planner.cpp

   1 #include "planner.h"
   2 #include "node.h"
   3 #include <iostream>
   4 using namespace std;
   5 using namespace __gnu_cxx;
   6
   7 extern "C" void* executeNode(void* arg);
   8
   9 struct ExecutionStuff {
  10         sem_t* nodes;
  11         sem_t* list;
  12         Node* node;
  13         queue<Node*>* execQueue;
  14 };
  15
  16 Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
  17         _init = init;
  18         _goal = goal;
  19         _start = new StartNode(_init);
  20         _finish = new EndNode(_goal);
  21         addNode(_start);
  22
  23         for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
  24                 Action* act = new Action(*action);
  25                 _actions.push_back(act);
  26                 const Literals& effects = act->effects(0);
  27                 for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  28                         //cerr << "Adding effect: '" << *effect << "', action: " << action->name() << endl;
  29                         _actionEffects[*effect] = act;
  30                 }
  31         }
  32         //cerr << "Number of actions: " << _actions.size() << endl;
  33         makePlan(_finish);
  34 }
  35
  36 Planner::~Planner(){
  37         //cerr << "Deleting " << _addedNodes.size() << " nodes" << endl;
  38         for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  39                 //cerr << "Deleting node " << (*node)->action()->name() << endl;
  40                 delete *node;
  41         }
  42         for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
  43                 //cerr << "Deleting action " << (*action)->name() << endl;
  44                 delete *action;
  45         }
  46 }
  47
  48
  49 void Planner::makePlan(Node* node){
  50         addNode(node);
  51
  52         //cerr << "Fetching preconditions for action: " << node->action()->name() << ".. ";
  53         const Preconditions& preconds = node->action()->preconditions();
  54         //cerr << "done" << endl;
  55
  56
  57         if (preconds.size() == 0){
  58                 //cerr << "Found no preconds" << endl;
  59                 _start->addChild(node);
  60         }else{
  61                 for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  62                         //cerr << "Looking for: '" << precond->first << "'" <<  endl;
  63                         hash_map<string,Node*>::iterator addedNode = _addedEffects.find(precond->first);
  64                         if(addedNode != _addedEffects.end()){
  65                                 //cerr << "Using already added node" << endl;
  66                                 addedNode->second->addChild(node);
  67                         }else {
  68                                 hash_map<string, Action*>::iterator action = _actionEffects.find(precond->first);
  69                                 if (action != _actionEffects.end()){
  70                                         //cerr << "Adding new node" << endl;
  71                                         Node* newnode = new Node(action->second);
  72                                         newnode->addChild(node);
  73                                         makePlan(newnode);
  74                                 }else if (precond->second){
  75                                         //cerr << "Action with effect: " << precond->first << " not found!" << endl;
  76                                         //cerr << "This is a hard precondition, so this action and the children can't be executed." << endl;
  77                                         return;
  78                                 }else{
  79                                         //cerr << "Action with effect: " << precond->first << " not found!" << endl;
  80                                         //cerr << "This is a soft precondition, so we will continue" << endl;
  81                                         node->satisfyCondition(precond->first);
  82                                         _start->addChild(node);
  83                                 }
  84                         }
  85                 }
  86         }
  87 }
  88
  89 void Planner::addNode(Node* node){
  90         //cerr << "Adding node for action: " << node->action()->name() << endl;
  91         const Literals& effects = node->action()->effects(0);
  92         //cerr << "Number of effects: " << effects.size() << endl;
  93         _addedNodes.push_back(node);
  94
  95         for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  96                 //cerr << "Adding node for effect: " << *effect << endl;
  97                 _addedEffects[*effect] = node;
  98         }
  99 }
 100
 101
 102 void Planner::execute(){
 103         _executedNodes.push(_start);
 104         sem_init(&_nodes, 0, 1);
 105         sem_init(&_list, 0, 1);
 106
 107         int executions = 1;
 108         while (executions > 0){
 109                 cerr << "Waiting for a node to finish execution" << endl;
 110                 int retval;
 111                 sem_getvalue(&_nodes, &retval);
 112                 cerr << "Semaphore before wait: " << retval << endl;
 113                 sem_wait(&_nodes);
