Spelling fix in inittab

[popboot.git] / planner.h

diff --git a/planner.h b/planner.h
index 8d116933f14a6d0122aaa0182ca22f21686ca277..c6f23b2334895bb91a09562ba465017be18a74ff 100644 (file)
--- a/planner.h
+++ b/planner.h
@@ -10,30 +10,99 @@
 
 class Node;
 
+/**
+ * This class creates, holds and executes a plan.
+ */
 class Planner {
        public:
+               /**
+                * Creates a plan given the input actions, initial state and goal.
+                *
+                * @param actions A list of actions which will be used to reach the goal.
+                * @param init The initial state which the plan will start from.
+                * @param goal The goal state which the plan will try to reach.
+                */
                Planner(std::vector<Action> actions, Literals init, Literals goal);
+
+               /**
+                * Deletes all the remaining nodes and actions.
+                */
                ~Planner();
 
+               /**
+                * Executes the plan.
+                * Creates new threads for execution of each action.
+                *
+                * If any action fail in some way, this method will try to replan and
+                * recursively call itself.
+                */
                void execute();
 
 
        protected:
 
+               /**
+                * This method does the actual planning. Given the input node it will
+                * try to find all preconditions and create links from parent nodes
+                * to this node and, if the precondition did not have a node associated
+                * with it, create a new and recursively call this method for the newly
+                * created node.
+                *
+                * @param node The node which this method will find parent nodes for.
+                */
                void makePlan(Node* node);
+
+               /**
+                * Adds this node to the internal map and vector.
+                */
                void addNode(Node* node);
 
+               /**
+                * This method goes through the executed nodes and then calls 
+                * executeChildren for these nodes.
+                */
+               void executePlan();
+
+               /**
+                * Iterates through the children of the input node and satisfies all
+                * preconditions possible with this node. The children will be executed
+                * if all preconditions have been satisfied.
+                */
+               int executeChildren(Node* node);
+
+               /**
+                * Addes the remaining actions to the actions map, creates new start and
+                * finish nodes and runs makePlan.
+                */
+               void replan();
+               
+               /**
+                * Deletes all nodes, updates _init and _goal, and clears the internal maps and vector.
+                */
+               int cleanupExecution();
+
+               //! Semaphore which is used to signal if a new node has been executed and added to _executedNodes.
                sem_t _nodes;
+               //! Mutex for access to _executedNodes.
                sem_t _list;
+               //! Holds the nodes which have been executed, but the children haven't been taken care of yet.
                std::queue<Node*> _executedNodes;
-               
+
+               //! The start node in the plan graph.
                Node* _start;
+               //! The end node in the plan graph.
                Node* _finish;
+               //! Map from all the effects which can be achieved with the already added nodes.
                __gnu_cxx::hash_map<std::string,Node*> _addedEffects;
+               //! Map with all effects available and their corresponding actions.
                __gnu_cxx::hash_map<std::string,Action*> _actionEffects;
+               //! The initial state.
                Literals _init;
+               //! The goal state
                Literals _goal;
+               //! All the nodes added to the current plan.
                std::vector<Node*> _addedNodes;
+               //! All the non-executed actions available in the current plan.
                std::vector<Action*> _actions;
 };
 #endif