X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.h;h=fc49df9d5659e42646fa307e034c4c59b6ec58b4;hb=44054bc3e498f77571a9448d0cea201fcca6bb0f;hp=7932eb9251814908502d07b197c198d5bed9f712;hpb=dc49c0c521090f0eb4b9692b25a129537c07e19e;p=popboot.git

diff --git a/planner.h b/planner.h
index 7932eb9..fc49df9 100644
--- a/planner.h
+++ b/planner.h
@@ -3,49 +3,77 @@
 
 #include <ext/hash_map>
 #include <vector>
+#include <queue>
+#include <pthread.h>
+#include <semaphore.h>
 #include "action.h"
 
 class Node;
 
+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();
 
-namespace __gnu_cxx {
+		/**
+		 * 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();
 
-    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());
 
-}
+	protected:
 
-    };
+		/**
+		 * 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);
 
-    template< typename CharT, typename Traits, typename Alloc >
-    struct hash< const std::basic_string<CharT, Traits, Alloc> > { //yes you need this version aswell!
+		/**
+		 * Adds this node to the internal map and vector.
+		 */
+		void addNode(Node* node);
 
-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());
-        }
+		/**
+		 * This method goes through the executed nodes and then calls 
+		 * executeChildren for these nodes.
+		 */
+		void executePlan();
+		int executeChildren(Node* node);
+		void replan();
+		int cleanupExecution();
 
-    };
-};
+		sem_t _nodes;
+		sem_t _list;
+		std::queue<Node*> _executedNodes;
 
-class Planner {
-	public:
-		Planner(std::vector<Action> actions, literals init, literals goal);
-
-	protected:
-
-		void makePlan(Node* node);
-		
 		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