Fri Dec 18 20:28:36 UTC 2009 John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>

9 files changed, 181 insertions, 140 deletions

diff --git a/SA_POP/ChangeLog b/SA_POP/ChangeLog
index 32e7713993b..8803fed21b2 100644
--- a/SA_POP/ChangeLog
+++ b/SA_POP/ChangeLog
@@ -1,3 +1,22 @@
+Fri Dec 18 20:28:36 UTC 2009  John S. Kinnebrew  <john.s.kinnebrew@vanderbilt.edu>
+
+        * SA_POP_Types.h:
+        * Planner.cpp:
+        * SA_WorkingPlan.cpp:
+        * experiments/EU_Performance/Exp_Core/Exp_EU_SchedStrategy.cpp:
+
+          Cleaned up SA-POP Debug statements & debug levels.
+
+
+        * Planner.cpp:
+        * SANet/SANet.h:
+        * SANet/SANet.cpp:
+        * SANet/SANode.h:
+        * SANet/SANode.cpp:
+
+          Removed SANet cruft (including non-functional methods called from the planner in SA-POP).
+          Also cleaned up some of the SANet & SANode commenting and constructors.
+
 Fri Dec 18 01:00:33 UTC 2009  John S. Kinnebrew  <john.s.kinnebrew@vanderbilt.edu>
 
         * SA_Builder.h:
diff --git a/SA_POP/Planner.cpp b/SA_POP/Planner.cpp
index b96bbe14453..1862d015a70 100644
--- a/SA_POP/Planner.cpp
+++ b/SA_POP/Planner.cpp
@@ -514,7 +514,7 @@ void Planner::notify_plan_changed (void)
 
 double Planner::calculate_plan_utility(size_t sa_max_steps)
 {
-	sanet_->reset_step();
+//	sanet_->reset_step();
 	sanet_->set_nodes_state(false);
 
 	for(CLSet::iterator it = this->plan_.causal_links.begin(); it != 
@@ -525,7 +525,7 @@ double Planner::calculate_plan_utility(size_t sa_max_steps)
 
 		this->sanet_->set_task_state(this->working_plan_->get_task_from_inst((*it).second), true);
 		this->sanet_->set_cond_state((*it).cond.id, true);
-		this->sanet_->note_causal_link(*it);
+//		this->sanet_->note_causal_link(*it);
 		
 
 
@@ -540,15 +540,15 @@ double Planner::calculate_plan_utility(size_t sa_max_steps)
 		this->sanet_->set_cond_state(it->first, true);
 	}
 
-	sanet_->restrict_prop_to_clinks(true);
+//	sanet_->restrict_prop_to_clinks(true);
 	sanet_->update(sa_max_steps);
-	sanet_->restrict_prop_to_clinks(false);
+//	sanet_->restrict_prop_to_clinks(false);
 
 	double conj_utils = 0;
 	for(GoalMap::iterator it = goals.begin(); it != goals.end(); it++){
 		std::cout<<it->second<<std::endl;
-		std::cout<<this->sanet_->get_current_cond_val(it->first, this->sanet_->get_step())<<std::endl;
-		conj_utils+=(it->second * this->sanet_->get_current_cond_val(it->first, this->sanet_->get_step()));
+		std::cout<<this->sanet_->get_cond_future_val(it->first, this->sanet_->get_step())<<std::endl;
+		conj_utils+=(it->second * this->sanet_->get_cond_future_val(it->first, this->sanet_->get_step()));
 	}
 
 	std::cout<<"Plan utility: "<<conj_utils<<std::endl;
diff --git a/SA_POP/SANet/SANet.cpp b/SA_POP/SANet/SANet.cpp
index 7ca2e00c957..07cabb4066f 100644
--- a/SA_POP/SANet/SANet.cpp
+++ b/SA_POP/SANet/SANet.cpp
@@ -23,14 +23,22 @@ using namespace SANet;
 
