X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=planner.cpp;h=514277668c0e378a9a32a0473ba1fc6105012c11;hp=a15028e29a3175e8fa316e2e6e6a37e2dc41194f;hb=d385ba13a2ded8ce22b83c82d8a50c89a5d1d63e;hpb=09f6dfa65b66103c27dc831271d961de9ab0109e

diff --git a/planner.cpp b/planner.cpp
index a15028e..5142776 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -1,49 +1,77 @@
 #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("start",literals(), init));
+Planner::Planner(std::vector<Action> actions, Literals init, Literals goal){
+	_init = init;
+	_goal = goal;
+	_start = new StartNode(_init);
+	_finish = new EndNode(_goal);
 	addNode(_start);
-	Node* finish = new Node(Action("finish",goal,literals()));
 
 	for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
-		literals effects = action->effects();
-		for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
-			cerr << "Adding effect: " << *effect << endl;
-			_actions[*effect] = *action;
+		Action* act = new Action(*action);
+		_actions.push_back(act);
+		const Literals& effects = act->effects(0);
+		for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+			cerr << "Adding effect: '" << *effect << "', action: " << action->name() << endl;
+			_actionEffects[*effect] = act;
 		}
 	}
-	makePlan(finish);
+	cerr << "Number of actions: " << _actions.size() << endl;
+	makePlan(_finish);
+}
+
+Planner::~Planner(){
+	cerr << "Deleting " << _addedNodes.size() << " nodes" << endl;
+	for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+		cerr << "Deleting node " << (*node)->action()->name() << endl;
+		delete *node;
+	}
+	for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
+		cerr << "Deleting action " << (*action)->name() << endl;
+		delete *action;
+	}
 }
 
 
 void Planner::makePlan(Node* node){
-	literals preconds = node->action().preconditions();
+	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 (literals::iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
-			cerr << "Looking for: " << *precond << endl;
-			hash_map<string,Node*>::iterator addedNode = _addedNodes.find(*precond);
-			if(addedNode != _addedNodes.end()){
+		for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+			cerr << "Looking for: '" << precond->first << "'" <<  endl;
+			hash_map<string,Node*>::iterator addedNode = _addedEffects.find(precond->first);
+			if(addedNode != _addedEffects.end()){
 				cerr << "Using already added node" << endl;
 				addedNode->second->addChild(node);
 			}else {
-				hash_map<string, Action>::iterator action = _actions.find(*precond);
-				if (action != _actions.end()){
+				hash_map<string, Action*>::iterator action = _actionEffects.find(precond->first);
+				if (action != _actionEffects.end()){
 					cerr << "Adding new node" << endl;
 					Node* newnode = new Node(action->second);
 					newnode->addChild(node);
-					addNode(newnode);
 					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;
+					node->satisfyCondition(precond->first);
+					_start->addChild(node);
 				}
 			}
 		}
@@ -51,15 +79,70 @@ void Planner::makePlan(Node* node){
 }
 
 void Planner::addNode(Node* node){
-	literals effects = node->action().effects();
+	cerr << "Adding node for action: " << node->action()->name() << endl;
+	const Literals& effects = node->action()->effects(0);
+	cerr << "Number of effects: " << effects.size() << endl;
+	_addedNodes.push_back(node);
 
-	for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
-		cout << "Adding node for effect: " << *effect << endl;
-		_addedNodes[*effect] = node;
+	for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+		cerr << "Adding node for effect: " << *effect << endl;
+		_addedEffects[*effect] = node;
 	}
 }
 
 
 void Planner::execute(){
-	_start->execute(literals());
+	_start->execute(Literals());
+	cerr << "Number of nodes: " << _addedNodes.size() << endl;
+	back_insert_iterator<Literals> ii(_init);
+	_init.clear();
+	int executions = 0;
+	for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+		cerr << "Deleting node " << (*node)->action()->name() << endl;
+		if ((*node)->executed()){
+			executions++;
+			const Literals& effects = (*node)->effects();
+			copy(effects.begin(),effects.end(),ii);
+			cerr << "Finding action" << endl;
+			vector<Action*>::iterator action = find(_actions.begin(), _actions.end(), (*node)->action());
+			if (action != _actions.end()){
+				cerr << "Removing executed action: " << (*action)->name() << endl;
+				delete *action;
+				_actions.erase(action);
+			}
+		}
+		delete *node;
+	}
+	_addedNodes.clear();
+	_addedEffects.clear();
+	_actionEffects.clear();
+	copy(_init.begin(), _init.end(), ostream_iterator<string>(cerr, " "));
+	cerr << endl;
+	cerr << "Number of actions left: " << _actions.size() << endl;
+	//TODO: Fill _actionEffects with the remaining effects, create start end end nodes and create a new plan.
+	if (executions <= 1){
+		cerr << "Non of the remaining actions could be executed, quiting." << endl;
+		return;
+	}
+	if (_actions.size() == 0){
+		cerr << "No remaining actions, quiting." << endl;
+		return;
+	}
+	for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
+		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;
+			_actionEffects[*effect] = *action;
+		}
+	}
+	_start = new StartNode(_init);
+	_finish = new EndNode(_goal);
+	addNode(_start);
+	makePlan(_finish);
+	if (_addedNodes.size() <= 2){
+		cerr << "No actions to execute, quiting." << endl;
+		return;
+	}
+	execute();
+	
 }