Fri Dec 4 18:16:57 UTC 2009 Daniel L.C. Mack <daniel.l.mack@vanderbilt.edu>

5 files changed, 211 insertions, 13 deletions

diff --git a/SA_POP/ChangeLog b/SA_POP/ChangeLog
index 210cd50e76c..2b7856a2ade 100644
--- a/SA_POP/ChangeLog
+++ b/SA_POP/ChangeLog
@@ -1,18 +1,28 @@
+Fri Dec  4 18:16:57 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
+
+        * SANet/SANet.h:
+        * SANet/SANet.cpp:
+        * SANet/SANode.h:
+        * SANet/SANode.cpp:
+
+	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>
 
         * utils/SANetGenerator/Net_Complete.py:
         * utils/SANetGenerator/Net_Skeleton.py:
         * utils/SANetGenerator/Rand_Params.py:
-	
-	Added the capability of the SANet Generator to utilize some simple parameterization
-	and output a SANet .xml file
+
+        Added the capability of the SANet Generator to utilize some simple parameterization
+        and output a SANet .xml file
 
 
 Tue Nov 10 21:54:59 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
         * utils/SANetGenerator/Net_Skeleton.py:
 
-	Updated to fix a bug with knowing when to stop.
+        Updated to fix a bug with knowing when to stop.
 
 Mon Nov  9 00:49:19 UTC 2009  William R. Otte  <wotte@dre.vanderbilt.edu>
 
diff --git a/SA_POP/SANet/SANet.cpp b/SA_POP/SANet/SANet.cpp
index 13b6275485c..c29dbe5ce8d 100644
--- a/SA_POP/SANet/SANet.cpp
+++ b/SA_POP/SANet/SANet.cpp
@@ -63,6 +63,9 @@ void SANet::Network::add_task (TaskID ID, std::string name, MultFactor atten_fac
   // Task node pointer.
   TaskNode *node;
 
+  // Set initially to active
+  active_tasks.insert(ID);
+
   // Add task node, throwing exception if insertion fails.
   node = new TaskNode (ID, name, atten_factor, cost, prior_prob);
   if (!(task_nodes_.insert (std::make_pair (ID, node))).second)
@@ -129,6 +132,9 @@ void SANet::Network::add_cond (CondID ID, std::string name, MultFactor atten_fac
   // Condition node pointer.
   CondNode *node;
 
+  // Set initially to active
+  active_conds.insert(ID);
+
   // Add condition node, throwing exception if insertion fails.
   node = new CondNode (ID, name, atten_factor,
     true_prob, false_prob, goal_util, cond_kind);
@@ -385,22 +391,26 @@ void SANet::Network::update (int max_steps)
     // Reset net_changed flag.
     net_changed = false;
 
-    // Update all task nodes.
-    for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
-      node_iter != task_nodes_.end (); node_iter++)
+    // 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++)
     {
       // Update node, setting net_changed flag if node changed.
-      if (node_iter->second->update ()) {
+      if (task_nodes_.find(*node_iter)->second->update ()) {
         net_changed = true;
       }
     }
 
-    // Update all condition nodes.
-    for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
-      node_iter != cond_nodes_.end (); node_iter++)
+    // 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++)
     {
       // Update node, setting net_changed flag if node changed.
-      if (node_iter->second->update ()) {
+      if (cond_nodes_.find(*node_iter)->second->update ()) {
         net_changed = true;
       }
     }
@@ -651,3 +661,102 @@ LinkPorts SANet::Network::get_clink_ports (TaskID task1_id, CondID cond_id,
   return std::make_pair (this->get_effect_port (task1_id, cond_id),
     this->get_precond_port (cond_id, task2_id));
 };
+
+/// Set Task State.
+void SANet::Network::set_task_state(TaskID task_ID, bool state)
+{
+
+    task_nodes_.find(task_ID)->second->set_activity(state);
+
+    if(state)
+    {
+      //insetr into active, remove from disabled
+      active_tasks.insert(task_ID);
+
+      disabled_tasks.erase(task_ID);
+
+    }
+    else
+    {
+      //remove from active, insert into disabled
+
+      active_tasks.erase(task_ID);
+
+      disabled_tasks.insert(task_ID);
+    }
+}
+
+/// Set Cond State.
+void SANet::Network::set_cond_state(CondID cond_ID, bool state)
+{
+    
+    cond_nodes_.find(cond_ID)->second->set_activity(state);
+    if(state)
+    {
+      //insetr into active, remove from disabled
+      active_conds.insert(cond_ID);
+
+
+      disabled_conds.erase(cond_ID);
+
+    }
+    else
+    {
+      //remove from active, insert into disabled
+
+      active_conds.erase(cond_ID);
+
+      disabled_conds.insert(cond_ID);
+    }
+
+}
+
+/// Set All nodes to State.
+void SANet::Network::set_nodes_state(bool state)
+{
+    if(state)
+    {
+
+      //insetr all tasks into active, remove from disabled
+      for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
+      node_iter != task_nodes_.end (); node_iter++)
+      {
+        node_iter->second->set_activity(state);
+        active_tasks.insert(node_iter->first);
+
+        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);
+
+        disabled_conds.erase(node_iter->first);
+      }
+    }
+    else
+    {
+      //remove from active, insert into disabled
+
+      for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
+      node_iter != task_nodes_.end (); node_iter++)
+      {
+        node_iter->second->set_activity(state);
+        active_tasks.erase(node_iter->first);
+
+        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);
+
+        disabled_conds.insert(node_iter->first);
+      }
+    }
+
+}
\ No newline at end of file
diff --git a/SA_POP/SANet/SANet.h b/SA_POP/SANet/SANet.h
index 7368037de24..a0b726119a6 100644
--- a/SA_POP/SANet/SANet.h
+++ b/SA_POP/SANet/SANet.h
@@ -16,6 +16,7 @@
 
