X-Git-Url: https://ruin.nu/git/?a=blobdiff_plain;f=planner.h;h=fc49df9d5659e42646fa307e034c4c59b6ec58b4;hb=44054bc3e498f77571a9448d0cea201fcca6bb0f;hp=79db5420a06cd52e751947013f8eb594af8d7791;hpb=fdcf46671ca1dab0dadb490bb4375dc3dd2fc9a4;p=popboot.git

diff --git a/planner.h b/planner.h
index 79db542..fc49df9 100644
--- a/planner.h
+++ b/planner.h
@@ -3,28 +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();
 
+		/**
+		 * 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:
 
+		/**
+		 * 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();
+		int executeChildren(Node* node);
+		void replan();
+		int cleanupExecution();
+
+		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> _actions;
+		__gnu_cxx::hash_map<std::string,Action*> _actionEffects;
 		Literals _init;
 		Literals _goal;
 		std::vector<Node*> _addedNodes;
+		std::vector<Action*> _actions;
 };
 #endif