blocksWorldViz.js

/**
 * Populates the `planVizDiv` element with the plan visualization of the `finalState`.
 * @param {HTMLDivElement} planVizDiv host element on the page
 * @param {Plan} plan plan to be visualized
 * @param {{variableName: string, value: number | boolean}[]} finalState final state of the `plan`
 * @param {number} displayWidth desired width in pixels
 */
function visualizeStateInDiv(planVizDiv, plan, finalState, displayWidth) {
   for (const v of finalState) {
      console.log(`${v.variableName}: ${v.value}`);
   }

   const valueMap = new Map(finalState.map(i => [i.variableName, i.value]));

   // get all domain constants plus problem objects
   const allObjects = plan.problem && plan.problem.getObjectsTypeMap()
      && plan.domain && plan.domain.getConstants()
      && plan.domain.getConstants().merge(plan.problem.getObjectsTypeMap());
   
   // get block names sorted lexicographically
   /** @type {string[]} */
   const blocks = allObjects ?
      allObjects.getTypeCaseInsensitive("block").getObjects() :
      [...new Set(plan.steps.map(s => s.getObjects()).reduce((prev, cur) => prev.concat(cur)))];

   const style = document.createElement("style");
   style.textContent = blocksCss.split(/[\r\n]/).join('');
   planVizDiv.appendChild(style);

   // todo: this should probably depend on the overall number of blocks
   const height = 250;
   planVizDiv.style.height = `${height}px`;

   // create the host element
   const canvas = document.createElement("div");
   canvas.id = "blocksState";
   canvas.style.height = `${height}px`;
   canvas.style.width = `${displayWidth}px`;
   planVizDiv.appendChild(canvas);

   // show the gripper:
   const gripper = document.createElement('div');
   gripper.innerHTML = valueMap.get('handempty') ? gripperOpen : gripperClosed;
   canvas.appendChild(gripper);

   const onTableBlocks = blocks
      .filter(block => valueMap.get(`ontable ${block.toLowerCase()}`))
      .sort();

   // paint all block towers one by one
   for (let towerIndex = 0; towerIndex < onTableBlocks.length; towerIndex++) {
      const blockName = onTableBlocks[towerIndex];
      placeBlockIntoTower(blockName, canvas, towerIndex, 0, [], valueMap, blocks);
   }

   // find the block that is being held by the gripper
   for (const block of blocks){
      if (valueMap.get(`holding ${block.toLowerCase()}`)) {
         paintGrippedBlock(block, canvas, blocks);
      }
   }
}

/**
 * Paints block being gripped by the robotic arm.
 * @param {string} name block name / background color
 * @param {HTMLDivElement} canvas host element
 * @param {string[]} allBlocks all block names
 */
function paintGrippedBlock(name, canvas, allBlocks) {
   const block = document.createElement('div');
   block.className = "block";
   block.id = name;
   block.style.background =toColor(name, allBlocks);
   block.textContent = name;
   block.style.top = 50 + 'px';
   block.style.left = 27 + 'px';
   canvas.appendChild(block);
}

/**
 * Places block in tower and re-cursively continues upwards.
 * @param {string} blockName block name / background color
 * @param {HTMLDivElement} canvas host element
 * @param {number} tower index of the tower (0 is the first on the left)
 * @param {number} level bottom-up level index (0 is on the bottom)
 * @param {string[]} blocksInThisTower endless loop breaker to guard against invalid models
 * @param {Map<string, number | boolean>} valueMap final state value map
 * @param {string[]} allBlocks all block names
 */
function placeBlockIntoTower(blockName, canvas, tower, level, blocksInThisTower, valueMap, allBlocks) {
   paintBlock(blockName, canvas, tower, level, allBlocks);
   blocksInThisTower = blocksInThisTower + [blockName];
   if (!valueMap.get(`clear ${blockName.toLowerCase()}`)) {
      for (const otherBlockName of allBlocks) {
         if (valueMap.get(`on ${otherBlockName.toLowerCase()} ${blockName.toLowerCase()}`)) {
            if (!blocksInThisTower.includes(otherBlockName)) {
               placeBlockIntoTower(otherBlockName, canvas, tower, level+1, blocksInThisTower, valueMap, allBlocks);
            } else {
               console.warn(`Block ${otherBlockName} is already in tower ${blocksInThisTower}. Skipping.`);
            }
         }
      }
   }
}

/**
 * Paints blocks sitting on the table or on another block.
 * @param {string} name block name / background color
 * @param {HTMLDivElement} canvas host element
 * @param {number} tower index of the tower (0 is the first on the left)
 * @param {number} level bottom-up level index (0 is on the bottom)
 * @param {string[]} allBlocks all block names
 */
function paintBlock(name, canvas, tower, level, allBlocks) {
   const block = document.createElement('div');
   block.className = "block";
   block.id = name;
   block.style.background = toColor(name, allBlocks);
   block.textContent = name;
   block.style.bottom = level * 50 + 1 + 'px';
   block.style.left = tower * 50 + 1 + 'px';
   canvas.appendChild(block);
}

/**
 * Converts block name to color
 * @param {string} name block name
 * @param {string[]} allBlocks all block names
 * @returns {string} css color name
 */
function toColor(name, allBlocks) {
   if (COLORS.includes(name)) {
      return name;
   } else {
      const index = allBlocks.findIndex(b => b === name);
      console.log(index);
      return COLORS[(3*index + 11) % COLORS.length];
   }
}

module.exports = {
   visualizeStateInDiv: visualizeStateInDiv
};

const blocksCss = `
div.block {
    width: 47px;
    height: 47px;
    border-radius: 5px;
    border-width: 1px;
    border-style: solid;
    position: absolute;
    opacity: 0.75;
    text-align: center;
    color: black;
}
div#blocksState {
    background-color: whitesmoke;
    border-color: #03A9F4;
    border-radius: 5px;
    border-width: 1px;
    border-style: solid;
    min-width: 200px;
    position: relative;
    /* overflow: scroll; */
}
`;

const gripperClosed = `<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
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xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
width="100"
height="100"
viewBox="0 0 130.175 110.77222"
version="1.1"
id="svg8"
<title
  id="title3721">gripper-closed</title>
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      id="path835"
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</g>
</svg>`;

const COLORS = ["Blue",
   "BlueViolet",
   "Brown",
   "BurlyWood",
   "CadetBlue",
   "Chartreuse",
   "Chocolate",
   "Coral",
   "CornflowerBlue",
   "Crimson",
   "Cyan",
   "DeepPink",
   "FireBrick",
   "GhostWhite",
   "Gold",
   "GoldenRod",
   "Gray",
   "Green",
   "GreenYellow",
   "HotPink",
   "IndianRed",
   "Indigo",
   "Ivory",
   "Khaki",
   "Lavender",
   "Lime",
   "LimeGreen",
   "Linen",
   "Magenta",
   "Maroon",
   "Navy",
   "Olive",
   "Orange",
   "OrangeRed",
   "Orchid",
   "Peru",
   "Pink",
   "Plum",
   "PowderBlue",
   "Purple",
   "Red",
   "RosyBrown",
   "RoyalBlue",
   "SaddleBrown",
   "Salmon",
   "SandyBrown",
   "SeaGreen",
   "Sienna",
   "Silver",
   "SkyBlue",
   "SpringGreen",
   "SteelBlue",
   "Tan",
   "Teal",
   "Thistle",
   "Tomato",
   "Turquoise",
   "Violet",
   "Wheat",
   "White",
   "WhiteSmoke",
   "Yellow",
   "YellowGreen"]
   .map(c => c.toLowerCase());