X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=planner.cpp;h=a15028e29a3175e8fa316e2e6e6a37e2dc41194f;hp=c5016a18b4e43b8aa65147e204ed58c6f27e6663;hb=09f6dfa65b66103c27dc831271d961de9ab0109e;hpb=dc49c0c521090f0eb4b9692b25a129537c07e19e

diff --git a/planner.cpp b/planner.cpp
index c5016a1..a15028e 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -1,20 +1,65 @@
 #include "planner.h"
 #include "node.h"
+#include <iostream>
 using namespace std;
+using namespace __gnu_cxx;
 
 Planner::Planner(std::vector<Action> actions, literals init, literals goal){
 
-	_start = new Node(Action("",init, literals()));
-	Node* finish = new Node(Action("",literals(),goal));
+	_start = new Node(Action("start",literals(), init));
+	addNode(_start);
+	Node* finish = new Node(Action("finish",goal,literals()));
 
 	for(vector<Action>::iterator action = actions.begin(); action != actions.end(); ++action){
-		literals preconds = action->preconditions();
-		for (literals::iterator effect = preconds.begin(); effect != preconds.end(); ++effect){
+		literals effects = action->effects();
+		for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+			cerr << "Adding effect: " << *effect << endl;
 			_actions[*effect] = *action;
 		}
 	}
+	makePlan(finish);
 }
 
 
 void Planner::makePlan(Node* node){
+	literals preconds = node->action().preconditions();
+
+	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()){
+				cerr << "Using already added node" << endl;
+				addedNode->second->addChild(node);
+			}else {
+				hash_map<string, Action>::iterator action = _actions.find(*precond);
+				if (action != _actions.end()){
+					cerr << "Adding new node" << endl;
+					Node* newnode = new Node(action->second);
+					newnode->addChild(node);
+					addNode(newnode);
+					makePlan(newnode);
+				}else{
+					cerr << "Action with effect: " << *precond << " not found!" << endl;
+				}
+			}
+		}
+	}
+}
+
+void Planner::addNode(Node* node){
+	literals effects = node->action().effects();
+
+	for (literals::iterator effect = effects.begin(); effect != effects.end(); ++effect){
+		cout << "Adding node for effect: " << *effect << endl;
+		_addedNodes[*effect] = node;
+	}
+}
+
+
+void Planner::execute(){
+	_start->execute(literals());
 }