#include "planner.h"
+#include "node.h"
+#include <iostream>
+#include <vector>
+using namespace std;
+using namespace __gnu_cxx;
+Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
+ _init = init;
+ _goal = goal;
+ _start = new StartNode(_init);
+ _finish = new EndNode(_goal);
+ addNode(_start);
+ for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
+ Action* act = new Action(*action);
+ _actions.push_back(act);
+ const Literals& effects = act->effects(0);
+ for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ cerr << "Adding effect: '" << *effect << "', action: " << action->name() << endl;
+ _actionEffects[*effect] = act;
+ }
+ }
+ cerr << "Number of actions: " << _actions.size() << endl;
+ makePlan(_finish);
+}
+
+Planner::~Planner(){
+ cerr << "Deleting " << _addedNodes.size() << " nodes" << endl;
+ for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+ cerr << "Deleting node " << (*node)->action()->name() << endl;
+ delete *node;
+ }
+}
+
+
+void Planner::makePlan(Node* node){
+ addNode(node);
+
+ cerr << "Fetching preconditions for action: " << node->action()->name() << ".. ";
+ const Preconditions& preconds = node->action()->preconditions();
+ cerr << "done" << endl;
+
+
+ if (preconds.size() == 0){
+ cerr << "Found no preconds" << endl;
+ _start->addChild(node);
+ }else{
+ for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+ cerr << "Looking for: '" << precond->first << "'" << endl;
+ hash_map<string,Node*>::iterator addedNode = _addedEffects.find(precond->first);
+ if(addedNode != _addedEffects.end()){
+ cerr << "Using already added node" << endl;
+ addedNode->second->addChild(node);
+ }else {
+ hash_map<string, Action*>::iterator action = _actionEffects.find(precond->first);
+ if (action != _actionEffects.end()){
+ cerr << "Adding new node" << endl;
+ Node* newnode = new Node(action->second);
+ newnode->addChild(node);
+ makePlan(newnode);
+ }else if (precond->second){
+ cerr << "Action with effect: " << precond->first << " not found!" << endl;
+ cerr << "This is a hard precondition, so this action and the children can't be executed." << endl;
+ return;
+ }else{
+ cerr << "Action with effect: " << precond->first << " not found!" << endl;
+ cerr << "This is a soft precondition, so we will continue" << endl;
+ node->satisfyCondition(precond->first);
+ _start->addChild(node);
+ }
+ }
+ }
+ }
+}
+
+void Planner::addNode(Node* node){
+ cerr << "Adding node for action: " << node->action()->name() << endl;
+ const Literals& effects = node->action()->effects(0);
+ cerr << "Number of effects: " << effects.size() << endl;
+ _addedNodes.push_back(node);
+
+ for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+ cerr << "Adding node for effect: " << *effect << endl;
+ _addedEffects[*effect] = node;
+ }
+}
+
+
+void Planner::execute(){
+ _start->execute(Literals());
+ cerr << "Number of nodes: " << _addedNodes.size() << endl;
+ back_insert_iterator<Literals> ii(_init);
+ _init.clear();
+ int executions = 0;
+ 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();
+
+}