X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.h;h=c6f23b2334895bb91a09562ba465017be18a74ff;hb=8282bdb08791f2631a9d51e75b988077d903f3d1;hp=4846fd9166a908b0a0d54b7b592455d24cfce0b5;hpb=50f9b29fed8c97deac825a31c35bb7759abca04f;p=popboot.git

diff --git a/planner.h b/planner.h
index 4846fd9..c6f23b2 100644
--- a/planner.h
+++ b/planner.h
@@ -1,12 +1,108 @@
 #ifndef __PLANNER_H__
 #define __PLANNER_H__
-#include <hash_map>
 
+#include <ext/hash_map>
+#include <vector>
+#include <queue>
+#include <pthread.h>
+#include <semaphore.h>
+#include "action.h"
+
+class Node;
+
+/**
+ * This class creates, holds and executes a plan.
+ */
 class Planner {
 	public:
+		/**
+		 * Creates a plan given the input actions, initial state and goal.
+		 *
+		 * @param actions A list of actions which will be used to reach the goal.
+		 * @param init The initial state which the plan will start from.
+		 * @param goal The goal state which the plan will try to reach.
+		 */
+		Planner(std::vector<Action> actions, Literals init, Literals goal);
+
+		/**
+		 * Deletes all the remaining nodes and actions.
+		 */
+		~Planner();
+
+		/**
+		 * Executes the plan.
+		 * Creates new threads for execution of each action.
+		 *
+		 * If any action fail in some way, this method will try to replan and
+		 * recursively call itself.
+		 */
+		void execute();
+
 
 	protected:
-		Node start;
-		std::hash_map addedNodes;
+
+		/**
+		 * This method does the actual planning. Given the input node it will
+		 * try to find all preconditions and create links from parent nodes
+		 * to this node and, if the precondition did not have a node associated
+		 * with it, create a new and recursively call this method for the newly
+		 * created node.
+		 *
+		 * @param node The node which this method will find parent nodes for.
+		 */
+		void makePlan(Node* node);
+
+		/**
+		 * Adds this node to the internal map and vector.
+		 */
+		void addNode(Node* node);
+
+		/**
+		 * This method goes through the executed nodes and then calls 
+		 * executeChildren for these nodes.
+		 */
+		void executePlan();
+
+		/**
+		 * Iterates through the children of the input node and satisfies all
+		 * preconditions possible with this node. The children will be executed
+		 * if all preconditions have been satisfied.
+		 */
+		int executeChildren(Node* node);
+
+		/**
+		 * Addes the remaining actions to the actions map, creates new start and
+		 * finish nodes and runs makePlan.
+		 */
+		void replan();
+		
+		/**
+		 * Deletes all nodes, updates _init and _goal, and clears the internal maps and vector.
+		 */
+		int cleanupExecution();
+
+		//! Semaphore which is used to signal if a new node has been executed and added to _executedNodes.
+		sem_t _nodes;
+		//! Mutex for access to _executedNodes.
+		sem_t _list;
+		//! Holds the nodes which have been executed, but the children haven't been taken care of yet.
+		std::queue<Node*> _executedNodes;
+
+		//! The start node in the plan graph.
+		Node* _start;
+		//! The end node in the plan graph.
+		Node* _finish;
+		//! Map from all the effects which can be achieved with the already added nodes.
+		__gnu_cxx::hash_map<std::string,Node*> _addedEffects;
+		//! Map with all effects available and their corresponding actions.
+		__gnu_cxx::hash_map<std::string,Action*> _actionEffects;
+		//! The initial state.
+		Literals _init;
+		//! The goal state
+		Literals _goal;
+		//! All the nodes added to the current plan.
+		std::vector<Node*> _addedNodes;
+		//! All the non-executed actions available in the current plan.
+		std::vector<Action*> _actions;
 };
 #endif