X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=planner.cpp;h=d49fb911beb267aa1b7005a8bdd9a729b84f2e22;hp=c5016a18b4e43b8aa65147e204ed58c6f27e6663;hb=c9c72023d15decebe700ad0bfe3e8cbac9a85248;hpb=dc49c0c521090f0eb4b9692b25a129537c07e19e

diff --git a/planner.cpp b/planner.cpp
index c5016a1..d49fb91 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -1,20 +1,90 @@
 #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("",init, literals()));
-	Node* finish = new Node(Action("",literals(),goal));
+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){
-		literals preconds = action->preconditions();
-		for (literals::iterator effect = preconds.begin(); effect != preconds.end(); ++effect){
+		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;
 			_actions[*effect] = *action;
 		}
 	}
+	cout << "Number of actions: " << _actions.size() << endl;
+	makePlan(_finish);
+}
+
+Planner::~Planner(){
+	for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+		cerr << "Deleting node " << node->second->action().name() << endl;
+		delete node->second;
+	}
 }
 
 
 void Planner::makePlan(Node* node){
+	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 (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->first);
+				if (action != _actions.end()){
+					cerr << "Adding new node" << endl;
+					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->first << " not found!" << endl;
+					cerr << "This is a soft precondition, so we will continue" << endl;
+				}
+			}
+		}
+	}
+}
+
+void Planner::addNode(Node* node){
+	cerr << "Adding node for action: " << node->action().name() << endl;
+	const Literals& effects = node->action().effects(0);
+	cerr << "Number of effects: " << effects.size() << endl;
+
+	for (Literals::const_iterator effect = effects.begin(); effect != effects.end(); ++effect){
+		cout << "Adding node for effect: " << *effect << endl;
+		_addedNodes[*effect] = node;
+	}
+}
+
+
+void Planner::execute(){
+	_start->execute(Literals());
+	/*for (hash_map<string,Node*>::iterator node = _addedNodes.begin(); node != _addedNodes.end(); ++node){
+		if (node->second->executed()){
+	}*/
+	_start->execute(Literals());
 }