Sat Dec 5 07:07:45 UTC 2009 Ben Podgursky <bpodgursky@gmail.com>

11 files changed, 188 insertions, 66 deletions

diff --git a/SA_POP/C2W/C2W_Demo.cpp b/SA_POP/C2W/C2W_Demo.cpp
index fb9bbb70abb..43c56781fc3 100644
--- a/SA_POP/C2W/C2W_Demo.cpp
+++ b/SA_POP/C2W/C2W_Demo.cpp
@@ -263,6 +263,8 @@ int main (int argc, char* argv[])
 	  //planner->add_out_adapter (&screen_out);
 
     planner->plan (15, goal);
+	
+
 
   //} 
   /*
diff --git a/SA_POP/ChangeLog b/SA_POP/ChangeLog
index 2b7856a2ade..7cf6097d71e 100644
--- a/SA_POP/ChangeLog
+++ b/SA_POP/ChangeLog
@@ -1,3 +1,21 @@
+Sat Dec  5 07:07:45 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
+
+        * C2W/C2W_Demo.cpp:
+
+        * PlanHeuristics.h:
+        * Planner.h:
+        * Planner.cpp:
+        * SA_POP_Types.h:
+        * SA_PlanHeuristics.h:
+        * SA_PlanHeuristics.cpp:
+        * SA_PlanStrategy.cpp:
+
+        * utils/PDDLtoSANetTranslator/PDDLParser/src/PDDLtoSAN.java:
+
+        * utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java:
+
+	Added choose-task-once strategy, other cleanup.  Metrics gathering in translator
+
 Fri Dec  4 18:16:57 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
         * SANet/SANet.h:
@@ -5,8 +23,8 @@ Fri Dec  4 18:16:57 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
         * SANet/SANode.h:
         * SANet/SANode.cpp:
 
-	These files were modified to take the new active and disabled flags
-	for computing expected utilities of plans.
+        These files were modified to take the new active and disabled flags
+        for computing expected utilities of plans.
 
 Tue Nov 10 21:55:22 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
diff --git a/SA_POP/PlanHeuristics.h b/SA_POP/PlanHeuristics.h
index 7468e1458ee..9a2875eb3f2 100644
--- a/SA_POP/PlanHeuristics.h
+++ b/SA_POP/PlanHeuristics.h
@@ -91,6 +91,9 @@ namespace SA_POP {
      */
 	virtual TaskChoiceList choose_task_fair (Condition open_cond) = 0;
 
+	virtual TaskChoiceList choose_task_once(Condition open_cond) = 0;
+
+
   protected:
     /// Pointer to Planner object.
     SA_POP::Planner *planner_;
diff --git a/SA_POP/Planner.cpp b/SA_POP/Planner.cpp
index 38b0e1f6337..3c9379dfb2e 100644
--- a/SA_POP/Planner.cpp
+++ b/SA_POP/Planner.cpp
@@ -126,6 +126,7 @@ bool Planner::plan (size_t sa_max_steps, SA_POP::Goal goal)
 
   if (this->plan_strat_->satisfy_open_conds ()) {
     this->plan_ = this->working_plan_->get_plan ();
+
     this->notify_plan_changed ();
     return true;
   }
@@ -511,6 +512,24 @@ void Planner::notify_plan_changed (void)
   }
 };
 
+void Planner::calculate_plan_utility(size_t sa_max_steps)
+{
+	sanet_->set_nodes_state(false);
+
+	for(CLSet::iterator it = this->plan_.causal_links.begin(); it != 
+		this->plan_.causal_links.end(); it++){
+
+			this->sanet_->set_task_state((*it).first, true);
+			this->sanet_->set_task_state((*it).second, true);
+			this->sanet_->set_cond_state((*it).cond.id, true);
+	}
+
+	sanet_->update(sa_max_steps);
+
+	//TODO the rest
+
+}
+
 /// Get the Task instances in a particular set of the specified task instance
 const TaskInstSet* Planner::get_prec_insts (TaskInstID task_inst, PrecedenceRelation prec_rel)
 {
diff --git a/SA_POP/Planner.h b/SA_POP/Planner.h
index 03efa10247a..9b46f06cdcd 100644
--- a/SA_POP/Planner.h
+++ b/SA_POP/Planner.h
@@ -519,6 +519,8 @@ namespace SA_POP {
 
   virtual void set_backtrack_cmd_id(CommandID cmd){backtrack_cmd = cmd;};
 