 
 SANet::Network::Network (void)
-: step_ (0), restrict_prop_to_clinks_(false)
+: step_ (0)
+//, restrict_prop_to_clinks_(false)
 {
-  // Clear maps.
+  // Clear maps & sets.
   this->task_nodes_.clear ();
   this->cond_nodes_.clear ();
   this->precond_links_.clear ();
   this->effect_links_.clear ();
   this->goals_.clear ();
+  this->active_tasks_.clear ();
+  this->disabled_tasks_.clear ();
+  this->active_conds_.clear ();
+  this->disabled_conds_.clear ();
+//  this->causal_links_by_first_.clear ();
+//  this->causal_links_by_cond_.clear ();
+//  this->causal_links_by_second_.clear ();
 };
 
 int SANet::Network::get_step(){
@@ -54,9 +62,9 @@ SANet::Network::~Network ()
   }
 };
 
-void SANet::Network::restrict_prop_to_clinks(bool val){
-	restrict_prop_to_clinks_ = val;
-}
+//void SANet::Network::restrict_prop_to_clinks(bool val){
+//	restrict_prop_to_clinks_ = val;
+//};
 
 void SANet::Network::add_task (TaskID ID, std::string name, MultFactor atten_factor,
                           TaskCost cost, Probability prior_prob)
@@ -73,7 +81,7 @@ void SANet::Network::add_task (TaskID ID, std::string name, MultFactor atten_fac
   TaskNode *node;
 
   // Set initially to active
-  active_tasks.insert(ID);
+  this->active_tasks_.insert(ID);
 
   // Add task node, throwing exception if insertion fails.
   node = new TaskNode (ID, name, atten_factor, cost, prior_prob);
@@ -96,13 +104,13 @@ void SANet::Network::reset_step(){
 }
 
 
+/*
 void SANet::Network::note_causal_link(SA_POP::CausalLink clink){
 	causal_links_by_first_.insert(std::pair<TaskID, SA_POP::CausalLink> (clink.first, clink));
 	causal_links_by_cond_.insert(std::pair<CondID, SA_POP::CausalLink> (clink.cond.id, clink));
 	causal_links_by_second_.insert(std::pair<TaskID, SA_POP::CausalLink> (clink.second, clink));
 }
 
-/*
 bool SANet::Network::is_clink_first_to_cond_by_first(TaskID task, CondID cond){
 
 	for(std::multimap<SANet::TaskID, SA_POP::CausalLink>::iterator it = causal_links_by_first_.lower_bound(task); 
@@ -142,9 +150,9 @@ Probability SANet::Network::get_prior(TaskID ID)
 
 }
 
-LinkWeight SANet::Network::get_link(TaskID ID, CondID cond_ID)
+LinkWeight SANet::Network::get_link(TaskID task_ID, CondID cond_ID)
 {
-  TaskNodeMap::iterator task_iter = task_nodes_.find (ID);
+  TaskNodeMap::iterator task_iter = task_nodes_.find (task_ID);
   if (task_iter == task_nodes_.end ()) {
     throw UnknownNode ();
   }
@@ -189,7 +197,7 @@ void SANet::Network::add_cond (CondID ID, std::string name, MultFactor atten_fac
   CondNode *node;
 
   // Set initially to active
-  active_conds.insert(ID);
+  this->active_conds_.insert(ID);
 
   // Add condition node, throwing exception if insertion fails.
   node = new CondNode (ID, name, atten_factor,
@@ -433,6 +441,9 @@ void SANet::Network::print_link_ports (std::basic_ostream<char,
 
 void SANet::Network::update (int max_steps)
 {
+  // Reset network and nodes to initial step.
+  this->reset_step ();
+
   // Flag for whether network changed on last step, initially true.
   bool net_changed = true;
 
@@ -450,8 +461,8 @@ void SANet::Network::update (int max_steps)
     // Update all active task nodes.
     //for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
     //  node_iter != task_nodes_.end (); node_iter++)
-    for(std::set<TaskID>::iterator node_iter = active_tasks.begin();
-      node_iter != active_tasks.end(); node_iter++)
+    for(std::set<TaskID>::iterator node_iter = this->active_tasks_.begin();
+      node_iter != this->active_tasks_.end(); node_iter++)
     {
       // Update node, setting net_changed flag if node changed.
       if (task_nodes_.find(*node_iter)->second->update ()) {
@@ -462,8 +473,8 @@ void SANet::Network::update (int max_steps)
     // Update all active condition nodes.
     //for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
     //  node_iter != cond_nodes_.end (); node_iter++)
-    for(std::set<CondID>::iterator node_iter = active_conds.begin();
-      node_iter != active_conds.end(); node_iter++)
+    for(std::set<CondID>::iterator node_iter = this->active_conds_.begin();
+      node_iter != this->active_conds_.end(); node_iter++)
     {
       // Update node, setting net_changed flag if node changed.
       if (cond_nodes_.find(*node_iter)->second->update ()) {
@@ -525,7 +536,7 @@ Probability SANet::Network::get_cond_val (CondID cond_id)
   return iter->second->get_init_prob ();
 };
 
