From: Michael Andreen <harv@ruin.nu>
Date: Fri, 3 Jun 2005 09:13:36 +0000 (+0000)
Subject: splitup of execution
X-Git-Url: https://ruin.nu/git/?p=popboot.git;a=commitdiff_plain;h=92aca829cc32e9e4d5965259bd565e727469358d

splitup of execution
---

diff --git a/planner.cpp b/planner.cpp
index 02d4772..9d84570 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -99,6 +99,35 @@ void Planner::addNode(Node* 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);
 
@@ -121,32 +150,42 @@ void Planner::execute(){
 		//We don't need to continue if the end node was executed.
 		if (node == _finish)
 			return;
+		executions += executeChildren(node);
 
-		vector<Node*> children = node->children();
-
-		//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);
-			}
-		}
+	}
+}
+
+
+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();
@@ -162,6 +201,7 @@ void Planner::execute(){
 	//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()){
@@ -184,22 +224,11 @@ void Planner::execute(){
 	_addedNodes.clear();
 	_addedEffects.clear();
 	_actionEffects.clear();
+	return executions;
+}
 
-	cout << "Effects achieved so far: " << _init.size() << ": ";
-	copy(_init.begin(), _init.end(), ostream_iterator<string>(cout, " "));
-	cout << endl;
+void Planner::replan(){
 
-	if (executions <= 1){
-		cerr << "Non of the remaining actions could be executed, quiting." << endl;
-		return;
-	}
-	if (_actions.size() == 0){
-		//Nothing left to do, quitting.
-		return;
-	}
-	//REPLANNING
-	cout << "Replanning..." << endl;
-	
 	//Adding the effecs for the remaining actions.
 	for (vector<Action*>::iterator action = _actions.begin(); action != _actions.end(); ++action){
 		const Literals& effects = (*action)->effects(0);
@@ -211,12 +240,6 @@ void Planner::execute(){
 	_finish = new EndNode(_goal);
 	addNode(_start);
 	makePlan(_finish);
-	if (_addedNodes.size() <= 2){
-		cerr << "No actions to execute, quiting." << endl;
-		return;
-	}
-	execute();
-	
 }
 void* executeNode(void* arg){
 	ExecutionStuff* es = (ExecutionStuff*)arg;
diff --git a/planner.h b/planner.h
index 8d11693..55d5728 100644
--- a/planner.h
+++ b/planner.h
@@ -22,11 +22,15 @@ class Planner {
 
 		void makePlan(Node* node);
 		void addNode(Node* node);
+		void executePlan();
+		void replan();
+		int cleanupExecution();
+		int executeChildren(Node* node);
 
 		sem_t _nodes;
 		sem_t _list;
 		std::queue<Node*> _executedNodes;
-		
+
 		Node* _start;
 		Node* _finish;
 		__gnu_cxx::hash_map<std::string,Node*> _addedEffects;