+  virtual void Planner::calculate_plan_utility(size_t sa_max_steps);
+
   protected:
     /// Threshold for current probability of a condition to be satisfied.
     const Probability cond_prob_thresh_;
diff --git a/SA_POP/SA_POP_Types.h b/SA_POP/SA_POP_Types.h
index 705a63fced4..daf36b0919e 100644
--- a/SA_POP/SA_POP_Types.h
+++ b/SA_POP/SA_POP_Types.h
@@ -30,10 +30,10 @@
 #endif  /* SA_POP_HAS_ACE */
 
 
-#define SA_POP_DEBUG_MINIMAL 2
+#define SA_POP_DEBUG_VERBOSE 1
 #define SA_POP_DEBUG_NORMAL 5
-#define SA_POP_DEBUG_VERBOSE 10
-#define SA_POP_DEBUG_HIGH 15
+#define SA_POP_DEBUG_MINIMAL 9
+#define SA_POP_DEBUG_HIGH 10
 
 // SET current SA-POP Debug output level.
 #define SA_POP_DEBUG_LEVEL SA_POP_DEBUG_MINIMAL
@@ -197,7 +197,6 @@ namespace SA_POP {
     TaskID task_id;
   };
 
-
   /// Initial state (as task) implementation ID (for placeholder in planning/scheduling).
   const TaskImplID INIT_TASK_IMPL_ID = "init_impl";
 
diff --git a/SA_POP/SA_PlanHeuristics.cpp b/SA_POP/SA_PlanHeuristics.cpp
index 88bd07bee3a..dfc0fc568de 100644
--- a/SA_POP/SA_PlanHeuristics.cpp
+++ b/SA_POP/SA_PlanHeuristics.cpp
@@ -98,7 +98,7 @@ Condition SA_CondStrategy::choose_cond_suspension_most_constrained (const OpenCo
       return iter->first;
   }
 
-	std::map<int, std::pair<Condition, TaskInstID> > by_num_satisfying;
+	std::multimap<int, std::pair<Condition, TaskInstID> > by_num_satisfying;
 
 	for(OpenCondMap::const_iterator iter = open_conds.begin();
 		iter != open_conds.end(); iter++){
@@ -111,7 +111,7 @@ Condition SA_CondStrategy::choose_cond_suspension_most_constrained (const OpenCo
 
   SA_WorkingPlan* working_plan = (SA_WorkingPlan*)this->planner_->get_working_plan();
 
-  for(std::map<int, std::pair<Condition, TaskInstID> >::iterator it = by_num_satisfying.begin(); it != by_num_satisfying.end(); it++){
+  for(std::multimap<int, std::pair<Condition, TaskInstID> >::iterator it = by_num_satisfying.begin(); it != by_num_satisfying.end(); it++){
 	  
 
 	if(!working_plan->condition_in_suspended(it->second.first, it->second.second)){
@@ -259,6 +259,72 @@ TaskChoiceList SA_TaskStrategy::choose_task_fair (Condition open_cond)
 
 };
 
+TaskChoiceList SA_TaskStrategy::choose_task_once(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_future_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 ();
+
+  //If init can handle it, put it on here first
+  if(this->planner_->get_cond_val(open_cond.id) == open_cond.value){
+		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);
+  }
+
+
+  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;
+}
 
 
 
@@ -266,10 +332,6 @@ TaskChoiceList SA_TaskStrategy::choose_task_fair (Condition open_cond)
 TaskChoiceList SA_TaskStrategy::choose_task (Condition open_cond)
 {
   TaskSet tasks = this->planner_->get_satisfying_tasks (open_cond);
-
-//  if(this->planner_->init_added){
-//    tasks.erase(INIT_TASK_ID);
-//  }
     
   // Add tasks to map with EU (to sort).
   std::multimap<EUCalc, TaskID> task_map;
diff --git a/SA_POP/SA_PlanHeuristics.h b/SA_POP/SA_PlanHeuristics.h
index 9604719baee..28892fcac96 100644
--- a/SA_POP/SA_PlanHeuristics.h
+++ b/SA_POP/SA_PlanHeuristics.h
@@ -84,6 +84,9 @@ namespace SA_POP {
      * @return  Sorted list of tasks that satisfy given condition.
      */
 	virtual TaskChoiceList choose_task_fair (Condition open_cond);
+
+	virtual TaskChoiceList choose_task_once(Condition open_cond);
+
   };
 
