8 files changed, 166 insertions, 46 deletions

diff --git a/SA_POP/PlanHeuristics.h b/SA_POP/PlanHeuristics.h
index 9a2875eb3f2..79d1810ff76 100644
--- a/SA_POP/PlanHeuristics.h
+++ b/SA_POP/PlanHeuristics.h
@@ -93,6 +93,7 @@ namespace SA_POP {
 
 	virtual TaskChoiceList choose_task_once(Condition open_cond) = 0;
 
+	virtual TaskChoiceList choose_task_once_optimistic (Condition open_cond) = 0;
 
   protected:
     /// Pointer to Planner object.
diff --git a/SA_POP/SA_PlanHeuristics.cpp b/SA_POP/SA_PlanHeuristics.cpp
index db2e8119f97..9696672f50d 100644
--- a/SA_POP/SA_PlanHeuristics.cpp
+++ b/SA_POP/SA_PlanHeuristics.cpp
@@ -319,6 +319,75 @@ TaskChoiceList SA_TaskStrategy::choose_task_once(Condition open_cond){
   return task_list;
 }
 
+TaskChoiceList SA_TaskStrategy::choose_task_once_optimistic(Condition open_cond){
+  TaskSet tasks = this->planner_->get_satisfying_tasks (open_cond);
+
+  // Add tasks to map with EU (to sort).
+  std::multimap<EUCalc, TaskID> task_map;
+  task_map.clear ();
+  for (TaskSet::iterator iter = tasks.begin (); iter != tasks.end (); iter++)
+  {
+    task_map.insert (std::make_pair (
+      this->planner_->get_task_sa_eu (*iter), *iter));
+  }
+
+  std::multimap<TaskID, TaskInstID> tasks_to_insts;
+
+  SA_WorkingPlan* working_plan = (SA_WorkingPlan*)this->planner_->get_working_plan();
+
+  InstToTaskMap inst_task_map = working_plan->get_task_insts();
+
+  for(InstToTaskMap::iterator it = inst_task_map.begin(); 
+	  it != inst_task_map.end(); it++){
+		  tasks_to_insts.insert(std::pair<TaskID, TaskInstID>(it->second, it->first));
+  }
+
+  // Add tasks to list in reverse order of map (highest EU first).
+  TaskChoiceList task_list;
+  task_list.clear ();
+
+//*****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*****
+  // WE NEED TO PUT A THRESHOLD ON PROBABILITY OF TRUE/FALSE INSTEAD OF COMPARING A DOUBLE TO A BOOL.
+  //If init can handle it, put it on here first
+  if(this->planner_->get_cond_val(open_cond.id) == open_cond.value){
+//*****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*****
+		TaskChoice init_choice;
+		init_choice.choice = REUSE_INST;
+		init_choice.task_id = INIT_TASK_ID;
+		init_choice.task_inst_id = INIT_TASK_INST_ID;
+
+		task_list.push_back(init_choice);
+  }else{
+
+	  for (std::multimap<EUCalc, TaskID>::reverse_iterator iter = task_map.rbegin ();
+		iter != task_map.rend (); iter++)
+	  {
+
+		  for(std::multimap<TaskID, TaskInstID>::iterator it = tasks_to_insts.lower_bound(iter->second); it != tasks_to_insts.upper_bound(iter->second);
+			  it++){
+
+			TaskChoice task_choice;
+			task_choice.choice = REUSE_INST;
+			task_choice.task_id = it->first;
+			task_choice.task_inst_id = it->second;
+
+			task_list.push_back(task_choice);
+		  }
+		  
+	  if(tasks_to_insts.find(iter->second) == tasks_to_insts.end())
+	  {
+		TaskChoice task_choice;
+		task_choice.choice = NEW_INST;
+		task_choice.task_id = iter->second;
+		task_choice.task_inst_id = -2;
+
+		task_list.push_back(task_choice);
+	  }
+	}
+  }
+
+  return task_list;
+}
 
 
 // Choose the (ordering of) task(s) to satisfy an open condition.
diff --git a/SA_POP/SA_PlanHeuristics.h b/SA_POP/SA_PlanHeuristics.h
index 28892fcac96..4d778f55d90 100644
--- a/SA_POP/SA_PlanHeuristics.h
+++ b/SA_POP/SA_PlanHeuristics.h
@@ -87,6 +87,7 @@ namespace SA_POP {
 
 	virtual TaskChoiceList choose_task_once(Condition open_cond);
 
+	virtual TaskChoiceList choose_task_once_optimistic (Condition open_cond);
   };
 
