#include "planner.h"
#include "node.h"
#include <iostream>
+#include <iterator>
using namespace std;
using namespace __gnu_cxx;
void Planner::execute(){
+ 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 don't need to continue if the end node was executed.
if (node == _finish)
return;
+ executions += executeChildren(node);
- vector<Node*> children = node->children();
-
- //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);
- }
- }
+ }
+}
+
+
+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();
_goal.push_back(precond->first);
}
+ if (goal.size() == 0)
+ exit(0);
+
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()){
_addedNodes.clear();
_addedEffects.clear();
_actionEffects.clear();
+ return executions;
+}
- cout << "Effects achieved so far: " << _init.size() << ": ";
- copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
- cout << endl;
+void Planner::replan(){
- if (executions <= 1){
- cerr << "Non of the remaining actions could be executed, quiting." << endl;
- return;
- }
- if (_actions.size() == 0){
- //Nothing left to do, quitting.
- return;
- }
- //REPLANNING
- cout << "Replanning..." << endl;
-
//Adding the effecs for the remaining actions.
for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
const Literals& effects = (*action)->effects(0);
_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){
ExecutionStuff* es = (ExecutionStuff*)arg;