   /**
diff --git a/SA_POP/SA_PlanStrategy.cpp b/SA_POP/SA_PlanStrategy.cpp
index 6f3fe552835..6bdbdda60d4 100644
--- a/SA_POP/SA_PlanStrategy.cpp
+++ b/SA_POP/SA_PlanStrategy.cpp
@@ -201,20 +201,20 @@ bool SA_PlanStrategy::satisfy_open_conds (void)
 			}
 
 			//Do not execute if the condition has been noted before and not helped
-			std::pair<bool, CommandID> return_data = 
-			  this->store_map.should_continue(add_task_cmd->get_id(), 
-							  add_task_cmd->get_condition(), 
-							  stored_task, 
-							  this->open_conds_, 
-							  this->planner_->get_working_plan()->get_task_insts());
-
-			if(return_data.first)
-			{
+			//std::pair<bool, CommandID> return_data = 
+			//  this->store_map.should_continue(add_task_cmd->get_id(), 
+			//				  add_task_cmd->get_condition(), 
+			//				  stored_task, 
+			//				  this->open_conds_, 
+			//				  this->planner_->get_working_plan()->get_task_insts());
+
+			//if(return_data.first)
+			//{
 				// Try to satisfy threats and continue recursive planning.
 				if (this->satisfy_everything())
 					return true;
 
-			}
+			//}
 
 			this->store_map.undo_binding(add_task_cmd->get_id(), add_task_cmd->get_condition(), stored_task);
 
@@ -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_fair (open_cond);
+	TaskChoiceList task_list = this->task_choice_->choose_task_once (open_cond);
 	add_task_cmd->set_id (this->get_next_cmd_id ());
 	add_task_cmd->set_tasks (task_list);
 
diff --git a/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/PDDLtoSAN.java b/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/PDDLtoSAN.java
index 341b4162ac9..c1a96f2fa1c 100644
--- a/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/PDDLtoSAN.java
+++ b/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/PDDLtoSAN.java
@@ -23,7 +23,8 @@ import pddl4j.RequireKey;
 import pddl4j.Source;
 import pddl4j.ErrorManager.Message;
 
-public class PDDLtoSAN {
+public class PDDLtoSAN
+{
 
 	/**
 	 * @param args
@@ -63,6 +64,8 @@ public class PDDLtoSAN {
 		
 		StatisticsCompilation all_stat_compl = new StatisticsCompilation();
 		
+		int all_count = 0;
+		
 		for(String domain_path: domains_to_problems.keySet()){
 			
 			StatisticsCompilation stat_compl = new StatisticsCompilation();
@@ -106,72 +109,81 @@ public class PDDLtoSAN {
 					System.out.println("Translating: "+ problem_file+ " " + domain_file);
 					System.out.println();
 					
-					PDDL_Translator n = new PDDL_Translator(obj, 1, false);
+					PDDL_Translator n = new PDDL_Translator(obj, 3, false);
 					
 					System.out.println("Done translating");
 					System.out.println("  SAN number of conditions: "+ n.getConditonNodeCount());
 					System.out.println("  SAN number of actions: " + n.getActionNodeCount());
 
-					stat_compl.all_reports.add(n.getStatReport());
-					all_stat_compl.all_reports.add(n.getStatReport());
+			//		stat_compl.all_reports.add(n.getStatReport());
+			//		all_stat_compl.all_reports.add(n.getStatReport());
 					
 			//		n.printSAN();
-			//		n.write_SAN_to_xml(domain.getDomainName()+"_"+problem.getProblemName()+"-san.xml");
-			//		n.write_TM_to_xml(domain.getDomainName()+"_"+problem.getProblemName()+"-tm.xml");
-			//		n.write_goals_to_file(domain.getDomainName()+"_"+problem.getProblemName()+"-goals");
+					
+					int this_count = all_count++;
+					
+					n.write_SAN_to_xml("output\\"+this_count+"_"+domain.getDomainName()+"_"+problem.getProblemName()+"-san.xml");
+					n.write_TM_to_xml("output\\"+this_count+"_"+domain.getDomainName()+"_"+problem.getProblemName()+"-tm.xml");
+					n.write_goals_to_file("output\\"+this_count+"_"+domain.getDomainName()+"_"+problem.getProblemName()+"-goals");
 				}
 			}
 			
