sub-package names
+)
+
+# move files to home directory and remove unnecessary files
+import shutil
+shutil.rmtree('build/')
+shutil.rmtree('translator.egg-info/')
+for file in os.listdir('dist'):
+    shutil.move('dist/' + file, os.path.join(home, file))
+shutil.rmtree('dist/')

src/javascript/translator/usage_example.html

@@ -0,0 +1,43 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <title>Translator</title>
+    <script src="https://cdn.jsdelivr.net/pyodide/v0.18.1/full/pyodide.js" type="text/javascript"></script>
+    <script src="usage_example.js" type="text/javascript" defer></script>
+</head>
+<body>
+<h1>Translator in the browser</h1>
+Usage example
+<br>
+<hr>
+
+<style>
+    .contentHolder {
+        display: flex;
+    }
+    .contentHolder > div {
+        padding: 0vh 1vw;
+    }
+    .result {
+        padding: 0vh 1vw;   
+    }
+</style>
+<div class=contentHolder>
+    <div class="domain">
+        <h5>Domain:</h5>
+        <code>...</code>
+    </div>
+    <div class="problem">
+        <h5>Problem:</h5>
+        <code>...</code>
+    </div>
+</div>
+<hr>
+
+<div class=result>
+    <code></code>
+</div>
+</body>
+</html>
+

src/javascript/translator/usage_example.js

@@ -0,0 +1,85 @@
+var domain;
+var problem;
+var pyodide;
+
+let loadFile = async (path) => {
+  return new Promise(resolve => {
+    console.log(`requesting ${path}`)
+    let request = new XMLHttpRequest()
+    request.open('GET', path)
+    request.responseType = 'text';
+    request.onload = () => {
+        result = request.responseText;
+        console.log(result);
+        resolve(result);
+    }
+    request.send();
+  })   
+}
+
+let pythonCode_InstallTranslator = `
+import micropip
+micropip.install("translator-1.0-py3-none-any.whl")
+`
+let pythonCode_storePDDLToFilesystem = `
+import js
+problem = js.window.problem
+domain = js.window.domain
+
+with open('domain.pddl', 'w') as file:
+    file.write(domain)
+    
+with open('problem.pddl', 'w') as file:
+    file.write(problem)
+    
+`
+let pythonCode_runTranslator = `
+from translator.translate import run
+run(["domain.pddl", "problem.pddl", "--sas-file", "output.sas"])
+
+with open('output.sas', 'r') as file:
+    output_sas = file.read()
+`
+
+let showSourceFiles = (domain, problem) => {
+  domainHolder = document.querySelector("div[class='domain']").children[1];
+  problemHolder = document.querySelector("div[class='problem']").children[1];
+  domainHolder.innerText = domain;
+  problemHolder.innerText = problem;
+}
+
+let main = async () => {
+  let installTranslator = async () => {
+    return pyodide.runPython(pythonCode_InstallTranslator)
+  }
+  let storePDDLToFilesystem = async () => {
+    return pyodide.runPython(pythonCode_storePDDLToFilesystem)
+  }
+  let runTranslator = async () => {
+    return pyodide.runPython(pythonCode_runTranslator)
+  }
+
+  // load pyodide
+  pyodide = await loadPyodide({ indexURL : "https://cdn.jsdelivr.net/pyodide/v0.18.1/full/" });
+
+  // load micropip
+  await pyodide.loadPackage('micropip');
+
+  // load pddl files
+  domain = await loadFile('exampleFiles/domain.pddl');
+  problem = await loadFile('exampleFiles/problem.pddl');
+  showSourceFiles(domain, problem);
+
+  // run python
+  await installTranslator();
+  await storePDDLToFilesystem();
+  runTranslator();
+
+  // read result
+  let r = pyodide.globals.output_sas;
+  console.log(r);
+  resultHolder = document.querySelector("div[class='result']").children[0];
+  resultHolder.innerText = r;
+};
+
+main();