 #include <iostream>
 #include <map>
+#include <set>
 #include <stdexcept>
 #include "SANet_Types.h"
 #include "SANode.h"
@@ -153,6 +154,34 @@ namespace SANet {
     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;
+     */
+    virtual void set_task_state(TaskID task_ID, bool state);
+
+    /// Set Cond State.
+    /**
+     *
+     * @param cond_ID  Condition node ID.
+     *
+     *
+     * @param state State for the condition to be set to;
+     */
+    virtual void set_cond_state(CondID cond_ID, bool state);
+
+        /// Set All nodes to State.
+    /**
+     *
+     *
+     * @param state State to set all nodes to;
+     */
+    virtual void set_nodes_state(bool state);
+
     /// Update the task prior.
     /**
      *
@@ -368,6 +397,18 @@ namespace SANet {
     /// Map from ID to node pointer for all condition nodes in network.
     CondNodeMap cond_nodes_;
 
+    //Set of Active Task Nodes
+    std::set<SANet::TaskID> active_tasks;
+
+    //Set of Disabled Task Nodes
+    std::set<SANet::TaskID> disabled_tasks;
+
+    //Set of Active Condition Nodes
+    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_;
 
diff --git a/SA_POP/SANet/SANode.cpp b/SA_POP/SANet/SANode.cpp
index 3bc88337ad3..8dae4e4eb0f 100644
--- a/SA_POP/SANet/SANode.cpp
+++ b/SA_POP/SANet/SANode.cpp
@@ -24,7 +24,8 @@ Node::Node (NodeID ID, std::string name, MultFactor atten_factor)
   atten_factor_ (atten_factor),
   step_ (0),
   prob_changed_ (false),
-  util_changed_ (false)
+  util_changed_ (false) ,
+  active(true)
 {
   // Initialize probability and utility info.
   pos_util_.utility = 0;
@@ -89,6 +90,12 @@ std::string Node::get_name (void)
   return name_;
 };
 
+/// Set activity flag
+void Node::set_activity (bool state)
+{
+  active = state;
+}
+
 NodeID Node::get_ID (void)
 {
   return ID_;
@@ -128,8 +135,18 @@ void TaskNode::set_pos_util(double util){
 	this->pos_util_.utility = util;
 }
 
+
+
 bool TaskNode::update (void)
 {
+
+  //Check to see if node is active before updating 
+  if(!active)
+  {
+    //the node should return as not changing the network
+    return false;
+  }
+
   // Reset change flags.
   prob_changed_ = false;
   util_changed_ = false;
@@ -140,6 +157,8 @@ bool TaskNode::update (void)
   util_changed_ = true;
   //****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
 
+
+
   // Flag for detection of loops.
   bool is_loop = false;
 
@@ -972,6 +991,14 @@ void CondNode::print (std::basic_ostream<char, std::char_traits<char> >&
 
 bool CondNode::update (void)
 {
+
+  //Check to see if node is active before updating 
+  if(!active)
+  {
+    //the node should return as not changing the network
+    return false;
+  }
+
   // Reset change flags.
   prob_changed_ = false;
   util_changed_ = false;
diff --git a/SA_POP/SANet/SANode.h b/SA_POP/SANet/SANode.h
index f478d6887b0..f10462ffbc1 100644
--- a/SA_POP/SANet/SANode.h
+++ b/SA_POP/SANet/SANode.h
@@ -128,6 +128,13 @@ namespace SANet {
      */
     virtual NodeID get_ID (void);
 
+    /// Set activity flag
+    /**
+     * 
+     * @param state the new state for the node
+     */
+    virtual void set_activity (bool state);
+
     /// Get pre-links (nodes with links to this node).
     /**
      * @return  Map of pre-node IDs to link weights.
@@ -161,6 +168,9 @@ namespace SANet {
     /// Unique ID of node (for identification within network).
     NodeID ID_;
 
+    /// Flag indicating whether the node is active.
+    bool active;
+
     /// Name of node (descriptive only).
     std::string name_;
 
@@ -299,6 +309,7 @@ namespace SANet {
      */
     virtual void update_prior (Probability prior);
 
+
     /// Add precondition link.
     /**
      * @param ID  Node ID.