Mon Nov 6 04:42:43 UTC 2006 John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>

9 files changed, 467 insertions, 38 deletions

diff --git a/ChangeLog b/ChangeLog
index ed80ef617d9..e4de556e2c7 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,18 @@
+Mon Nov  6 04:42:43 UTC 2006  John S. Kinnebrew  <john.s.kinnebrew@vanderbilt.edu>
+
+        * common/OpString.idl:
+
+        * SA_POP/SA_POP.mpc:
+        * SA_POP/SA_POP_Types.h:
+        * SA_POP/SA_WorkingPlan.cpp:
+
+        * SA_POP/server/Driver.h:
+        * SA_POP/server/Driver.cpp:
+        * SA_POP/server/Driver.mpc:
+        * SA_POP/server/server.cpp:
+
+        Updated SA-POP driver/server to handle IDL goal structure.
+
 Sat Nov  4 19:07:07 UTC 2006  John S. Kinnebrew  <john.s.kinnebrew@vanderbilt.edu>
 
         * SA_POP/Driver.cpp:
diff --git a/SA_POP/SA_POP.mpc b/SA_POP/SA_POP.mpc
index 0f8690e0c47..116be7a2800 100644
--- a/SA_POP/SA_POP.mpc
+++ b/SA_POP/SA_POP.mpc
@@ -1,19 +1,11 @@
-project(SA_POP_Driver) : ciao_component_dnc, ciao_race_component, \
-                         taoexe, ciao_plan_generator, \
-                         ciao_config_handlers, xerces {
+project(SA_POP) : ciao_config_handlers, xerces {
 
-   after += Interactive_Input_Adapter_stub OpString_stub XSC_Config_Handlers
-   exename = driver
+   after += XSC_Config_Handlers
+   sharedname   = SA_POP
 
-   includes += $(CIAO_ROOT)/RACE/Input_Adapters/Interactive_Input_Adapter \
-               $(CIAO_ROOT)/tools/Config_Handlers \
+   includes += $(CIAO_ROOT)/tools/Config_Handlers \
                $(CIAO_ROOT)/RACE/SA_POP
 
-   libs += Interactive_Input_Adapter_stub \
-           Input_Adapter_stub \
-           Plan_Analyzer_Interface_stub\
-           OpString_stub
-
    macros = SA_POP_HAS_ACE SA_POP_HAS_CIAO
 
 
@@ -21,8 +13,6 @@ project(SA_POP_Driver) : ciao_component_dnc, ciao_race_component, \
    }
 
    Header_Files {
-      Converter.h
-
       SA_POP_Types.h
       SA_POP_Exceptions.h
 
@@ -59,9 +49,6 @@ project(SA_POP_Driver) : ciao_component_dnc, ciao_race_component, \
    }
 
    Source_Files {
-      Converter.cpp
-      Driver.cpp
-
       SA_POP_Exceptions.cpp
 
       SA_Builder.cpp
diff --git a/SA_POP/SA_POP_Types.h b/SA_POP/SA_POP_Types.h
index b215d9eb2e9..532efdcb5fa 100644
--- a/SA_POP/SA_POP_Types.h
+++ b/SA_POP/SA_POP_Types.h
@@ -441,10 +441,10 @@ namespace SA_POP {
 
     // Start-by and end-by constraints on conditions, in relative time
     // (relative to start of opstring to achieve this goal).
-    TimeConstraintMap rel_time_constraints;
+    TimeConstraintMap rel_times;
 
     // Start-by and end-by constraints on conditions, in clock time.
-    TimeConstraintMap abs_time_constraints;
+    TimeConstraintMap abs_times;
 
