X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=planner.cpp;h=15fc248372361b188b63f3e67dce49f628dc3fa5;hp=324c2dd73a3c0754d3a4899edbbf739473465d80;hb=716fc4e282ce52fe953867171c046acd3b614d3b;hpb=3dadaa088d9fff7ca05cbb297f3d7e88179faccb

diff --git a/planner.cpp b/planner.cpp
index 324c2dd..15fc248 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -5,21 +5,20 @@
 using namespace std;
 using namespace __gnu_cxx;
 
-Planner::Planner(std::vector<Action> actions, literals init, literals goal){
+Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
 	_init = init;
 	_goal = goal;
 	_start = new StartNode(_init);
-	Node* finish = new EndNode(_goal);
+	_finish = new EndNode(_goal);
 
 	for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
-		Action* act = new Action(*action);
-		const literals& effects = act->effects(0);
-		for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+		const Literals& effects = action->effects(0);
+		for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 			cerr << "Adding effect: " << *effect << endl;
-			_actions[*effect] = act;
+			_actions[*effect] = *action;
 		}
 	}
-	makePlan(finish);
+	makePlan(_finish);
 }
 
 Planner::~Planner(){
@@ -34,7 +33,7 @@ void Planner::makePlan(Node* node){
 	addNode(node);
 
 	cerr << "Fetching preconditions for action: " << node->action().name() << ".. ";
-	const literals& preconds = node->action().preconditions();
+	const Preconditions& preconds = node->action().preconditions();
 	cerr << "done" << endl;
 
 
@@ -42,21 +41,26 @@ void Planner::makePlan(Node* node){
 		cerr << "Found no preconds" << endl;
 		_start->addChild(node);
 	}else{
-		for (literals::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
-			cerr << "Looking for: " << *precond << endl;
-			hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
+		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);
+				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);
+					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 << " not found!" << endl;
+					cerr << "Action with effect: " << precond->first << " not found!" << endl;
+					cerr << "This is a soft precondition, so we will continue" << endl;
 				}
 			}
 		}
@@ -64,9 +68,9 @@ void Planner::makePlan(Node* node){
 }
 
 void Planner::addNode(Node* node){
-	const literals& effects = node->action().effects(0);
+	const Literals& effects = node->action().effects(0);
 
-	for (literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+	for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
 		cout << "Adding node for effect: " << *effect << endl;
 		_addedNodes[*effect] = node;
 	}
@@ -74,6 +78,9 @@ void Planner::addNode(Node* node){
 
 
 void Planner::execute(){
-	_start->execute(literals());
+	_start->execute(true,Literals());
 	for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+		if (!node->second->executed())
+			node->second->execute(false,Literals());
+	}
 }