X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.cpp;h=9feeec8ed577398bc859e3d2fe9d1fb21266501c;hb=3f82360c5e0c61eccacdbaf3bd077852b9326f34;hp=d29691f95c1d4d620318b2a665f5cebea110d952;hpb=76a6e62c0a20bebba4c828f528f118a1f789b593;p=popboot.git

diff --git a/planner.cpp b/planner.cpp
index d29691f..9feeec8 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -1,10 +1,18 @@
 #include "planner.h"
 #include "node.h"
 #include <iostream>
-#include <vector>
 using namespace std;
 using namespace __gnu_cxx;
 
+extern "C" void* executeNode(void* arg);
+
+struct ExecutionStuff {
+	sem_t* nodes;
+	sem_t* list;
+	Node* node;
+	queue<Node*>* execQueue;
+};
+
 Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
 	_init = init;
 	_goal = goal;
@@ -17,55 +25,59 @@ Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
 		_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;
+			//cerr << "Adding effect: '" << *effect << "', action: " << action->name() << endl;
 			_actionEffects[*effect] = act;
 		}
 	}
-	cerr << "Number of actions: " << _actions.size() << endl;
+	//cerr << "Number of actions: " << _actions.size() << endl;
 	makePlan(_finish);
 }
 
 Planner::~Planner(){
-	cerr << "Deleting " << _addedNodes.size() << " nodes" << endl;
+	//cerr << "Deleting " << _addedNodes.size() << " nodes" << endl;
 	for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
-		cerr << "Deleting node " << (*node)->action()->name() << endl;
+		//cerr << "Deleting node " << (*node)->action()->name() << endl;
 		delete *node;
 	}
+	for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
+		//cerr << "Deleting action " << (*action)->name() << endl;
+		delete *action;
+	}
 }
 
 
 void Planner::makePlan(Node* node){
 	addNode(node);
 
-	cerr << "Fetching preconditions for action: " << node->action()->name() << ".. ";
+	//cerr << "Fetching preconditions for action: " << node->action()->name() << ".. ";
 	const Preconditions& preconds = node->action()->preconditions();
-	cerr << "done" << endl;
+	//cerr << "done" << endl;
 
 
 	if (preconds.size() == 0){
-		cerr << "Found no preconds" << endl;
+		//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;
+			//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;
+				//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;
+					//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;
+					//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;
+					//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);
 				}
@@ -75,44 +87,134 @@ void Planner::makePlan(Node* node){
 }
 
 void Planner::addNode(Node* node){
-	cerr << "Adding node for action: " << node->action()->name() << endl;
+	//cerr << "Adding node for action: " << node->action()->name() << endl;
 	const Literals& effects = node->action()->effects(0);
-	cerr << "Number of effects: " << effects.size() << endl;
+	//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;
+		//cerr << "Adding node for effect: " << *effect << endl;
 		_addedEffects[*effect] = node;
 	}
 }
 
 
 void Planner::execute(){
-	_start->execute(Literals());
+	_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);
-	copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
-	cout << endl;
 	_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);
-				//BUG: Sometimes finds the wrong action.
-				//delete *action;
 			}
 		}
 		delete *node;
 	}
 	_addedNodes.clear();
+	_addedEffects.clear();
 	_actionEffects.clear();
-	copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
-	cerr << "Number of nodes left: " << _addedNodes.size() << endl;
+	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);
 }