     // Expected time range for start of opstring (for achieving this goal)
     // execution.
diff --git a/SA_POP/SA_WorkingPlan.cpp b/SA_POP/SA_WorkingPlan.cpp
index b0860dd1b66..3c009856b04 100644
--- a/SA_POP/SA_WorkingPlan.cpp
+++ b/SA_POP/SA_WorkingPlan.cpp
@@ -41,8 +41,8 @@ add_threats_cmd_ (0)
   // Clear goal.
   this->goal_.goal_id = "NULL";
   this->goal_.name = "NULL";
-  this->goal_.abs_time_constraints.clear ();
-  this->goal_.rel_time_constraints.clear ();
+  this->goal_.abs_times.clear ();
+  this->goal_.rel_times.clear ();
   this->goal_.goal_conds.clear ();
   this->goal_.start_window = std::make_pair (0, 0);
 
diff --git a/SA_POP/server/Driver.cpp b/SA_POP/server/Driver.cpp
index 501924b9941..1492b272c5d 100644
--- a/SA_POP/server/Driver.cpp
+++ b/SA_POP/server/Driver.cpp
@@ -1,4 +1,15 @@
+#include <iostream>
+
 #include "Driver.h"
+#include "ace/UUID.h"
+
+#include "SA_POP_Types.h"
+#include "SA_Builder.h"
+#include "TaskMapFileIn.h"
+#include "SANet/SANetFileIn.h"
+#include "Planner.h"
+#include "LogScreenOut.h"
+
 
 namespace CIAO
 {
@@ -9,16 +20,19 @@ namespace CIAO
     {
       Driver_i::Driver_i (CORBA::ORB_ptr orb)
         : orb_ (CORBA::ORB::_duplicate (orb)),
-          iia_name_ ("RACE::InteractiveInput")
+          iia_name_ ("RACE::InteractiveInput"),
+          planner_ (0),
+          screen_out_ (std::cout)
       {
       }
 
       Driver_i::~Driver_i (void)
       {
+        delete this->planner_;
       }
 
       int
-      Driver_i::init (const char *RM_name)
+      Driver_i::init (const char *RM_name, const char *sanet_str, const char *taskmap_str)
       {
         try
           {
@@ -47,6 +61,20 @@ namespace CIAO
 
             // Now initialize the plan generator.
             //            this->plan_gen_.init (this->orb_, true, RM_name);
+
+            // Create SA-POP planner.
+            ::SA_POP::SA_Builder builder;
+            ::SANet::SANetFileIn sanet_in;
+            ::SA_POP::TaskMapFileIn tm_in;
+
+            sanet_in.build_net (sanet_str, &builder);
+            tm_in.build_task_map (taskmap_str, &builder);
+
+            this->planner_ = builder.get_planner ();
+
+            // Add screen output adapter to planner.
+            this->planner_->add_out_adapter (&(this->screen_out_));
+
             return 0;
           }
         catch (CORBA::Exception &ex)
@@ -79,14 +107,40 @@ namespace CIAO
       }
 
       void
-      Driver_i::deploy_goal (const ::CIAO::RACE::GoalStructure &)
+      Driver_i::deploy_goal (const ::CIAO::RACE::GoalStructure &goal_idl)
         throw (::CORBA::SystemException)
       {
+        try
+          {
+            // Convert goal.
+            ::SA_POP::Goal goal;
+            this->goal_from_idl (goal_idl, goal);
+
+            // Run planner (with a maximum of 100 steps of spreading activation).
+            this->planner_->plan (100, goal);
+
+            // Get and convert opstring.
+            ::SA_POP::Plan opstring = this->planner_->get_plan ();
+            ::CIAO::RACE::OperationalString opstring_idl;
+            this->opstring_to_idl (opstring, opstring_idl);
+            opstring_idl.goal = goal_idl;
+
+            // Convert opstring to deployment plan and deploy.
+            ::Deployment::DeploymentPlan deploy_plan;
+            if (this->opstring_to_dplan (opstring_idl, deploy_plan) == 0)
+              this->deploy_plan (deploy_plan);
+            else
+              throw "CIAO::RACE::Driver_i::deploy_goal(): Could not convert opstring to deployment plan.";
+          }
+        catch (...)
+          {
+            ACE_ERROR ((LM_ERROR, "(%P|%t) Unknown exception\n"));
+          }
       }
 
       int
-      Driver_i::convert (::CIAO::RACE::OperationalString &op_string,
-                         ::Deployment::DeploymentPlan &plan)
+      Driver_i::opstring_to_dplan (::CIAO::RACE::OperationalString &op_string,
+                                   ::Deployment::DeploymentPlan &plan)
       {
         // Populate the label, UUID, connections, and info property fields of
         // the deployment plan.
@@ -139,6 +193,326 @@ namespace CIAO
         return 0;
       }
 
