X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=blobdiff_plain;f=planner.h;h=c6f23b2334895bb91a09562ba465017be18a74ff;hp=f00c61473382884c6c42bf427614278c627c851f;hb=HEAD;hpb=76a6e62c0a20bebba4c828f528f118a1f789b593

diff --git a/planner.h b/planner.h
index f00c614..c6f23b2 100644
--- a/planner.h
+++ b/planner.h
@@ -3,29 +3,106 @@
 
 #include <ext/hash_map>
 #include <vector>
+#include <queue>
+#include <pthread.h>
+#include <semaphore.h>
 #include "action.h"
 
 class Node;
 
+/**
+ * This class creates, holds and executes a plan.
+ */
 class Planner {
 	public:
+		/**
+		 * Creates a plan given the input actions, initial state and goal.
+		 *
+		 * @param actions A list of actions which will be used to reach the goal.
+		 * @param init The initial state which the plan will start from.
+		 * @param goal The goal state which the plan will try to reach.
+		 */
 		Planner(std::vector<Action> actions, Literals init, Literals goal);
+
+		/**
+		 * Deletes all the remaining nodes and actions.
+		 */
 		~Planner();
 
+		/**
+		 * Executes the plan.
+		 * Creates new threads for execution of each action.
+		 *
+		 * If any action fail in some way, this method will try to replan and
+		 * recursively call itself.
+		 */
 		void execute();
 
+
 	protected:
 
+		/**
+		 * This method does the actual planning. Given the input node it will
+		 * try to find all preconditions and create links from parent nodes
+		 * to this node and, if the precondition did not have a node associated
+		 * with it, create a new and recursively call this method for the newly
+		 * created node.
+		 *
+		 * @param node The node which this method will find parent nodes for.
+		 */
 		void makePlan(Node* node);
+
+		/**
+		 * Adds this node to the internal map and vector.
+		 */
 		void addNode(Node* node);
+
+		/**
+		 * This method goes through the executed nodes and then calls 
+		 * executeChildren for these nodes.
+		 */
+		void executePlan();
+
+		/**
+		 * Iterates through the children of the input node and satisfies all
+		 * preconditions possible with this node. The children will be executed
+		 * if all preconditions have been satisfied.
+		 */
+		int executeChildren(Node* node);
+
+		/**
+		 * Addes the remaining actions to the actions map, creates new start and
+		 * finish nodes and runs makePlan.
+		 */
+		void replan();
 		
+		/**
+		 * Deletes all nodes, updates _init and _goal, and clears the internal maps and vector.
+		 */
+		int cleanupExecution();
+
+		//! Semaphore which is used to signal if a new node has been executed and added to _executedNodes.
+		sem_t _nodes;
+		//! Mutex for access to _executedNodes.
+		sem_t _list;
+		//! Holds the nodes which have been executed, but the children haven't been taken care of yet.
+		std::queue<Node*> _executedNodes;
+
+		//! The start node in the plan graph.
 		Node* _start;
+		//! The end node in the plan graph.
 		Node* _finish;
+		//! Map from all the effects which can be achieved with the already added nodes.
 		__gnu_cxx::hash_map<std::string,Node*> _addedEffects;
+		//! Map with all effects available and their corresponding actions.
 		__gnu_cxx::hash_map<std::string,Action*> _actionEffects;
+		//! The initial state.
 		Literals _init;
+		//! The goal state
 		Literals _goal;
+		//! All the nodes added to the current plan.
 		std::vector<Node*> _addedNodes;
+		//! All the non-executed actions available in the current plan.
 		std::vector<Action*> _actions;
 };
 #endif