delete remaining actions

[popboot.git] / node.cpp

diff --git a/node.cpp b/node.cpp
index 9bedf3834d34c4786dddbd46354f4879af759f07..b4d22fb9569c28cea70176abce6ce585c2b8b8c1 100644 (file)
--- a/node.cpp
+++ b/node.cpp
@@ -1,10 +1,11 @@
 #include "node.h"
 #include <algorithm>
+#include <iostream>
 using namespace std;
 
-Node::Node(const Action& action){
+Node::Node(const Action* action){
        _action = action;
-       _preconditions = _action.preconditions();
+       _preconditions = _action->preconditions();
        _executed = false;
 }
 Node::Node(){
@@ -17,7 +18,7 @@ Node::Node(const Node& node){
        _executed = node._executed;
 }
 
-const Action& Node::action() const{
+const Action* Node::action() const{
        return _action;
 }
 
@@ -33,41 +34,44 @@ bool Node::executed() const{
 const Literals& Node::effects() const{
        return _effects;
 }
+void Node::satisfyCondition(std::string effect){
+       _preconditions.erase(_preconditions.find(effect));
+}
 
-void Node::execute(bool strict, const Literals& effects){
+void Node::execute(const Literals& effects){
+       cerr << "Executing: " << _action->name() << endl;
        for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+               cerr << "Satisfied effect: " << *effect << endl;
                _preconditions.erase(_preconditions.find(*effect));
        }
-       if ((_preconditions.size() != 0 && strict) || _executed)
+       cerr << "Number of preconditions left: " << _preconditions.size() << endl;
+       if(_executed)
+               cerr << "Already executed" << endl;
+       if ((_preconditions.size() != 0) || _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);
+       int value = _action->execute();
+       _effects = _action->effects(value);
+
+       cerr << "Got returnvalue: " << value << ", number of effects: " << _effects.size() << endl;
 
        for(vector<Node*>::iterator child = _children.begin(); child != _children.end(); ++child){
-               (*child)->execute(strict,effects);
+               (*child)->execute(_effects);
        }
 }
 
 StartNode::StartNode(const Literals& init){
        EffectsMap initial;
        initial[0] = init;
-       _action = Action("start",Preconditions(),"", initial);
+       _action = new Action("start",Preconditions(),"", initial);
 }
 
 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();
+       _action = new Action("finish",goalState,"",EffectsMap());
+       _preconditions = _action->preconditions();
 }