-Probability SANet::Network::get_current_cond_val(CondID cond_id, int step){
+Probability SANet::Network::get_cond_future_val(CondID cond_id, int step){
 	CondNodeMap::iterator iter = this->cond_nodes_.find(cond_id);
 	if(iter == this->cond_nodes_.end())
 		throw "SANet::Network::get_cond_val (): Unknown condition node.";
@@ -725,7 +736,7 @@ LinkPorts SANet::Network::get_clink_ports (TaskID task1_id, CondID cond_id,
     this->get_precond_port (cond_id, task2_id));
 };
 
-/// Set Task State.
+// Set Task State.
 void SANet::Network::set_task_state(TaskID task_ID, bool state)
 {
 
@@ -734,22 +745,22 @@ void SANet::Network::set_task_state(TaskID task_ID, bool state)
     if(state)
     {
       //insetr into active, remove from disabled
-      active_tasks.insert(task_ID);
+      this->active_tasks_.insert(task_ID);
 
-      disabled_tasks.erase(task_ID);
+      this->disabled_tasks_.erase(task_ID);
 
     }
     else
     {
       //remove from active, insert into disabled
 
-      active_tasks.erase(task_ID);
+      this->active_tasks_.erase(task_ID);
 
-      disabled_tasks.insert(task_ID);
+      this->disabled_tasks_.insert(task_ID);
     }
-}
+};
 
-/// Set Cond State.
+// Set Cond State.
 void SANet::Network::set_cond_state(CondID cond_ID, bool state)
 {
     
@@ -757,24 +768,24 @@ void SANet::Network::set_cond_state(CondID cond_ID, bool state)
     if(state)
     {
       //insetr into active, remove from disabled
-      active_conds.insert(cond_ID);
+      this->active_conds_.insert(cond_ID);
 
 
-      disabled_conds.erase(cond_ID);
+      this->disabled_conds_.erase(cond_ID);
 
     }
     else
     {
       //remove from active, insert into disabled
 
-      active_conds.erase(cond_ID);
+      this->active_conds_.erase(cond_ID);
 
-      disabled_conds.insert(cond_ID);
+      this->disabled_conds_.insert(cond_ID);
     }
 
-}
+};
 
-/// Set All nodes to State.
+// Set All nodes to State.
 void SANet::Network::set_nodes_state(bool state)
 {
     if(state)
@@ -785,18 +796,18 @@ void SANet::Network::set_nodes_state(bool state)
       node_iter != task_nodes_.end (); node_iter++)
       {
         node_iter->second->set_activity(state);
-        active_tasks.insert(node_iter->first);
+        this->active_tasks_.insert(node_iter->first);
 
-        disabled_tasks.erase(node_iter->first);
+        this->disabled_tasks_.erase(node_iter->first);
       }
 
       for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
       node_iter != cond_nodes_.end (); node_iter++)
       {
         node_iter->second->set_activity(state);
-        active_conds.insert(node_iter->first);
+        this->active_conds_.insert(node_iter->first);
 
-        disabled_conds.erase(node_iter->first);
+        this->disabled_conds_.erase(node_iter->first);
       }
     }
     else
@@ -807,19 +818,19 @@ void SANet::Network::set_nodes_state(bool state)
       node_iter != task_nodes_.end (); node_iter++)
       {
         node_iter->second->set_activity(state);
-        active_tasks.erase(node_iter->first);
+        this->active_tasks_.erase(node_iter->first);
 
-        disabled_tasks.insert(node_iter->first);
+        this->disabled_tasks_.insert(node_iter->first);
       }
 
       for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
       node_iter != cond_nodes_.end (); node_iter++)
       {
         node_iter->second->set_activity(state);
-        active_conds.erase(node_iter->first);
+        this->active_conds_.erase(node_iter->first);
 
