X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.h;h=55d572877e61641cbdce15d0186bee9b4da9c235;hb=92aca829cc32e9e4d5965259bd565e727469358d;hp=e2207757d0a1329619adbac00a9e16a66ac19a02;hpb=ac1a37b852607a750cf391e458ab53e8ff504d6a;p=popboot.git

diff --git a/planner.h b/planner.h
index e220775..55d5728 100644
--- a/planner.h
+++ b/planner.h
@@ -1,10 +1,43 @@
 #ifndef __PLANNER_H__
 #define __PLANNER_H__
 
+#include <ext/hash_map>
+#include <vector>
+#include <queue>
+#include <pthread.h>
+#include <semaphore.h>
+#include "action.h"
+
+class Node;
+
 class Planner {
 	public:
+		Planner(std::vector<Action> actions, Literals init, Literals goal);
+		~Planner();
+
+		void execute();
+
 
 	protected:
-		Node start;
-		hash_map addedNodes;
+
+		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;
+		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