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         cerr << "Number of actions: " << _actions.size() << endl;
  23         makePlan(_finish);
  24 }
  25
  26 Planner::~Planner(){
  27         cerr << "Deleting " << _addedNodes.size() << " nodes" << endl;
  28         for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  29                 cerr << "Deleting node " << (*node)->action().name() << endl;
  30                 delete *node;
  31         }
  32 }
  33
  34
  35 void Planner::makePlan(Node* node){
  36         addNode(node);
  37
  38         cerr << "Fetching preconditions for action: " << node->action().name() << ".. ";
  39         const Preconditions& preconds = node->action().preconditions();
  40         cerr << "done" << endl;
  41
  42
  43         if (preconds.size() == 0){
  44                 cerr << "Found no preconds" << endl;
  45                 _start->addChild(node);
  46         }else{
  47                 for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
  48                         cerr << "Looking for: '" << precond->first << "'" <<  endl;
  49                         hash_map<string,Node*>::iterator addedNode = _addedEffects.find(precond->first);
  50                         if(addedNode != _addedEffects.end()){
  51                                 cerr << "Using already added node" << endl;
  52                                 addedNode->second->addChild(node);
  53                         }else {
  54                                 hash_map<string, Action>::iterator action = _actions.find(precond->first);
  55                                 if (action != _actions.end()){
  56                                         cerr << "Adding new node" << endl;
  57                                         Node* newnode = new Node(action->second);
  58                                         newnode->addChild(node);
  59                                         makePlan(newnode);
  60                                 }else if (precond->second){
  61                                         cerr << "Action with effect: " << precond->first << " not found!" << endl;
  62                                         cerr << "This is a hard precondition, so this action and the children can't be executed." << endl;
  63                                         return;
  64                                 }else{
  65                                         cerr << "Action with effect: " << precond->first << " not found!" << endl;
  66                                         cerr << "This is a soft precondition, so we will continue" << endl;
  67                                         node->satisfyCondition(precond->first);
  68                                 }
  69                         }
  70                 }
  71         }
  72 }
  73
  74 void Planner::addNode(Node* node){
  75         cerr << "Adding node for action: " << node->action().name() << endl;
  76         const Literals& effects = node->action().effects(0);
  77         cerr << "Number of effects: " << effects.size() << endl;
  78         _addedNodes.push_back(node);
  79
  80         for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
  81                 cerr << "Adding node for effect: " << *effect << endl;
  82                 _addedEffects[*effect] = node;
  83         }
  84 }
  85
  86
  87 void Planner::execute(){
  88         _start->execute(Literals());
  89         cerr << "Number of nodes: " << _addedNodes.size() << endl;
  90         for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
  91                 if ((*node)->executed()){
  92                         //remove stuff
  93                 }
  94                 delete *node;
  95         }
  96         _addedNodes.clear();
  97         cerr << "Number of nodes left: " << _addedNodes.size() << endl;
  98 }