-        disabled_conds.insert(node_iter->first);
+        this->disabled_conds_.insert(node_iter->first);
       }
     }
 
-}
\ No newline at end of file
+};
\ No newline at end of file
diff --git a/SA_POP/SANet/SANet.h b/SA_POP/SANet/SANet.h
index 26fe0f56865..ef49ed94473 100644
--- a/SA_POP/SANet/SANet.h
+++ b/SA_POP/SANet/SANet.h
@@ -69,24 +69,6 @@ namespace SANet {
     virtual void add_task (TaskID ID, std::string name,
       MultFactor atten_factor, TaskCost cost, Probability prior_prob);
 
-    /// Get a prior for the task node in the network.
-    /**
-     * @param ID  Node ID.
-     *
-     *
-     * @returns Probability of the prior.
-     */
-    virtual Probability get_prior (TaskID ID);
-
-    /// Get a link weight for an effect in the network.
-    /**
-     * @param ID  Task ID.
-     * @param ID  Cond ID.
-     *
-     * @returns LinkWeight of the link.
-     */
-    virtual LinkWeight get_link(TaskID ID, CondID cond_ID);
-
     /// Add a new condition node to the network.
     /**
      * @param ID  Node ID.
@@ -140,58 +122,29 @@ namespace SANet {
     virtual void add_effect_link (TaskID task_ID, CondID cond_ID,
       LinkWeight weight, PortID port_ID = "");
 
-    /// Update the task to condition link.
+    /// Set the state of a task node.
     /**
-     * @param cond_ID  Condition node ID.
-     *
      * @param task_ID  Task node ID.
      *
-     * @param weight  Link weight (probability task sets condition to
-     * true, or negative of the probability task sets condition to false).
-     *
-     * @param port_ID  ID of port (on task) associated with this condition
-     *                 (used for data nodes).
-     */
-    virtual void update_effect_link(TaskID task_ID, CondID cond_ID,
-                               LinkWeight weight, PortID port_ID= "");
-
-    /// Set Task State.
-    /**
-     *
-     * @param task_ID  Task node ID.
-     *
-     *
-     * @param state State for the task to be set to;
+     * @param state  New state (false for inactive, and true for active);
      */
     virtual void set_task_state(TaskID task_ID, bool state);
 
-    /// Set Cond State.
+    /// Set the state of a condition node.
     /**
-     *
      * @param cond_ID  Condition node ID.
      *
-     *
-     * @param state State for the condition to be set to;
+     * @param state  New state (false for inactive, and true for active);
      */
     virtual void set_cond_state(CondID cond_ID, bool state);
 
-        /// Set All nodes to State.
+    /// Set state of all nodes.
     /**
-     *
-     *
-     * @param state State to set all nodes to;
+     * @param state  New state (false for inactive, and true for active);
      */
     virtual void set_nodes_state(bool state);
 
-    /// Update the task prior.
-    /**
-     *
-     * @param task_ID  Task node ID.
-     *
-     *
-     * @param prior new prior to be used for the task;
-     */
-    virtual void update_prior(TaskID task_ID, Probability prior);
+
 
 
     // ************************************************************************
@@ -267,6 +220,31 @@ namespace SANet {
      */
     virtual void update_goals (GoalMap goals);
 
+    /// Update the prior probability of a task.
+    /**
+     * @param task_ID  Task node ID.
+     *
+     * @param prior  New prior probability;
+     */
+    virtual void update_prior(TaskID task_ID, Probability prior);
+
+    /// Update a task to condition link.
+    /**
+     * @param cond_ID  Condition node ID.
+     *
+     * @param task_ID  Task node ID.
+     *
+     * @param weight  Link weight (probability task sets condition to
+     * true, or negative of the probability task sets condition to false).
+     *
+     * @param port_ID  ID of port (on task) associated with this condition
+     *                 (used for data nodes).
+     */
+    virtual void update_effect_link(TaskID task_ID, CondID cond_ID,
+                               LinkWeight weight, PortID port_ID= "");
+
+
+
 
 
     // ************************************************************************
@@ -383,48 +361,76 @@ namespace SANet {
     virtual LinkPorts get_clink_ports (TaskID task1_id, CondID cond_id,
       TaskID task2_id);
 
