small change

[popboot.git] / planner.cpp

diff --git a/planner.cpp b/planner.cpp
index c5016a18b4e43b8aa65147e204ed58c6f27e6663..d49fb911beb267aa1b7005a8bdd9a729b84f2e22 100644 (file)
--- a/planner.cpp
+++ b/planner.cpp
@@ -1,20 +1,90 @@
 #include "planner.h"
 #include "node.h"
+#include <iostream>
+#include <vector>
 using namespace std;
+using namespace __gnu_cxx;
 
-Planner::Planner(std::vector<Action> actions, literals init, literals goal){
-
-       _start = new Node(Action("",init, literals()));
-       Node* finish = new Node(Action("",literals(),goal));
+Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
+       _init = init;
+       _goal = goal;
+       _start = new StartNode(_init);
+       _finish = new EndNode(_goal);
+       addNode(_start);
 
        for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
-               literals preconds = action->preconditions();
-               for (literals::iterator effect = preconds.begin(); effect != preconds.end(); ++effect){
+               const Literals& effects = action->effects(0);
+               for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+                       cerr << "Adding effect: '" << *effect << "', action: " << action->name() << endl;
                        _actions[*effect] = *action;
                }
        }
+       cout << "Number of actions: " << _actions.size() << endl;
+       makePlan(_finish);
+}
+
+Planner::~Planner(){
+       for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+               cerr << "Deleting node " << node->second->action().name() << endl;
+               delete node->second;
+       }
 }
 
 
 void Planner::makePlan(Node* node){
+       addNode(node);
+
+       cerr << "Fetching preconditions for action: " << node->action().name() << ".. ";
+       const Preconditions& preconds = node->action().preconditions();
+       cerr << "done" << endl;
+
+
+       if (preconds.size() == 0){
+               cerr << "Found no preconds" << endl;
+               _start->addChild(node);
+       }else{
+               for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+                       cerr << "Looking for: '" << precond->first << "'" <<  endl;
+                       hash_map<string,Node*>::iterator addedNode = _addedNodes.find(precond->first);
+                       if(addedNode != _addedNodes.end()){
+                               cerr << "Using already added node" << endl;
+                               addedNode->second->addChild(node);
+                       }else {
+                               hash_map<string, Action>::iterator action = _actions.find(precond->first);
+                               if (action != _actions.end()){
+                                       cerr << "Adding new node" << endl;
+                                       Node* newnode = new Node(action->second);
+                                       newnode->addChild(node);
+                                       makePlan(newnode);
+                               }else if (precond->second){
+                                       cerr << "Action with effect: " << precond->first << " not found!" << endl;
+                                       cerr << "This is a hard precondition, so this action and the children can't be executed." << endl;
+                                       return;
+                               }else{
+                                       cerr << "Action with effect: " << precond->first << " not found!" << endl;
+                                       cerr << "This is a soft precondition, so we will continue" << endl;
+                               }
+                       }
+               }
+       }
+}
+
+void Planner::addNode(Node* node){
+       cerr << "Adding node for action: " << node->action().name() << endl;
+       const Literals& effects = node->action().effects(0);
+       cerr << "Number of effects: " << effects.size() << endl;
+
+       for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+               cout << "Adding node for effect: " << *effect << endl;
+               _addedNodes[*effect] = node;
+       }
+}
+
+
+void Planner::execute(){
+       _start->execute(Literals());
+       /*for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+               if (node->second->executed()){
+       }*/
+       _start->execute(Literals());
 }