+ executePlan();
+
+ if (cleanupExecution() <= 1){
+ cerr << "Non of the remaining actions could be executed, quiting." << endl;
+ return;
+ }
+
+ cout << "Effects achieved so far: " << _init.size() << ": ";
+ copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
+ cout << endl;
+
+ if (_actions.size() == 0){
+ //Nothing left to do, quitting.
+ return;
+ }
+ //REPLANNING
+ cout << "Replanning..." << endl;
+
+ replan();
+
+ if (_addedNodes.size() <= 2){
+ cerr << "No actions to execute, quiting." << endl;
+ return;
+ }
+ execute();
+
+}
+
+void Planner::executePlan(){
+ sem_init(&_nodes, 0, 1);
+ sem_init(&_list, 0, 1);
+
+ //We've "executed" the start node.
+ _executedNodes.push(_start);
+ int executions = 1;
+
+ //As long as there executed nodes in the queue.
+ while (executions > 0){
+ //Wait for a node to be added to the queue
+ sem_wait(&_nodes);
+ --executions;
+
+ //Pop the first node from the queue.
+ sem_wait(&_list);
+ Node* node = _executedNodes.front();
+ _executedNodes.pop();
+ sem_post(&_list);
+
+ //We don't need to continue if the end node was executed.
+ if (node == _finish)
+ return;
+ executions += executeChildren(node);
+
+ }
+}
+
+
+int Planner::executeChildren(Node* node){
+
+ vector<Node*> children = node->children();
+
+ int executions = 0;
+ //Iterate over the children for this node
+ for(vector<Node*>::iterator child = children.begin(); child != children.end(); ++child){
+ //Satisfy the preconditions the current node had as effect.
+ if ((*child)->satisfyConditions(node->effects())){
+ //If all preconditions were satisified we can create a new thread
+ //and execute this child.
+ ++executions;
+ pthread_attr_t tattr;
+ pthread_t tid;
+ pthread_attr_init(&tattr);
+ pthread_attr_setscope(&tattr, PTHREAD_SCOPE_SYSTEM);
+ //Create a struct object for the thread and add the
+ //needed members to it.
+ ExecutionStuff* es = new ExecutionStuff;
+ es->nodes = &_nodes;
+ es->list = &_list;
+ es->node = *child;
+ es->execQueue = &_executedNodes;
+ pthread_create(&tid, &tattr, executeNode, es);
+ }
+ }
+ return executions;
+}
+
+int Planner::cleanupExecution(){
+ //Clearing the init and goal vectors, new effects will be added below.
+ _init.clear();
+ _goal.clear();
+ Preconditions goal = _finish->preconditions();
+ for (Preconditions::const_iterator precond = goal.begin(); precond != goal.end(); ++precond){
+ _goal.push_back(precond->first);
+ }
+
+ cout << "Unsatisfied preconditions so far: " << _goal.size() << ": ";
+ copy(_goal.begin(), _goal.end(), ostream_iterator<string>(cout, " "));
+ cout << endl;
+
+ //iterator for inserting effects at the end of _init
+ back_insert_iterator<Literals> ii(_init);
+
+ int executions = 0;
+ //Iterate throu the nodes, to see what's been done
+ for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+ if ((*node)->executed()){
+ //Node was executed, adding the effects to _init.
+ executions++;
+ const Literals& effects = (*node)->effects();
+ copy(effects.begin(),effects.end(),ii);
+
+ vector<Action*>::iterator action = find(_actions.begin(), _actions.end(), (*node)->action());
+ if (action != _actions.end()){
+ //The action can be deleted, since it's already been executed.
+ delete *action;
+ _actions.erase(action);
+ }
+ }
+ //The node is not needed anymore
+ delete *node;
+ }
+ //Clearing the vectors and maps, since they are obsolete now.
+ _addedNodes.clear();
+ _addedEffects.clear();
+ _actionEffects.clear();
+ return executions;
+}
+
+void Planner::replan(){
+
+ //Adding the effecs for the remaining actions.
+ for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
+ const Literals& effects = (*action)->effects(0);
+ for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ _actionEffects[*effect] = *action;
+ }
+ }
+ _start = new StartNode(_init);
+ _finish = new EndNode(_goal);
+ addNode(_start);
+ makePlan(_finish);
+}
+void* executeNode(void* arg){
+ ExecutionStuff* es = (ExecutionStuff*)arg;
+
+ es->node->execute();
+
+ sem_wait(es->list);
+ //Add this node to the queue with executed nodes
+ es->execQueue->push(es->node);
+ sem_post(es->list);
+
+ //Signal that the node is available.
+ sem_post(es->nodes);
+
+ pthread_exit((void*)0);