+      void Driver_i::opstring_to_idl (const ::SA_POP::Plan &opstring,
+        OperationalString &opstring_idl)
+      {
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+        // (Get ID from Goal or Plan)
+        // Create and set the opstring_idl ID.
+        ACE_Utils::UUID uuid;
+        ACE_Utils::UUID_GENERATOR::instance ()->generateUUID (uuid);
+        opstring_idl.UUID = CORBA::string_dup (uuid.to_string()->c_str ());
+  //****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+        // Set opstring_idl name.
+        opstring_idl.name = CORBA::string_dup (opstring.name.c_str ());
+
+        // Set opstring_idl time windows.
+        opstring_idl.startWindow.earliest.sec = opstring.start_window.first;
+        opstring_idl.startWindow.earliest.usec = 0;
+        opstring_idl.startWindow.latest.sec = opstring.start_window.second;
+        opstring_idl.startWindow.latest.usec = 0;
+        opstring_idl.endWindow.earliest.sec = opstring.end_window.first;
+        opstring_idl.endWindow.earliest.usec = 0;
+        opstring_idl.endWindow.latest.sec = opstring.end_window.second;
+        opstring_idl.endWindow.latest.usec = 0;
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+        // (Get from expected utility)
+//      long priority;
+        // (Get from goal)
+//      QoSSpecifications QoSRequirements;
+        // (???)
+//      ::Deployment::Properties properties;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+
+        // Map from instance IDs to instance index.
+        typedef std::map <::SA_POP::TaskInstID, CORBA::ULong> InstToIndexMap;
+        InstToIndexMap inst_to_index;
+        inst_to_index.clear ();
+
+        // Add instances to opstring_idl.
+        for (::SA_POP::PlanInstSet::const_iterator inst_iter = opstring.task_insts.begin ();
+          inst_iter != opstring.task_insts.end (); inst_iter++)
+        {
+          ::SA_POP::PlanTaskInst inst = *inst_iter;
+
+          // Instance description to populate.
+          CIAO::RACE::InstanceDescription inst_desc;
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+          // (Get instance ID from instance in opstring)
+          // Create and set task instance ID.
+          ACE_Utils::UUID inst_uuid;
+          ACE_Utils::UUID_GENERATOR::instance ()->generateUUID (inst_uuid);
+          inst_desc.UUID = CORBA::string_dup (inst_uuid.to_string()->c_str());
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+          // (Get from repoman)
+//        ::Deployment::Properties configProperty;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+          // Set instance name, task ID, supported type ID, and suggested implementation ID.
+          inst_desc.name = CORBA::string_dup (inst.name.c_str());
+          inst_desc.taskId = CORBA::string_dup (::SA_POP::to_string (inst.task_id).c_str ());
+          inst_desc.taskTypeId = CORBA::string_dup (inst.type_id.c_str ());
+          inst_desc.suggestedImpl = CORBA::string_dup (inst.suggested_impl.c_str ());
+
+          // Set instance time windows.
+          inst_desc.startWindow.earliest.sec = inst.start_window.first;
+          inst_desc.startWindow.earliest.usec = 0;
+          inst_desc.startWindow.latest.sec = inst.start_window.second;
+          inst_desc.startWindow.latest.usec = 0;
+          inst_desc.endWindow.earliest.sec = inst.end_window.first;
+          inst_desc.endWindow.earliest.usec = 0;
+          inst_desc.endWindow.latest.sec = inst.end_window.second;
+          inst_desc.endWindow.latest.usec = 0;
+
+          // Add instance to opstring_idl and record index.
+          CORBA::ULong inst_len = opstring_idl.instances.length ();
+          opstring_idl.instances.length (inst_len + 1);
+          opstring_idl.instances[inst_len] = inst_desc;
+          inst_to_index.insert (std::make_pair (inst.inst_id, inst_len));
+        }
+
+        // Add opstring data links.
+        CORBA::ULong conns_index = 0;
+        for (::SA_POP::PlanConnSet::const_iterator conn_iter = opstring.connections.begin ();
+              conn_iter != opstring.connections.end (); conn_iter++)
+        {
+          ::SA_POP::PlanConnection conn = *conn_iter;
+
+          // Connection description to populate.
+          Deployment::PlanConnectionDescription conn_desc;
+
+          // Get opstring instance and port IDS for connection.
+          ::SA_POP::TaskInstID taskA = conn.first_task_inst;
+          ::SA_POP::TaskInstID taskB = conn.second_task_inst;
+          ::SA_POP::PortID taskAport = conn.first_port;
+          ::SA_POP::PortID taskBport = conn.second_port;
+
+          // Get deployment opstring instances (port IDs are the same).
+          InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
+          CORBA::ULong taskAinst = taskA_iter->second;
