X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=planner.cpp;h=94d05494e10609181271c371b22895b12eaff4cb;hp=159cb528d68f15e5e0d5667facef30455042867d;hb=c4dac6829d93aade3b0aa271d0157d8a4e06d2c5;hpb=c0744e66fecd39c1606727858e7fa05990e84402

diff --git a/planner.cpp b/planner.cpp
index 159cb52..94d0549 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -1,3 +1,261 @@
 #include "planner.h"
+#include "node.h"
+#include <iostream>
+#include <iterator>
+using namespace std;
+using namespace __gnu_cxx;
 
+extern "C" void* executeNode(void* arg);
 
+struct ExecutionStuff {
+	sem_t* nodes;
+	sem_t* list;
+	Node* node;
+	queue<Node*>* execQueue;
+};
+
+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){
+		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){
+			_actionEffects[*effect] = act;
+		}
+	}
+	makePlan(_finish);
+}
+
+Planner::~Planner(){
+	//Iterating over the remaining nodes and deleting them
+	for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+		delete *node;
+	}
+	//iterating over the the remaining actions and deleting them
+	for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
+		delete *action;
+	}
+}
+
+
+void Planner::makePlan(Node* node){
+	addNode(node);
+
+	const Preconditions& preconds = node->action()->preconditions();
+
+	if (preconds.size() == 0){
+		//Add the node as a child to start if there are no preconditions
+		_start->addChild(node);
+	}else{
+		//iterate over the preconditions
+		for (Preconditions::const_iterator precond = preconds.begin(); precond != preconds.end(); ++precond){
+			//Check if there is a node with this precondition as an effect
+			hash_map<string,Node*>::iterator addedNode = _addedEffects.find(precond->first);
+			if(addedNode != _addedEffects.end()){
+				//Use this node if there is one
+				//cerr << "Using already added node for effect " << precond->first << ", on node: " << node->action()->name() << endl;
+				addedNode->second->addChild(node);
+			}else {
+				//Check if there is an action which satisfies this effect
+				hash_map<string, Action*>::iterator action = _actionEffects.find(precond->first);
+				if (action != _actionEffects.end()){
+					//Create a new node for the found effect and add the current
+					//one as a child
+					Node* newnode = new Node(action->second);
+					newnode->addChild(node);
+					makePlan(newnode);
+				}else if (precond->second){
+					//No such action found, and since it was a hard preconition
+					//we need to stop here.
+					cerr << "Could not satisfy the effect: " << precond->first << " for: " << node->action()->name() << endl;
+					return;
+				}else{
+					//No action found, but it was a soft precondition, so we can
+					//satisfy it and continue.
+					//cerr << "Could not satisfy the effect: " << precond->first << " for: " << node->action()->name() << endl;
+					node->satisfyCondition(precond->first);
+					_start->addChild(node);
+				}
+			}
+		}
+	}
+}
+
+void Planner::addNode(Node* node){
+	const Literals& effects = node->action()->effects(0);
+	_addedNodes.push_back(node);
+
+	//Iterate over the effects for this node and add them to the map.
+	for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+		_addedEffects[*effect] = node;
+	}
+}
+
+
+void Planner::execute(){
+	executePlan();
+
+	if (cleanupExecution() <= 1){
+		cerr << "Non of the remaining actions could be executed, quiting." << endl;
+		return;
+	}
+
+	cout << "Effects achieved so far: " << _init.size() << ": ";
+	copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
+	cout << endl;
+
+	if (_actions.size() == 0){
+		//Nothing left to do, quitting.
+		return;
+	}
+	//REPLANNING
+	cout << "Replanning..." << endl;
+	
+	replan();
+
+	if (_addedNodes.size() <= 2){
