From 9811871585fa6028362c8910bfac18159c286323 Mon Sep 17 00:00:00 2001
From: Michael Andreen <harv@ruin.nu>
Date: Fri, 6 May 2005 21:06:02 +0000
Subject: [PATCH] seems to work

---
 actions     | 30 ++++++++++++++++++++++++++++++
 main.cpp    | 39 +++++++++++++++++++++++++++++++++++++++
 planner.cpp | 17 ++++++++++++-----
 src.pro     |  2 ++
 4 files changed, 83 insertions(+), 5 deletions(-)
 create mode 100644 actions

diff --git a/actions b/actions
new file mode 100644
index 0000000..db94321
--- /dev/null
+++ b/actions
@@ -0,0 +1,30 @@
+1
+A
+
+2
+B
+
+3
+C
+A
+4
+D
+B
+5
+E
+A D
+6
+F
+C B
+7
+G
+D
+8
+H
+G
+9
+I
+D E
+10
+J
+I G
diff --git a/main.cpp b/main.cpp
index 15bca93..740c889 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,7 +1,46 @@
 #include <iostream>
+#include <sstream>
+#include <fstream>
 using namespace std;
 
+#include "planner.h"
+#include "action.h"
+
+vector<string> stringToVector(string str){
+	vector<string> strings;
+
+	istringstream ist(str);
+	while (ist >> str){
+		strings.push_back(str);
+	}
+
+	return strings;
+}
+
 int main(int argc, char** argv){
+	
+	if (argc != 4){
+		cout << "Syntax: " << argv[0] << " <file> \"init state\" \"goal state\"" << endl;
+		return 1;
+	}
+
+	ifstream file(argv[1]);
+	if (!file){
+		cerr << "Cannot open input file: " << argv[1] << endl;
+		exit(2);
+	}
 
+	vector<Action> actions;
+	while (!file.eof()){
+		string exec;
+		string precond;
+		string effects;
+		getline(file,exec);
+		getline(file,effects);
+		getline(file,precond);
+		cout << exec << ":" << effects << ":" << precond << endl;
+		actions.push_back(Action(exec, stringToVector(precond), stringToVector(effects)));
+	}
+	Planner p(actions, stringToVector(argv[2]), stringToVector(argv[3]));
 	return 0;
 }
diff --git a/planner.cpp b/planner.cpp
index 3e8d5de..5e1719e 100644
--- a/planner.cpp
+++ b/planner.cpp
@@ -6,12 +6,13 @@ 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("",literals(), init));
+	Node* finish = new Node(Action("",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;
 		}
 	}
@@ -23,20 +24,25 @@ 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!";
+					cerr << "Action with effect: " << *precond << " not found!" << endl;
 				}
 			}
 		}
@@ -47,6 +53,7 @@ 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;
 	}
 }
diff --git a/src.pro b/src.pro
index 7446f02..c5ed145 100644
--- a/src.pro
+++ b/src.pro
@@ -3,6 +3,8 @@
 ######################################################################
 
 TEMPLATE = app
+CONFIG -= qt
+CONFIG += debug
 INCLUDEPATH += .
 
 # Input
-- 
2.39.2