-			try {
-				FileWriter fileout = new FileWriter(new File(domain_path+args[1]));
-				fileout.write(stat_compl.toString());
-				fileout.close();
-				
-			} catch (IOException e) {
-				// TODO Auto-generated catch block
-				e.printStackTrace();
-			}		
+//			try {
+//			//	FileWriter fileout = new FileWriter(new File(domain_path+args[1]));
+//			//	fileout.write(stat_compl.toString());
+//			//	fileout.close();
+//				
+//			} catch (IOException e) {
+//				// TODO Auto-generated catch block
+//				e.printStackTrace();
+//			}		
 			
 		}
 		
-		FileWriter fileout;
-		try {
-			fileout = new FileWriter(new File(args[1]));
-			fileout.write(all_stat_compl.toString());
-			fileout.close();	
-			
-		} catch (IOException e) {
-			// TODO Auto-generated catch block
-			e.printStackTrace();
-		}
+//		FileWriter fileout;
+//		try {
+//			fileout = new FileWriter(new File(args[1]));
+//			fileout.write(all_stat_compl.toString());
+//			fileout.close();	
+//			
+//		} catch (IOException e) {
+//			// TODO Auto-generated catch block
+//			e.printStackTrace();
+//		}
 
 	//	System.out.println(stat_compl.toString());
 	}
-	
-	public static Map<String, List<String>>  read_input_file(String filename){
+
+	public static Map<String, List<String>> read_input_file(String filename)
+	{
 		//TODO make this work properly
 		Map<String, List<String>> to_ret = new LinkedHashMap<String, List<String>>();
 		Scanner scan = null;
-		try {
+		try
+		{
 			scan = new Scanner(new FileReader(new File(filename)));
-		} catch (FileNotFoundException e) {
+		}
+		catch (FileNotFoundException e)
+		{
 			// TODO Auto-generated catch block
 			e.printStackTrace();
 		}
-		
-		while(scan.hasNext()){
+
+		while (scan.hasNext())
+		{
 			String domain_name = scan.next();
-			
+
 			String next = scan.next();
 			List<String> problems = new LinkedList<String>();
-			
-			while(!next.equals("END")){
+
+			while (!next.equals("END"))
+			{
 				problems.add(next);
 				next = scan.next();
 			}
 			to_ret.put(domain_name, problems);
 		}
-		
+
 		return to_ret;
 	}
 }
\ No newline at end of file
diff --git a/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java b/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java
index 5fd7e8a9099..48b8c817d03 100644
--- a/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java
+++ b/SA_POP/utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java
@@ -145,7 +145,7 @@ public class PDDL_Translator {
         //of the conditions can come true
         setup_initial_action(init_act);
 
-        calculateNetworkStatistics("before_impossibility_removal");
+    //    calculateNetworkStatistics("before_impossibility_removal");
 
         System.out.println("Before optimizing: "+ this.task_nodes.size()+" tasks "+ this.condition_nodes.size()+" conditions");
         System.out.println("Elapsed: "+ (new Date().getTime()-start_time));
@@ -170,9 +170,9 @@ public class PDDL_Translator {
         //TODO maybe try something like a kmap here?
         
 
-        calculateNetworkStatistics("before_cond_combining");
+   //     calculateNetworkStatistics("before_cond_combining");
 
-    //    combine_conditions(condition_combine_levels);
+        combine_conditions(condition_combine_levels);
         
  //       calculateNetworkStatistics("after_cond_combining");
         
@@ -2241,7 +2241,13 @@ public class PDDL_Translator {
 	private void record_task_impls(){
 		
 		for(TaskNode t: this.task_nodes.values()){
+			
+			if(t.getName().equals("initact")){
+				continue;
+			}
+			
 			task_impls.put(t.getName(), new TaskImpl(t.getName()+"_impl"));
+			
 			task_to_impl_links.add(new TaskToImpl(t.getNodeID(), (t.getName()+"_impl"), "1"));
 			
 			for(String c: task_to_resources.get(t)){
@@ -2653,10 +2659,6 @@ public class PDDL_Translator {
 	        
 	        for(TaskToImpl t: task_to_impl_links){
 	        	
-				if(!init_act_visible && t.getTaskID().equals("20")){
-					continue;
-				}
-	        	
 	        	Element taskToImpl = doc.createElement("taskToImpl");
 	        	
 	        	Element taskID = doc.createElement("taskID");