+		cerr << "No actions to execute, quiting." << endl;
+		return;
+	}
+	execute();
+	
+}
+
+void Planner::executePlan(){
+	sem_init(&_nodes, 0, 1);
+	sem_init(&_list, 0, 1);
+
+	//We've "executed" the start node.
+	_executedNodes.push(_start);
+	int executions = 1;
+
+	//As long as there executed nodes in the queue.
+	while (executions > 0){
+		//Wait for a node to be added to the queue
+		sem_wait(&_nodes);
+		--executions;
+
+		//Pop the first node from the queue.
+		sem_wait(&_list);
+		Node* node = _executedNodes.front();
+		_executedNodes.pop();
+		sem_post(&_list);
+
+		//We don't need to continue if the end node was executed.
+		if (node == _finish)
+			return;
+		executions += executeChildren(node);
+
+	}
+}
+
+
+int Planner::executeChildren(Node* node){
+
+	vector<Node*> children = node->children();
+
+	int executions = 0;
+	//Iterate over the children for this node
+	for(vector<Node*>::iterator child = children.begin(); child != children.end(); ++child){
+		//Satisfy the preconditions the current node had as effect.
+		if ((*child)->satisfyConditions(node->effects())){
+			//If all preconditions were satisified we can create a new thread
+			//and execute this child.
+			++executions;
+			pthread_attr_t tattr;
+			pthread_t tid;
+			pthread_attr_init(&tattr);
+			pthread_attr_setscope(&tattr, PTHREAD_SCOPE_SYSTEM);
+			//Create a struct object for the thread and add the
+			//needed members to it.
+			ExecutionStuff* es = new ExecutionStuff;
+			es->nodes = &_nodes;
+			es->list = &_list;
+			es->node = *child;
+			es->execQueue = &_executedNodes;
+			pthread_create(&tid, &tattr, executeNode, es);
+		}
+	}
+	return executions;
+}
+
+int Planner::cleanupExecution(){
+	//Clearing the init and goal vectors, new effects will be added below.
+	_init.clear();
+	_goal.clear();
+	Preconditions goal = _finish->preconditions();
+	for (Preconditions::const_iterator precond = goal.begin(); precond != goal.end(); ++precond){
+		_goal.push_back(precond->first);
+	}
+
+	if (goal.size() == 0)
+		exit(0);
+
+	cout << "Unsatisfied preconditions so far: " << _goal.size() << ": ";
+	copy(_goal.begin(), _goal.end(), ostream_iterator<string>(cout, " "));
+	cout << endl;
+
+	//iterator for inserting effects at the end of _init
+	back_insert_iterator<Literals> ii(_init);
+
+	int executions = 0;
+	//Iterate throu the nodes, to see what's been done
+	for (vector<Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+		if ((*node)->executed()){
+			//Node was executed, adding the effects to _init.
+			executions++;
+			const Literals& effects = (*node)->effects();
+			copy(effects.begin(),effects.end(),ii);
+
+			vector<Action*>::iterator action = find(_actions.begin(), _actions.end(), (*node)->action());
+			if (action != _actions.end()){
+				//The action can be deleted, since it's already been executed.
+				delete *action;
+				_actions.erase(action);
+			}
+		}
+		//The node is not needed anymore
+		delete *node;
+	}
+	//Clearing the vectors and maps, since they are obsolete now.
+	_addedNodes.clear();
+	_addedEffects.clear();
+	_actionEffects.clear();
+	return executions;
+}
+
+void Planner::replan(){
+
+	//Adding the effecs for the remaining actions.
+	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){
+			_actionEffects[*effect] = *action;
+		}
+	}
+	_start = new StartNode(_init);
+	_finish = new EndNode(_goal);
+	addNode(_start);
+	makePlan(_finish);
+}
+void* executeNode(void* arg){
+	ExecutionStuff* es = (ExecutionStuff*)arg;
+
+	es->node->execute();
+
+	sem_wait(es->list);
+	//Add this node to the queue with executed nodes
+	es->execQueue->push(es->node);
+	sem_post(es->list);
+
+	//Signal that the node is available.
+	sem_post(es->nodes);
+
+	pthread_exit((void*)0);
+}