X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=node.cpp;h=b4d22fb9569c28cea70176abce6ce585c2b8b8c1;hp=a9cb4539431d6d1f959339f9e042d867ba68fb74;hb=d385ba13a2ded8ce22b83c82d8a50c89a5d1d63e;hpb=066d3c3659f52a73a0344c3e08989cc73a15164b

diff --git a/node.cpp b/node.cpp
index a9cb453..b4d22fb 100644
--- a/node.cpp
+++ b/node.cpp
@@ -1,6 +1,77 @@
 #include "node.h"
+#include <algorithm>
+#include <iostream>
+using namespace std;
 
-Node::Node(Action action, std::vector<Node&> children){
+Node::Node(const Action* action){
 	_action = action;
-	_children = children;
+	_preconditions = _action->preconditions();
+	_executed = false;
 }
+Node::Node(){
+	_executed = false;
+}
+
+Node::Node(const Node& node){
+	_action = node._action;
+	_preconditions = node._preconditions;
+	_executed = node._executed;
+}
+
+const Action* Node::action() const{
+	return _action;
+}
+
+
+void Node::addChild(Node* node){
+	_children.push_back(node);
+}
+
+bool Node::executed() const{
+	return _executed;
+}
+
+const Literals& Node::effects() const{
+	return _effects;
+}
+void Node::satisfyCondition(std::string effect){
+	_preconditions.erase(_preconditions.find(effect));
+}
+
+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));
+	}
+	cerr << "Number of preconditions left: " << _preconditions.size() << endl;
+	if(_executed)
+		cerr << "Already executed" << endl;
+	if ((_preconditions.size() != 0) || _executed)
+		return;
+
+	_executed = true;
+	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(_effects);
+	}
+}
+
+StartNode::StartNode(const Literals& init){
+	EffectsMap initial;
+	initial[0] = init;
+	_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 = new Action("finish",goalState,"",EffectsMap());
+	_preconditions = _action->preconditions();
+}
+