-	/// Get the duration of a task
-	/**
-	 * @param task_id ID of the Task
-	 *
-	 * @return duration of the task
-	 */
-	virtual TimeValue get_duration (TaskID task_id);
+    /// Get the prior probability for a task node in the network.
+    /**
+     * @param ID  Node ID.
+     *
+     * @returns  Prior probability of the task.
+     */
+    virtual Probability get_prior (TaskID ID);
 
-	void reset_step();
+    /// Get a link weight for an effect in the network.
+    /**
+     * @param task_ID  Task ID.
+     *
+     * @param cond_ID  Cond ID.
+     *
+     * @returns  Weight of the effect link.
+     */
+    virtual LinkWeight get_link(TaskID task_ID, CondID cond_ID);
 
-	Probability get_current_cond_val(int step, CondID cond_id);
+    /// Get the duration of a task
+    /**
+     * @param task_id ID of the Task
+     *
+     * @return duration of the task
+     */
+    virtual TimeValue get_duration (TaskID task_id);
+
+
+    Probability get_cond_future_val(int step, CondID cond_id);
 
-	int get_step();
+    int get_step();
 
-	void note_causal_link(SA_POP::CausalLink clink);
+//    void note_causal_link(SA_POP::CausalLink clink);
+
+//    void restrict_prop_to_clinks(bool val);
 
-	void restrict_prop_to_clinks(bool val);
 
   protected:
+    // ************************************************************************
+    // Structure variables.
+    // ************************************************************************
+
     /// Map from ID to node pointer for all task nodes in network.
     TaskNodeMap task_nodes_;
 
     /// Map from ID to node pointer for all condition nodes in network.
     CondNodeMap cond_nodes_;
 
+    /// Map from precondition links to associated ports.
+    PrecondLinkPortMap precond_links_;
+
+    /// Map from effect links to associated ports.
+    EffectLinkPortMap effect_links_;
+
+
+
+    // ************************************************************************
+    // State variables.
+    // ************************************************************************
+
     //Set of Active Task Nodes
-    std::set<SANet::TaskID> active_tasks;
+    std::set<SANet::TaskID> active_tasks_;
 
     //Set of Disabled Task Nodes
-    std::set<SANet::TaskID> disabled_tasks;
+    std::set<SANet::TaskID> disabled_tasks_;
 
     //Set of Active Condition Nodes
-    std::set<SANet::CondID> active_conds;
+    std::set<SANet::CondID> active_conds_;
 
     //Set of Active Task Nodes
-    std::set<SANet::CondID> disabled_conds;
-
-    /// Map from precondition links to associated ports.
-    PrecondLinkPortMap precond_links_;
-
-    /// Map from effect links to associated ports.
-    EffectLinkPortMap effect_links_;
+    std::set<SANet::CondID> disabled_conds_;
 
     /// Goals.
     GoalMap goals_;
@@ -433,16 +439,26 @@ namespace SANet {
     int step_;
 
 
-	//bool is_clink_first_to_cond_by_first(TaskID task, CondID cond);
-	//bool is_clink_first_to_cond_by_cond (CondID cond, TaskID task);
-	//bool is_clink_cond_to_second_by_second(TaskID task, CondID cond);
-	//bool is_clink_cond_to_second_by_cond(CondID cond, TaskiD second);
 
-	std::multimap<TaskID, SA_POP::CausalLink> causal_links_by_first_;
-	std::multimap<CondID, SA_POP::CausalLink> causal_links_by_cond_;
-	std::multimap<TaskID, SA_POP::CausalLink> causal_links_by_second_;
+//    bool restrict_prop_to_clinks_;
+
+
+//    std::multimap<TaskID, SA_POP::CausalLink> causal_links_by_first_;
+//    std::multimap<CondID, SA_POP::CausalLink> causal_links_by_cond_;
+//    std::multimap<TaskID, SA_POP::CausalLink> causal_links_by_second_;
+
+
+
+    // ************************************************************************
+    // State helper methods.
+    // ************************************************************************
+
+    void reset_step();
 