 114                 sem_getvalue(&_nodes, &retval);
 115                 cerr << "Semaphore after wait: " << retval << endl;
 116                 --executions;
 117
 118                 cerr << "Getting node: ";
 119                 sem_wait(&_list);
 120                 cerr << "Number of nodes in queue: " << _executedNodes.size() << endl;
 121                 Node* node = _executedNodes.front();
 122                 _executedNodes.pop();
 123                 sem_post(&_list);
 124                 cerr << (int) node << endl;
 125                 cerr << node->action()->name() << ", and children..  ";
 126                 vector<Node*> children = node->children();
 127                 cerr << " done"  << endl;
 128                 if (node == _finish)
 129                         return;
 130                 cerr << "Iterating over the children, number: " << children.size() << endl;
 131                 for(vector<Node*>::iterator child = children.begin(); child != children.end(); ++child){
 132                         if ((*child)->satisfyConditions(node->effects())){
 133                                 ++executions;
 134                                 cerr << "Creating new thread" << endl;
 135                                 pthread_attr_t tattr;
 136                                 pthread_t tid;
 137                                 pthread_attr_init(&tattr);
 138                                 pthread_attr_setscope(&tattr, PTHREAD_SCOPE_SYSTEM);
 139                                 ExecutionStuff* es = new ExecutionStuff;
 140                                 es->nodes = &_nodes;
 141                                 es->list = &_list;
 142                                 es->node = *child;
 143                                 es->execQueue = &_executedNodes;
 144                                 pthread_create(&tid, &tattr, executeNode, es);
 145                                 //executeNode(es);
 146                         }
 147                 }
 148
 149         }
 150         cerr << "Number of nodes: " << _addedNodes.size() << endl;
 151         back_insert_iterator<Literals> ii(_init);
 152         _init.clear();
 153         for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
 154                 cerr << "Deleting node " << (*node)->action()->name() << endl;
 155                 if ((*node)->executed()){
 156                         executions++;
 157                         const Literals& effects = (*node)->effects();
 158                         copy(effects.begin(),effects.end(),ii);
 159                         cerr << "Finding action" << endl;
 160                         vector<Action*>::iterator action = find(_actions.begin(), _actions.end(), (*node)->action());
 161                         if (action != _actions.end()){
 162                                 cerr << "Removing executed action: " << (*action)->name() << endl;
 163                                 delete *action;
 164                                 _actions.erase(action);
 165                         }
 166                 }
 167                 delete *node;
 168         }
 169         _addedNodes.clear();
 170         _addedEffects.clear();
 171         _actionEffects.clear();
 172         copy(_init.begin(), _init.end(), ostream_iterator<string>(cerr, " "));
 173         cerr << endl;
 174         cerr << "Number of actions left: " << _actions.size() << endl;
 175         //TODO: Fill _actionEffects with the remaining effects, create start end end nodes and create a new plan.
 176         if (executions <= 1){
 177                 cerr << "Non of the remaining actions could be executed, quiting." << endl;
 178                 return;
 179         }
 180         if (_actions.size() == 0){
 181                 cerr << "No remaining actions, quiting." << endl;
 182                 return;
 183         }
 184         for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
 185                 const Literals& effects = (*action)->effects(0);
 186                 for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 187                         cerr << "Adding effect: '" << *effect << "', action: " << (*action)->name() << endl;
 188                         _actionEffects[*effect] = *action;
 189                 }
 190         }
 191         _start = new StartNode(_init);
 192         _finish = new EndNode(_goal);
 193         addNode(_start);
 194         makePlan(_finish);
 195         if (_addedNodes.size() <= 2){
 196                 cerr << "No actions to execute, quiting." << endl;
 197                 return;
 198         }
 199         execute();
 200
 201 }
 202 void* executeNode(void* arg){
 203         cerr << "Running new thred." << endl;
 204         ExecutionStuff* es = (ExecutionStuff*)arg;
 205
 206         if (es == 0)
 207                 pthread_exit((void*)1);
 208
 209         es->node->execute();
 210
 211         sem_wait(es->list);
 212         cerr << "Adding pointer with value: " << (int)es->node << endl;
 213         es->execQueue->push(es->node);
 214         sem_post(es->list);
 215
 216         cerr << "Increasing semaphore" << endl;
 217         sem_post(es->nodes);
 218
 219         pthread_exit((void*)0);
 220 }