+          InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
+          CORBA::ULong taskBinst = taskB_iter->second;
+
+          // Create connection name.
+          std::string conn_name = "";
+          conn_name += ::SA_POP::to_string (static_cast<unsigned long>(taskAinst));
+          conn_name += "_";
+          conn_name += taskAport;
+          conn_name += "___";
+          conn_name += ::SA_POP::to_string (static_cast<unsigned long>(taskBinst));
+          conn_name += "_";
+          conn_name += taskBport;
+
+          // Create connection endpoints.
+          conn_desc.internalEndpoint.length (2);
+          conn_desc.internalEndpoint[0].instanceRef = taskAinst;
+          conn_desc.internalEndpoint[0].portName = CORBA::string_dup (taskAport.c_str ());
+          conn_desc.internalEndpoint[0].provider = 1;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+          // (Get kind from data link in opstring)
+          conn_desc.internalEndpoint[0].kind = Deployment::EventEmitter;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+          conn_desc.internalEndpoint[1].instanceRef = taskBinst;
+          conn_desc.internalEndpoint[1].portName = CORBA::string_dup (taskBport.c_str ());
+          conn_desc.internalEndpoint[1].provider = 0;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+          // (Get kind from data link in opstring)
+          conn_desc.internalEndpoint[1].kind = Deployment::EventConsumer;
+//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+
+          // Set connection name.
+          conn_desc.name = CORBA::string_dup (conn_name.c_str ());
+
+          // Add data link to opstring_idl.
+          opstring_idl.dataLinks.length (conns_index + 1);
+          opstring_idl.dataLinks[conns_index] = conn_desc;
+
+          // Increment connection index.
+          conns_index++;
+        }
+
+        // Add scheduling links.
+        CORBA::ULong links_index = 0;
+        for (::SA_POP::SchedLinkSet::const_iterator sched_iter = opstring.sched_links.begin ();
+              sched_iter != opstring.sched_links.end (); sched_iter++)
+        {
+          ::SA_POP::SchedLink link = *sched_iter;
+
+          // Link to populate.
+          CIAO::RACE::OrderLinkDescription link_desc;
+
+          // Set link type.
+          link_desc.type = CIAO::RACE::SCHEDULING;
+
+          // Get opstring instance and port IDS for link.
+          ::SA_POP::TaskInstID taskA = link.first;
+          ::SA_POP::TaskInstID taskB = link.second;
+
+          // Get deployment opstring instances (port IDs are the same).
+          InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
+          CORBA::ULong taskAinst = taskA_iter->second;
+          InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
+          CORBA::ULong taskBinst = taskB_iter->second;
+
+          // Create link name.
+          std::string link_name = "";
+          link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskAinst));
+          link_name += "___";
+          link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskBinst));
+
+          // Create link endpoints.
+          link_desc.internalEndpoint.length (2);
+          link_desc.internalEndpoint[0].instanceRef = taskAinst;
+          link_desc.internalEndpoint[0].provider = 1;
+          link_desc.internalEndpoint[1].instanceRef = taskBinst;
+          link_desc.internalEndpoint[1].provider = 0;
+
+          // Set link name.
+          link_desc.name = CORBA::string_dup (link_name.c_str ());
+
+          // Add data link to opstring_idl.
+          opstring_idl.orderLinks.length (links_index + 1);
+          opstring_idl.orderLinks[links_index] = link_desc;
+
+          // Increment link index.
+          links_index++;
+        }
+
+        // Add threat links.
+        links_index = opstring_idl.orderLinks.length ();
+        for (::SA_POP::ThreatLinkSet::const_iterator threat_iter = opstring.threat_links.begin ();
+              threat_iter != opstring.threat_links.end (); threat_iter++)
+        {
+          ::SA_POP::ThreatLink link = *threat_iter;
+
+          // Link to populate.
+          CIAO::RACE::OrderLinkDescription link_desc;
+
+          // Set link type.
+          link_desc.type = CIAO::RACE::THREAT;
+
+          // Get opstring instance and port IDS for link.
+          ::SA_POP::TaskInstID taskA = link.first;
+          ::SA_POP::TaskInstID taskB = link.second;
+
+          // Get deployment opstring instances (port IDs are the same).
+          InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
+          CORBA::ULong taskAinst = taskA_iter->second;
+          InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
+          CORBA::ULong taskBinst = taskB_iter->second;
+
+          // Create link name.
