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                 const Literals& effects = action->effects(0);
  17                 for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  18                         cerr << "Adding effect: '" << *effect << "', action: " << action->name() << endl;
  19                         _actions[*effect] = *action;
  20                 }
  21         }
  22         cout << "Number of actions: " << _actions.size() << endl;
  23         makePlan(_finish);
  24 }
  25
  26 Planner::~Planner(){
  27         for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  28                 cerr << "Deleting node " << node->second->action().name() << endl;
  29                 delete node->second;
  30         }
  31 }
  32
  33
  34 void Planner::makePlan(Node* node){
  35         addNode(node);
  36
  37         cerr << "Fetching preconditions for action: " << node->action().name() << ".. ";
  38         const Preconditions& preconds = node->action().preconditions();
  39         cerr << "done" << endl;
  40
  41
  42         if (preconds.size() == 0){
  43                 cerr << "Found no preconds" << endl;
  44                 _start->addChild(node);
  45         }else{
  46                 for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  47                         cerr << "Looking for: '" << precond->first << "'" <<  endl;
  48                         hash_map<string,Node*>::iterator addedNode = _addedNodes.find(precond->first);
  49                         if(addedNode != _addedNodes.end()){
  50                                 cerr << "Using already added node" << endl;
  51                                 addedNode->second->addChild(node);
  52                         }else {
  53                                 hash_map<string, Action>::iterator action = _actions.find(precond->first);
  54                                 if (action != _actions.end()){
  55                                         cerr << "Adding new node" << endl;
  56                                         Node* newnode = new Node(action->second);
  57                                         newnode->addChild(node);
  58                                         makePlan(newnode);
  59                                 }else if (precond->second){
  60                                         cerr << "Action with effect: " << precond->first << " not found!" << endl;
  61                                         cerr << "This is a hard precondition, so this action and the children can't be executed." << endl;
  62                                         return;
  63                                 }else{
  64                                         cerr << "Action with effect: " << precond->first << " not found!" << endl;
  65                                         cerr << "This is a soft precondition, so we will continue" << endl;
  66                                 }
  67                         }
  68                 }
  69         }
  70 }
  71
  72 void Planner::addNode(Node* node){
  73         cerr << "Adding node for action: " << node->action().name() << endl;
  74         const Literals& effects = node->action().effects(0);
  75         cerr << "Number of effects: " << effects.size() << endl;
  76
  77         for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  78                 cout << "Adding node for effect: " << *effect << endl;
  79                 _addedNodes[*effect] = node;
  80         }
  81 }
  82
  83
  84 void Planner::execute(){
  85         _start->execute(Literals());
  86         /*for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  87                 if (node->second->executed()){
  88         }*/
  89         _start->execute(Literals());
  90 }