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 }
  35
  36
  37 void Planner::makePlan(Node* node){
  38         addNode(node);
  39
  40         cerr << "Fetching preconditions for action: " << node->action()->name() << ".. ";
  41         const Preconditions& preconds = node->action()->preconditions();
  42         cerr << "done" << endl;
  43
  44
  45         if (preconds.size() == 0){
  46                 cerr << "Found no preconds" << endl;
  47                 _start->addChild(node);
  48         }else{
  49                 for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  50                         cerr << "Looking for: '" << precond->first << "'" <<  endl;
  51                         hash_map<string,Node*>::iterator addedNode = _addedEffects.find(precond->first);
  52                         if(addedNode != _addedEffects.end()){
  53                                 cerr << "Using already added node" << endl;
  54                                 addedNode->second->addChild(node);
  55                         }else {
  56                                 hash_map<string, Action*>::iterator action = _actionEffects.find(precond->first);
  57                                 if (action != _actionEffects.end()){
  58                                         cerr << "Adding new node" << endl;
  59                                         Node* newnode = new Node(action->second);
  60                                         newnode->addChild(node);
  61                                         makePlan(newnode);
  62                                 }else if (precond->second){
  63                                         cerr << "Action with effect: " << precond->first << " not found!" << endl;
  64                                         cerr << "This is a hard precondition, so this action and the children can't be executed." << endl;
  65                                         return;
  66                                 }else{
  67                                         cerr << "Action with effect: " << precond->first << " not found!" << endl;
  68                                         cerr << "This is a soft precondition, so we will continue" << endl;
  69                                         node->satisfyCondition(precond->first);
  70                                         _start->addChild(node);
  71                                 }
  72                         }
  73                 }
  74         }
  75 }
  76
  77 void Planner::addNode(Node* node){
  78         cerr << "Adding node for action: " << node->action()->name() << endl;
  79         const Literals& effects = node->action()->effects(0);
  80         cerr << "Number of effects: " << effects.size() << endl;
  81         _addedNodes.push_back(node);
  82
  83         for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  84                 cerr << "Adding node for effect: " << *effect << endl;
  85                 _addedEffects[*effect] = node;
  86         }
  87 }
  88
  89
  90 void Planner::execute(){
  91         _start->execute(Literals());
  92         cerr << "Number of nodes: " << _addedNodes.size() << endl;
  93         back_insert_iterator<Literals> ii(_init);
  94         copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
  95         cout << endl;
  96         _init.clear();
  97         for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  98                 cerr << "Deleting node " << (*node)->action()->name() << endl;
  99                 if ((*node)->executed()){
 100                         const Literals& effects = (*node)->effects();
 101                         copy(effects.begin(),effects.end(),ii);
 102                         cerr << "Finding action" << endl;
 103                         vector<Action*>::iterator action = find(_actions.begin(), _actions.end(), (*node)->action());
 104                         if (action != _actions.end()){
 105                                 cerr << "Removing executed action: " << (*action)->name() << endl;
 106                                 _actions.erase(action);
 107                                 //BUG: Sometimes finds the wrong action.
 108                                 //delete *action;
 109                         }
 110                 }
 111                 delete *node;
 112         }
 113         _addedNodes.clear();
 114         _actionEffects.clear();
 115         copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
 116         cerr << "Number of nodes left: " << _addedNodes.size() << endl;
 117         //TODO: Fill _actionEffects with the remaining effects, create start end end nodes and create a new plan.
 118 }