planner.cpp

   1 #include "planner.h"
   2 #include "node.h"
   3 #include <iostream>
   4 #include <vector>
   5 using namespace std;
   6 using namespace __gnu_cxx;
   7
   8 Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
   9         _init = init;
  10         _goal = goal;
  11         _start = new StartNode(_init);
  12         _finish = new EndNode(_goal);
  13
  14         for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
  15                 const Literals& effects = action->effects(0);
  16                 for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  17                         cerr << "Adding effect: " << *effect << endl;
  18                         _actions[*effect] = *action;
  19                 }
  20         }
  21         makePlan(_finish);
  22 }
  23
  24 Planner::~Planner(){
  25         for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  26                 cerr << "Deleting node " << node->second->action().name() << endl;
  27                 delete node->second;
  28         }
  29 }
  30
  31
  32 void Planner::makePlan(Node* node){
  33         addNode(node);
  34
  35         cerr << "Fetching preconditions for action: " << node->action().name() << ".. ";
  36         const Preconditions& preconds = node->action().preconditions();
  37         cerr << "done" << endl;
  38
  39
  40         if (preconds.size() == 0){
  41                 cerr << "Found no preconds" << endl;
  42                 _start->addChild(node);
  43         }else{
  44                 for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  45                         cerr << "Looking for: " << precond->first << endl;
  46                         hash_map<string,Node*>::iterator addedNode = _addedNodes.find(precond->first);
  47                         if(addedNode != _addedNodes.end()){
  48                                 cerr << "Using already added node" << endl;
  49                                 addedNode->second->addChild(node);
  50                         }else {
  51                                 hash_map<string, Action>::iterator action = _actions.find(precond->first);
  52                                 if (action != _actions.end()){
  53                                         cerr << "Adding new node" << endl;
  54                                         Node* newnode = new Node(action->second);
  55                                         newnode->addChild(node);
  56                                         makePlan(newnode);
  57                                 }else if (precond->second){
  58                                         cerr << "Action with effect: " << precond->first << " not found!" << endl;
  59                                         cerr << "This is a hard precondition, so this action and the children can't be executed." << endl;
  60                                         return;
  61                                 }else{
  62                                         cerr << "Action with effect: " << precond->first << " not found!" << endl;
  63                                         cerr << "This is a soft precondition, so we will continue" << endl;
  64                                 }
  65                         }
  66                 }
  67         }
  68 }
  69
  70 void Planner::addNode(Node* node){
  71         const Literals& effects = node->action().effects(0);
  72
  73         for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  74                 cout << "Adding node for effect: " << *effect << endl;
  75                 _addedNodes[*effect] = node;
  76         }
  77 }
  78
  79
  80 void Planner::execute(){
  81         _start->execute(true,Literals());
  82         for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  83                 if (!node->second->executed())
  84                         node->second->execute(false,Literals());
  85         }
  86 }