+ _executedNodes.push(_start);
+ sem_init(&_nodes, 0, 1);
+ sem_init(&_list, 0, 1);
+
+ int executions = 1;
+ while (executions > 0){
+ cerr << "Waiting for a node to finish execution" << endl;
+ int retval;
+ sem_getvalue(&_nodes, &retval);
+ cerr << "Semaphore before wait: " << retval << endl;
+ sem_wait(&_nodes);
+ sem_getvalue(&_nodes, &retval);
+ cerr << "Semaphore after wait: " << retval << endl;
+ --executions;
+
+ cerr << "Getting node: ";
+ sem_wait(&_list);
+ cerr << "Number of nodes in queue: " << _executedNodes.size() << endl;
+ Node* node = _executedNodes.front();
+ _executedNodes.pop();
+ sem_post(&_list);
+ cerr << (int) node << endl;
+ cerr << node->action()->name() << ", and children.. ";
+ vector<Node*> children = node->children();
+ cerr << " done" << endl;
+ if (node == _finish)
+ return;
+ cerr << "Iterating over the children, number: " << children.size() << endl;
+ for(vector<Node*>::iterator child = children.begin(); child != children.end(); ++child){
+ if ((*child)->satisfyConditions(node->effects())){
+ ++executions;
+ cerr << "Creating new thread" << endl;
+ pthread_attr_t tattr;
+ pthread_t tid;
+ pthread_attr_init(&tattr);
+ pthread_attr_setscope(&tattr, PTHREAD_SCOPE_SYSTEM);
+ ExecutionStuff* es = new ExecutionStuff;
+ es->nodes = &_nodes;
+ es->list = &_list;
+ es->node = *child;
+ es->execQueue = &_executedNodes;
+ pthread_create(&tid, &tattr, executeNode, es);
+ //executeNode(es);
+ }
+ }
+
+ }
+ cerr << "Number of nodes: " << _addedNodes.size() << endl;
+ back_insert_iterator<Literals> ii(_init);
+ _init.clear();
+ for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+ cerr << "Deleting node " << (*node)->action()->name() << endl;
+ if ((*node)->executed()){
+ executions++;
+ const Literals& effects = (*node)->effects();
+ copy(effects.begin(),effects.end(),ii);
+ cerr << "Finding action" << endl;
+ vector<Action*>::iterator action = find(_actions.begin(), _actions.end(), (*node)->action());
+ if (action != _actions.end()){
+ cerr << "Removing executed action: " << (*action)->name() << endl;
+ delete *action;
+ _actions.erase(action);
+ }
+ }
+ delete *node;
+ }
+ _addedNodes.clear();
+ _addedEffects.clear();
+ _actionEffects.clear();
+ copy(_init.begin(), _init.end(), ostream_iterator<string>(cerr, " "));
+ cerr << endl;
+ cerr << "Number of actions left: " << _actions.size() << endl;
+ //TODO: Fill _actionEffects with the remaining effects, create start end end nodes and create a new plan.
+ if (executions <= 1){
+ cerr << "Non of the remaining actions could be executed, quiting." << endl;
+ return;
+ }
+ if (_actions.size() == 0){
+ cerr << "No remaining actions, quiting." << endl;
+ return;
+ }
+ 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){
+ cerr << "Adding effect: '" << *effect << "', action: " << (*action)->name() << endl;
+ _actionEffects[*effect] = *action;
+ }
+ }
+ _start = new StartNode(_init);
+ _finish = new EndNode(_goal);
+ addNode(_start);
+ makePlan(_finish);
+ if (_addedNodes.size() <= 2){
+ cerr << "No actions to execute, quiting." << endl;
+ return;
+ }
+ execute();
+
+}
+void* executeNode(void* arg){
+ cerr << "Running new thred." << endl;
+ ExecutionStuff* es = (ExecutionStuff*)arg;
+
+ if (es == 0)
+ pthread_exit((void*)1);
+
+ es->node->execute();
+
+ sem_wait(es->list);
+ cerr << "Adding pointer with value: " << (int)es->node << endl;
+ es->execQueue->push(es->node);
+ sem_post(es->list);
+
+ cerr << "Increasing semaphore" << endl;
+ sem_post(es->nodes);
+
+ pthread_exit((void*)0);