some done, need parser

[popboot.git] / node.cpp

diff --git a/node.cpp b/node.cpp
index acc5bd7090144cf31ffd4b536e2a5a68f1a72f18..9bedf3834d34c4786dddbd46354f4879af759f07 100644 (file)
--- a/node.cpp
+++ b/node.cpp
@@ -30,38 +30,44 @@ bool Node::executed() const{
        return _executed;
 }
 
-const literals& Node::effects() const{
+const Literals& Node::effects() const{
        return _effects;
 }
 
-void Node::execute(const literals& effects){
-       for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
-               _preconditions.erase(find(_preconditions.begin(),_preconditions.end(), *effect));
+void Node::execute(bool strict, const Literals& effects){
+       for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+               _preconditions.erase(_preconditions.find(*effect));
        }
-       if (_preconditions.size() != 0 || _executed)
+       if ((_preconditions.size() != 0 && strict) || _executed)
                return;
 
+       if (_preconditions.size() != 0){
+               for (Preconditions::iterator precond = _preconditions.begin(); precond != _preconditions.end(); ++precond){
+                       if (precond->second)
+                               return;
+               }
+       }
+
        _executed = true;
        int value = _action.execute();
        _effects = _action.effects(value);
 
        for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
-               (*child)->execute(effects);
+               (*child)->execute(strict,effects);
        }
 }
 
-StartNode::StartNode(const literals& init){
-       effectsMap initial;
+StartNode::StartNode(const Literals& init){
+       EffectsMap initial;
        initial[0] = init;
-       Node(Action("start",preconditionsVector(), initial));
+       _action = Action("start",Preconditions(),"", initial);
 }
 
-EndNode::EndNode(const literals& goal){
-       preconditionsVector goalState;
-       pair<string,literals> goalPair;
-       goalPair.first = "";
-       goalPair.second = goal;
-       goalState.push_back(goalPair);
-       Node(Action("finish",goalState,effectsMap()));
+EndNode::EndNode(const Literals& goal){
+       Preconditions goalState;
+       for(Literals::const_iterator g = goal.begin(); g != goal.end(); ++g)
+               goalState[*g] = true;
+       _action = Action("finish",goalState,"",EffectsMap());
+       _preconditions = _action.preconditions();
 }