   /**
diff --git a/SA_POP/SA_PlanStrategy.cpp b/SA_POP/SA_PlanStrategy.cpp
index 1d0c1baf884..303f526fb48 100644
--- a/SA_POP/SA_PlanStrategy.cpp
+++ b/SA_POP/SA_PlanStrategy.cpp
@@ -579,7 +579,7 @@ AddTaskCmd *SA_PlanStrategy::satisfy_cond (Condition open_cond)
 	// Get add task command.
 	AddTaskCmd *add_task_cmd =
 		static_cast<AddTaskCmd *> (this->add_task_cmd_->clone ());
-	TaskChoiceList task_list = this->task_choice_->choose_task_once (open_cond);
+	TaskChoiceList task_list = this->task_choice_->choose_task_once_optimistic (open_cond);
 	add_task_cmd->set_id (this->get_next_cmd_id ());
 	add_task_cmd->set_tasks (task_list);
 
diff --git a/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.cpp b/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.cpp
index 3fab1d73cf3..d06575988b2 100644
--- a/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.cpp
+++ b/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_Planner.cpp
@@ -474,6 +474,12 @@ SA_POP::Goal Exp_EU_Planner::exp_init (SA_POP::Exp_EU_Trial_Params params)
     }
   }
 
+  //TEMP I really need to see cond values for a run -- Ben
+  std::cout<<std::endl;
+  for(SA_POP::CondSet::iterator cond_iter = conds.begin(); cond_iter != conds.end(); cond_iter++){
+	  std::cout<<"Value of "<<(*cond_iter).id<<" = "<<this->sanet_->get_cond_val((*cond_iter).id)<<std::endl;
+  }
+  std::cout<<std::endl;
  
   return goal;
 };
diff --git a/SA_POP/utils/SANetGenerator/Net_Complete.py b/SA_POP/utils/SANetGenerator/Net_Complete.py
index 09bc5362d6a..c6665b80cfe 100755
--- a/SA_POP/utils/SANetGenerator/Net_Complete.py
+++ b/SA_POP/utils/SANetGenerator/Net_Complete.py
@@ -58,7 +58,16 @@ for each in conds:
 	ofile.write("\"" + each +"\" [ style=filled, color = grey];\n")
 	
 for edge in SANet.edges():
-	ofile.write("\"" + edge[0] + "\" -> \"" + edge[1] + "\";\n")
+	if edge[0] in ParamInfo[3]:
+		elinks = ParamInfo[3][edge[0]]
+		weight = 0
+		for link in elinks:
+			if link[0] == edge[1]:
+				weight = link[1]
+				break
+		ofile.write("\"" + edge[0] + "\" -> \"" + edge[1] + "\"[label=\"" + str(weight) + "\"];\n")
+	else:	
+		ofile.write("\"" + edge[0] + "\" -> \"" + edge[1] + "\";\n")
 ofile.write("}\n")
 ofile.close()
 
@@ -104,7 +113,7 @@ tfile.write("\n\n\t")
 for each in tasks:
 	tfile.write("\n\t<taskImpl>\n\t\t<implID>" + each + "_1" + "</implID>\n\t\t<param>\n\t\t\t<paramID></paramID>\n\t\t\t<kind></kind>\n\t\t\t<value></value>\n\t\t</param>\n\t</taskImpl>\n" )
 	
-tfile.write("\n\t<resource>\n\t\t<resourceID>Dack</resourceID>\n\t\t<kind>DISCRETE</kind>\n\t\t<capacity>1</capacity>\n\t</resource>\n")	
+tfile.write("\n\t<resource>\n\t\t<resourceID>Dack</resourceID>\n\t\t<kind>DISCRETE</kind>\n\t\t<capacity>1000</capacity>\n\t</resource>\n")	
 
 for each in tasks:
 	tfile.write("\n\t<taskToImpl>\n\t\t<taskID>" + str(ttonum[each]) + "</taskID>\n\t\t<implID>" + each + "_1" + "</implID>\n\t\t<duration>1</duration>\n\t</taskToImpl>\n")	
diff --git a/SA_POP/utils/SANetGenerator/Rand_Params.py b/SA_POP/utils/SANetGenerator/Rand_Params.py
index 5efad373c31..23a24489a4a 100755
--- a/SA_POP/utils/SANetGenerator/Rand_Params.py
+++ b/SA_POP/utils/SANetGenerator/Rand_Params.py
@@ -22,10 +22,30 @@ def flatGen(SANet, tasks, conds):
 		effects = SANet.successors(each)
 		effLinks[each] = [] 
 		effAr = effLinks[each]
+		
 		for eff in effects:
+			assigned = 0
 			#uses uniform for the time being
-			weight = rand.uniform(0,2) - 1
-			#a tuple for efficient look up
+			edges = SANet.edges(eff)
+			#print eff
+			#print edges
+			#for edge in edges:
+			#	#print eff
+			#	if edge[1] == each:
+			#		#print edge
+			#		assigned = 1
+			#		weight = rand.uniform(-.8,-1)
+			#		#print weight
+			#		break
+				
+			if assigned == 0:
+				#dire = rand.uniform(0,2) - 1
+			
+				#if dire >= 0:
+				weight = rand.uniform(.8,1)
+				#else:
+				#	weight = rand.uniform(-.8,-1)	
+				#a tuple for efficient look up
 			lnk = (eff, weight)
 			effAr.append(lnk)
 			
