X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.h;h=55d572877e61641cbdce15d0186bee9b4da9c235;hb=92aca829cc32e9e4d5965259bd565e727469358d;hp=c74d536b5e5d03ac7f439921bd06a6793c2b715b;hpb=b177aeec472c3941b39b874a83883ff87a41919c;p=popboot.git

diff --git a/planner.h b/planner.h
index c74d536..55d5728 100644
--- a/planner.h
+++ b/planner.h
@@ -3,50 +3,41 @@
 
 #include <ext/hash_map>
 #include <vector>
+#include <queue>
+#include <pthread.h>
+#include <semaphore.h>
 #include "action.h"
 
 class Node;
 
-
-
-namespace __gnu_cxx {
-
-    template< typename CharT, typename Traits, typename Alloc >
-    struct hash< std::basic_string<CharT, Traits, Alloc> > {
-        size_t operator()(const std::basic_string<CharT, Traits, Alloc>& s) const {
-            
-           const std::collate<CharT>& c = std::use_facet< std::collate<CharT> >(std::locale());
-           
-           return c.hash(s.c_str(), s.c_str() + s.size());
-
-}
-
-    };
-
-    template< typename CharT, typename Traits, typename Alloc >
-    struct hash< const std::basic_string<CharT, Traits, Alloc> > { //yes you need this version aswell!
-
-size_t operator()(const std::basic_string<CharT, Traits, Alloc>& s) const {
-       
-          const std::collate<CharT>& c = std::use_facet< std::collate<CharT> >(std::locale());
-      
-          return c.hash(s.c_str(), s.c_str() + s.size());
-        }
-
-    };
-};
-
 class Planner {
 	public:
-		Planner(std::vector<Action> actions, literals init, literals goal);
+		Planner(std::vector<Action> actions, Literals init, Literals goal);
+		~Planner();
+
+		void execute();
+
 
 	protected:
 
 		void makePlan(Node* node);
 		void addNode(Node* node);
-		
+		void executePlan();
+		void replan();
+		int cleanupExecution();
+		int executeChildren(Node* node);
+
+		sem_t _nodes;
+		sem_t _list;
+		std::queue<Node*> _executedNodes;
+
 		Node* _start;
-		__gnu_cxx::hash_map<std::string,Node*> _addedNodes;
-		__gnu_cxx::hash_map<std::string,Action> _actions;
+		Node* _finish;
+		__gnu_cxx::hash_map<std::string,Node*> _addedEffects;
+		__gnu_cxx::hash_map<std::string,Action*> _actionEffects;
+		Literals _init;
+		Literals _goal;
+		std::vector<Node*> _addedNodes;
+		std::vector<Action*> _actions;
 };
 #endif