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         addNode(_start);
  14
  15         for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
  16                 Action* act = new Action(*action);
  17                 _actions.push_back(act);
  18                 const Literals& effects = act->effects(0);
  19                 for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  20                         cerr << "Adding effect: '" << *effect << "', action: " << action->name() << endl;
  21                         _actionEffects[*effect] = act;
  22                 }
  23         }
  24         cerr << "Number of actions: " << _actions.size() << endl;
  25         makePlan(_finish);
  26 }
  27
  28 Planner::~Planner(){
  29         cerr << "Deleting " << _addedNodes.size() << " nodes" << endl;
  30         for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  31                 cerr << "Deleting node " << (*node)->action()->name() << endl;
  32                 delete *node;
  33         }
  34         for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
  35                 cerr << "Deleting action " << (*action)->name() << endl;
  36                 delete *action;
  37         }
  38 }
  39
  40
  41 void Planner::makePlan(Node* node){
  42         addNode(node);
  43
  44         cerr << "Fetching preconditions for action: " << node->action()->name() << ".. ";
  45         const Preconditions& preconds = node->action()->preconditions();
  46         cerr << "done" << endl;
  47
  48
  49         if (preconds.size() == 0){
  50                 cerr << "Found no preconds" << endl;
  51                 _start->addChild(node);
  52         }else{
  53                 for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  54                         cerr << "Looking for: '" << precond->first << "'" <<  endl;
  55                         hash_map<string,Node*>::iterator addedNode = _addedEffects.find(precond->first);
  56                         if(addedNode != _addedEffects.end()){
  57                                 cerr << "Using already added node" << endl;
  58                                 addedNode->second->addChild(node);
  59                         }else {
  60                                 hash_map<string, Action*>::iterator action = _actionEffects.find(precond->first);
  61                                 if (action != _actionEffects.end()){
  62                                         cerr << "Adding new node" << endl;
  63                                         Node* newnode = new Node(action->second);
  64                                         newnode->addChild(node);
  65                                         makePlan(newnode);
  66                                 }else if (precond->second){
  67                                         cerr << "Action with effect: " << precond->first << " not found!" << endl;
  68                                         cerr << "This is a hard precondition, so this action and the children can't be executed." << endl;
  69                                         return;
  70                                 }else{
  71                                         cerr << "Action with effect: " << precond->first << " not found!" << endl;
  72                                         cerr << "This is a soft precondition, so we will continue" << endl;
  73                                         node->satisfyCondition(precond->first);
  74                                         _start->addChild(node);
  75                                 }
  76                         }
  77                 }
  78         }
  79 }
  80
  81 void Planner::addNode(Node* node){
  82         cerr << "Adding node for action: " << node->action()->name() << endl;
  83         const Literals& effects = node->action()->effects(0);
  84         cerr << "Number of effects: " << effects.size() << endl;
  85         _addedNodes.push_back(node);
  86
  87         for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  88                 cerr << "Adding node for effect: " << *effect << endl;
  89                 _addedEffects[*effect] = node;
  90         }
  91 }
  92
  93
  94 void Planner::execute(){
  95         _start->execute(Literals());
  96         cerr << "Number of nodes: " << _addedNodes.size() << endl;
  97         back_insert_iterator<Literals> ii(_init);
  98         _init.clear();
  99         int executions = 0;
 100         for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
 101                 cerr << "Deleting node " << (*node)->action()->name() << endl;
 102                 if ((*node)->executed()){
 103                         executions++;
 104                         const Literals& effects = (*node)->effects();
 105                         copy(effects.begin(),effects.end(),ii);
 106                         cerr << "Finding action" << endl;
 107                         vector<Action*>::iterator action = find(_actions.begin(), _actions.end(), (*node)->action());
 108                         if (action != _actions.end()){
 109                                 cerr << "Removing executed action: " << (*action)->name() << endl;
 110                                 delete *action;
 111                                 _actions.erase(action);
 112                         }
 113                 }
 114                 delete *node;
 115         }
 116         _addedNodes.clear();
 117         _addedEffects.clear();
 118         _actionEffects.clear();
 119         copy(_init.begin(), _init.end(), ostream_iterator<string>(cerr, " "));
 120         cerr << endl;
 121         cerr << "Number of actions left: " << _actions.size() << endl;
 122         //TODO: Fill _actionEffects with the remaining effects, create start end end nodes and create a new plan.
 123         if (executions <= 1){
 124                 cerr << "Non of the remaining actions could be executed, quiting." << endl;
 125                 return;
 126         }
 127         if (_actions.size() == 0){
 128                 cerr << "No remaining actions, quiting." << endl;
 129                 return;
 130         }
 131         for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
 132                 const Literals& effects = (*action)->effects(0);
 133                 for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 134                         cerr << "Adding effect: '" << *effect << "', action: " << (*action)->name() << endl;
 135                         _actionEffects[*effect] = *action;
 136                 }
 137         }
 138         _start = new StartNode(_init);
 139         _finish = new EndNode(_goal);
 140         addNode(_start);
 141         makePlan(_finish);
 142         if (_addedNodes.size() <= 2){
 143                 cerr << "No actions to execute, quiting." << endl;
 144                 return;
 145         }
 146         execute();
 147
 148 }