+          std::string link_name = "";
+          link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskAinst));
+          link_name += "___";
+          link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskBinst));
+
+          // Create link endpoints.
+          link_desc.internalEndpoint.length (2);
+          link_desc.internalEndpoint[0].instanceRef = taskAinst;
+          link_desc.internalEndpoint[0].provider = 1;
+          link_desc.internalEndpoint[1].instanceRef = taskBinst;
+          link_desc.internalEndpoint[1].provider = 0;
+
+          // Set link name.
+          link_desc.name = CORBA::string_dup (link_name.c_str ());
+
+          // Add data link to opstring_idl.
+          opstring_idl.orderLinks.length (links_index + 1);
+          opstring_idl.orderLinks[links_index] = link_desc;
+
+          // Increment link index.
+          links_index++;
+        }
+
+        // Add causal links.
+        links_index = opstring_idl.orderLinks.length ();
+        for (::SA_POP::CLSet::const_iterator cl_iter = opstring.causal_links.begin ();
+              cl_iter != opstring.causal_links.end (); cl_iter++)
+        {
+          ::SA_POP::CausalLink link = *cl_iter;
+
+          // Link to populate.
+          CIAO::RACE::OrderLinkDescription link_desc;
+
+          // Set link type.
+          link_desc.type = CIAO::RACE::CAUSAL;
+
+          // Get opstring instance and port IDS for link.
+          ::SA_POP::TaskInstID taskA = link.first;
+          ::SA_POP::TaskInstID taskB = link.second;
+
+          // Get deployment opstring instances (port IDs are the same).
+          InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
+          CORBA::ULong taskAinst = taskA_iter->second;
+          InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
+          CORBA::ULong taskBinst = taskB_iter->second;
+
+          // Create link name.
+          std::string link_name = "";
+          link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskAinst));
+          link_name += "___";
+          link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskBinst));
+
+          // Create link endpoints.
+          link_desc.internalEndpoint.length (2);
+          link_desc.internalEndpoint[0].instanceRef = taskAinst;
+          link_desc.internalEndpoint[0].provider = 1;
+          link_desc.internalEndpoint[1].instanceRef = taskBinst;
+          link_desc.internalEndpoint[1].provider = 0;
+
+          // Set link name.
+          link_desc.name = CORBA::string_dup (link_name.c_str ());
+
+          // Add data link to opstring_idl.
+          opstring_idl.orderLinks.length (links_index + 1);
+          opstring_idl.orderLinks[links_index] = link_desc;
+
+          // Increment link index.
+          links_index++;
+        }
+      };
+
+      void Driver_i::goal_from_idl (const GoalStructure &goal_idl,
+        ::SA_POP::Goal &goal)
+      {
+        // Set ID and name.
+        goal.goal_id = CORBA::string_dup (goal_idl.UUID);
+        goal.name = CORBA::string_dup (goal_idl.name);
+
+        // Set start window.
+        goal.start_window = std::make_pair (goal_idl.startWindow.earliest.sec,
+                                            goal_idl.startWindow.latest.sec);
+
+        // Add goal conditions.
+        ::CIAO::RACE::GoalConditions conds = goal_idl.goalConds;
+        for (CORBA::ULong i (0); i < conds.length (); ++i) {
+          goal.goal_conds.insert (std::make_pair (conds[i].condID,
+                                                  conds[i].utility));
+        }
+
+        // Add relative time constraints.
+        ::CIAO::RACE::TimeConstraints rel_times = goal_idl.relTimes;
+        for (CORBA::ULong i (0); i < rel_times.length (); ++i) {
+          goal.rel_times.insert (std::make_pair (rel_times[i].condID,
+                                 rel_times[i].constraint.sec));
+        }
+
+        // Add absolute time constraints.
+        ::CIAO::RACE::TimeConstraints abs_times = goal_idl.absTimes;
+        for (CORBA::ULong i (0); i < abs_times.length (); ++i) {
+          goal.abs_times.insert (std::make_pair (abs_times[i].condID,
+                                 abs_times[i].constraint.sec));
+        }
+        
+      };
+
       int
       Driver_i::deploy_plan (::Deployment::DeploymentPlan &plan)
       {
diff --git a/SA_POP/server/Driver.h b/SA_POP/server/Driver.h
index ad626a0d34d..9db618d4862 100644
--- a/SA_POP/server/Driver.h
+++ b/SA_POP/server/Driver.h
@@ -8,6 +8,11 @@
 #include "orbsvcs/CosNamingC.h"
 #include "RACE/common/OpStringC.h"
 #include "Plan_Generator_Impl.h"
+
+#include "SA_POP_Types.h"
+#include "Planner.h"
+#include "LogScreenOut.h"
+
 namespace CIAO
 {
   namespace RACE
@@ -27,19 +32,38 @@ namespace CIAO
         virtual ~Driver_i (void);
 