diff --git a/SA_POP/utils/SANetGenerator/Rand_Skeletons.py b/SA_POP/utils/SANetGenerator/Rand_Skeletons.py
index 76b1ea05932..14f200e4b28 100755
--- a/SA_POP/utils/SANetGenerator/Rand_Skeletons.py
+++ b/SA_POP/utils/SANetGenerator/Rand_Skeletons.py
@@ -19,57 +19,71 @@ def erdosGen(SANet, tasks, conds, inDegree, outDegree):
 		ctask = ""
 		ccond = ""
 		found = 0
-		while found == 0:
+		#while found == 0:
 			#Choose Task
-			ctask = tasks[rand.randrange(len(tasks))] 
+		ctask = tasks[rand.randrange(len(tasks))] 
 			#Choose Cond
-			ccond = conds[rand.randrange(len(conds))]
-			key = ctask + "," + ccond
+		ccond = conds[rand.randrange(len(conds))]
+		key = ctask + "," + ccond
 			#if already been used as either an effect or precondition
-			if key in pairs:
-				found = 0
-			else:
+			#		if key in pairs:
+		#			found = 0
+		#		else:
 				#valid pair for random pairing
-				found = 1
-				pairs[key] = 1	
+
+			
 
 		#choose direction
 		EfforPre = rand.randrange(2)
 
-		#If 0 then it's a precondition link
-		if EfforPre == 0 and haltIn == 0:
-			SANet.add_edge(ccond, ctask)
-			if ctask in inD:
-				inD[ctask] += 1
-			else:
-				inD[ctask] = 1	
-		elif haltOut == 0:
-			#otherwise it's an effect
-			SANet.add_edge(ctask, ccond)
-			if ctask in outD:
-				outD[ctask] += 1
-			else:
-				outD[ctask] = 1
+		#if EfforPre == 0:
+		edges = SANet.edges(ccond)
+		for each in edges:
+			if each[1] == ctask:
+				found = 1
+				break
+		#else:
+		edges = SANet.edges(ctask)
+		for each in edges:
+			if each[1] == ccond:
+				found = 1
+				break
+			
+		if found == 0:
+			#If 0 then it's a precondition link
+			if EfforPre == 0 and haltIn == 0:
+				SANet.add_edge(ccond, ctask)
+				if ctask in inD:
+					inD[ctask] += 1
+				else:
+					inD[ctask] = 1	
+			elif haltOut == 0:
+				#otherwise it's an effect
+				SANet.add_edge(ctask, ccond)
+				if ctask in outD:
+					outD[ctask] += 1
+				else:
+					outD[ctask] = 1
 
-		#Check for Stopping Conditions 		
-		totalIn = 0.0
-		totalOut = 0.0
-		for each in tasks:
-			if each in inD:
-				totalIn += inD[each]
-			if each in outD:
-				totalOut += outD[each]
-		avgIn = totalIn/len(tasks)
-		avgOut = totalOut/len(tasks)
+			#Check for Stopping Conditions 		
+			totalIn = 0.0
+			totalOut = 0.0
+			for each in tasks:
+				if each in inD:
+					totalIn += inD[each]
+				if each in outD:
+					totalOut += outD[each]
+			avgIn = totalIn/len(tasks)
+			avgOut = totalOut/len(tasks)
 
 
-		if avgIn >= inDegree:
-			haltIn = 1 
-		if avgOut >= outDegree:
-			haltOut = 1
-		if haltIn == 1 and haltOut == 1:	
-			print avgIn
-			print avgOut
-			haltGen = 1
+			if avgIn >= inDegree:
+				haltIn = 1 
+			if avgOut >= outDegree:
+				haltOut = 1
+			if haltIn == 1 and haltOut == 1:	
+				print avgIn
+				print avgOut
+				haltGen = 1
 				
 	return SANet
\ No newline at end of file