-	bool restrict_prop_to_clinks_;
+    //bool is_clink_first_to_cond_by_first(TaskID task, CondID cond);
+    //bool is_clink_first_to_cond_by_cond (CondID cond, TaskID task);
+    //bool is_clink_cond_to_second_by_second(TaskID task, CondID cond);
+    //bool is_clink_cond_to_second_by_cond(CondID cond, TaskiD second);
   };
 };
 
diff --git a/SA_POP/SANet/SANode.cpp b/SA_POP/SANet/SANode.cpp
index 13956f4850d..2a8838043a8 100644
--- a/SA_POP/SANet/SANode.cpp
+++ b/SA_POP/SANet/SANode.cpp
@@ -449,11 +449,6 @@ bool TaskNode::update (void)
   // Update step (at end of step for task node).
   step_++;
 
-//  if(this->ID_ == 20){
-//	  this->pos_util_.utility = 100;
-//  }
-
-
   // Return boolean changed value based on change flags.
   return (prob_changed_ || util_changed_);
 
diff --git a/SA_POP/SANet/SANode.h b/SA_POP/SANet/SANode.h
index d52b938f058..4a205e86183 100644
--- a/SA_POP/SANet/SANode.h
+++ b/SA_POP/SANet/SANode.h
@@ -451,7 +451,7 @@ namespace SANet {
      */
     virtual void add_pre_link (TaskID ID, TaskNode *node, LinkWeight weight);
 
-    /// update pre-link.
+    /// Update pre-link.
     /**
      * @param ID  Node ID.
      *
diff --git a/SA_POP/SA_POP_Types.h b/SA_POP/SA_POP_Types.h
index daf36b0919e..5cf91c6b04d 100644
--- a/SA_POP/SA_POP_Types.h
+++ b/SA_POP/SA_POP_Types.h
@@ -30,13 +30,13 @@
 #endif  /* SA_POP_HAS_ACE */
 
 
-#define SA_POP_DEBUG_VERBOSE 1
-#define SA_POP_DEBUG_NORMAL 5
-#define SA_POP_DEBUG_MINIMAL 9
-#define SA_POP_DEBUG_HIGH 10
+#define SA_POP_DEBUG_TEMP 1
+#define SA_POP_DEBUG_QUIET 10
+#define SA_POP_DEBUG_NORMAL 20
+#define SA_POP_DEBUG_VERBOSE 30
 
 // SET current SA-POP Debug output level.
-#define SA_POP_DEBUG_LEVEL SA_POP_DEBUG_MINIMAL
+#define SA_POP_DEBUG_LEVEL SA_POP_DEBUG_QUIET
 
 #define _CRTDBG_MAP_ALLOC
 #if defined (SA_POP_HAS_ACE)
diff --git a/SA_POP/SA_WorkingPlan.cpp b/SA_POP/SA_WorkingPlan.cpp
index 540f09d03d5..27a99e46735 100644
--- a/SA_POP/SA_WorkingPlan.cpp
+++ b/SA_POP/SA_WorkingPlan.cpp
@@ -357,7 +357,7 @@ void SA_WorkingPlan::generate_all_threats(void)
 		debug_text <<"  Task (" <<threat_possibility_taskid << ")"<< ": Inst (" <<iterator->first << ")" << std::endl;
 	}
 	debug_text<<std::endl;
-	SA_POP_DEBUG_STR (SA_POP_DEBUG_MINIMAL, debug_text.str ());
+	SA_POP_DEBUG_STR (SA_POP_DEBUG_QUIET, debug_text.str ());
 	debug_text.str("");
 
 	debug_text << "SA_WorkingPlan::generate_all_threats:  All Causal Threats: " << std::endl;
diff --git a/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_SchedStrategy.cpp b/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_SchedStrategy.cpp
index ed166b95314..3aa16132409 100644
--- a/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_SchedStrategy.cpp
+++ b/SA_POP/experiments/EU_Performance/Exp_Core/Exp_EU_SchedStrategy.cpp
@@ -59,7 +59,7 @@ bool Exp_EU_SchedStrategy::satisfy_sched (TaskInstID task_inst)
 	CommandID cur_cmd_id = this->planner_->cur_command_id();
 	this->cur_seq_num_=1;
 
-  SA_POP_DEBUG (SA_POP_DEBUG_MINIMAL, "NO SCHEDULING with ROADBLOCK SCHEDULER");
+  SA_POP_DEBUG (SA_POP_DEBUG_NORMAL, "NO SCHEDULING with ROADBLOCK SCHEDULER");
   // Don't do any propagation for roadblock scheduler.
 /*
   // Do the energy propogation for this task instance