         virtual
-        int init (const char *RM_name);
+        int init (const char *RM_name, const char *sanet_str, const char *taskmap_str);
 
         virtual
         void deploy_plan (const char * plan_uri)
           throw (::CORBA::SystemException);
 
         virtual
-        void deploy_goal (const ::CIAO::RACE::GoalStructure & goal)
+        void deploy_goal (const ::CIAO::RACE::GoalStructure & goal_idl)
           throw (::CORBA::SystemException);
 
       protected:
-        virtual int convert (::CIAO::RACE::OperationalString &op_string,
-                             ::Deployment::DeploymentPlan &plan);
+        virtual int opstring_to_dplan (::CIAO::RACE::OperationalString &op_string,
+                                       ::Deployment::DeploymentPlan &plan);
+
+        /// Convert SA-POP operational string to IDL operational string.
+        /**
+         * @param opstring  SA-POP operational string to convert.
+         *
+         * @param opstring_idl  Empty IDL operational string structure
+         *                      to be populated.
+         */
+        virtual void opstring_to_idl (const ::SA_POP::Plan &opstring,
+                                      OperationalString &opstring_idl);
+
+        /// Convert IDL goal to SA-POP goal.
+        /**
+         * @param goal_idl  IDL goal to convert.
+         *
+         * @param goal  Empty SA-POP goal structure to be populated.
+         */
+        virtual void goal_from_idl (const GoalStructure &goal_idl,
+                                    ::SA_POP::Goal &goal);
 
         virtual int deploy_plan (::Deployment::DeploymentPlan &plan);
 
@@ -57,6 +81,12 @@ namespace CIAO
 
         // Plan generator object.
         ::CIAO::Plan_Generator::Plan_Generator_i plan_gen_;
+
+        // Pointer to SA-POP planner.
+        ::SA_POP::Planner *planner_;
+
+        // Screen output adapter for SA-POP.
+        ::SA_POP::LogScreenOut screen_out_;
       };
     }
   }
diff --git a/SA_POP/server/Driver.mpc b/SA_POP/server/Driver.mpc
index cda776c32d5..6b401738ece 100644
--- a/SA_POP/server/Driver.mpc
+++ b/SA_POP/server/Driver.mpc
@@ -45,14 +45,23 @@ project(Driver_svnt): taolib_with_idl, ciao_race_default {
   }
 }
 
-project(Server): ciao_component_dnc, ciao_race_component, taoexe, ciao_plan_generator {
+project(Server): ciao_component_dnc, ciao_race_component, ciao_config_handlers, taoexe, ciao_plan_generator {
 
   exename = server
-  after += Driver_svnt
+
+  after += Driver_svnt SA_POP
+
+  includes += $(CIAO_ROOT)/RACE/Input_Adapters/Interactive_Input_Adapter \
+              $(CIAO_ROOT)/tools/Config_Handlers \
+              $(CIAO_ROOT)/RACE/SA_POP
+
   libs += OpString_stub \
           Driver_stub \
           Driver_svnt \
-          Interactive_Input_Adapter_stub
+          Interactive_Input_Adapter_stub \
+          Input_Adapter_stub \
+          Plan_Analyzer_Interface_stub \
+          SA_POP
 
   IDL_Files {
   }
@@ -70,7 +79,9 @@ project(Server): ciao_component_dnc, ciao_race_component, taoexe, ciao_plan_gene
 project(client): taoclient, ciao_race_component, ciao_component_dnc {
 
   exename = client
+
   after += Driver_stub
+
   libs += Driver_stub
 
   IDL_Files {
diff --git a/SA_POP/server/server.cpp b/SA_POP/server/server.cpp
index 18556df7b2e..317629c3c43 100644
--- a/SA_POP/server/server.cpp
+++ b/SA_POP/server/server.cpp
@@ -4,6 +4,8 @@
 
 const char *ior_output_file = "server.ior";
 const char *rm_name = "RM";
+const char *sanet_str = "";
+const char *taskmap_str = "";
 
 int
 parse_args (int argc, char *argv[])
@@ -22,12 +24,22 @@ parse_args (int argc, char *argv[])
         rm_name = get_opts.opt_arg ();
         break;
 
+      case 's':
+        sanet_str = get_opts.opt_arg ();
+        break;
+
+      case 't':
+        taskmap_str = get_opts.opt_arg ();
+        break;
+
       case '?':
       default:
         ACE_ERROR_RETURN ((LM_ERROR,
                            "usage: %s "
                            "-o <iorfile> "
                            "-r <repoman name>"
+                           "-s <task network filename>"
+                           "-t <task map filename>"
                            "\n",
                            argv [0]),
                           -1);
@@ -66,7 +78,7 @@ main (int argc, char *argv[])
       ACE_NEW_RETURN (driver_impl,
                       ::CIAO::RACE::SA_POP::Driver_i (orb.in ()), 1);
 
-      if (driver_impl->init (rm_name) != 0)
+      if (driver_impl->init (rm_name, sanet_str, taskmap_str) != 0)
         {
           return -1;
 
diff --git a/common/OpString.idl b/common/OpString.idl
index 89320eef097..c50ad20bc22 100644
--- a/common/OpString.idl
+++ b/common/OpString.idl
@@ -22,10 +22,10 @@ module CIAO
       struct TimeWindow
       {
         // Beginning of time window.
-        CIAO::RACE::TimeValue Earliest;
+        CIAO::RACE::TimeValue earliest;
 
         // End of time window.
-        CIAO::RACE::TimeValue Latest;
+        CIAO::RACE::TimeValue latest;
       };
 
       // A task instance in an opstring.
@@ -178,10 +178,10 @@ module CIAO
 
         // Start-by and end-by constraints on conditions, in relative time
         // (relative to start of opstring to achieve this goal).
-        TimeConstraints relativeTimeConstraints;
+        TimeConstraints relTimes;
 
         // Start-by and end-by constraints on conditions, in clock time.
-        TimeConstraints absoluteTimeConstraintns;
+        TimeConstraints absTimes;
 
         // QoS requirements.
         QoSSpecifications QoSRequirements;