Fri Dec 11 05:37:26 UTC 2009 Ben Podgursky <bpodgursky@gmail.com>

8 files changed, 78 insertions, 15 deletions

diff --git a/SA_POP/C2W/C2W_Demo.cpp b/SA_POP/C2W/C2W_Demo.cpp
index 8f7c9651833..3e2f3c96ebe 100644
--- a/SA_POP/C2W/C2W_Demo.cpp
+++ b/SA_POP/C2W/C2W_Demo.cpp
@@ -263,7 +263,7 @@ int main (int argc, char* argv[])
 	  //planner->add_out_adapter (&screen_out);
 
     planner->plan (15, goal);
-	planner->calculate_plan_utility(115);
+	planner->calculate_plan_utility(15);
 
   //} 
   /*
diff --git a/SA_POP/ChangeLog b/SA_POP/ChangeLog
index 7cf6097d71e..6b26e078c1a 100644
--- a/SA_POP/ChangeLog
+++ b/SA_POP/ChangeLog
@@ -1,3 +1,19 @@
+Fri Dec 11 05:37:26 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
+
+        * C2W/C2W_Demo.cpp:
+
+        * Planner.cpp:
+
+        * SANet/SANet.h:
+        * SANet/SANet.cpp:
+        * SANet/SANode.h:
+        * SANet/SANode.cpp:
+
+        * SA_PlanStrategy.cpp:
+
+	Update in spreading activation now only affects those conditions/tasks which are active.  Added calculate_plan_utility
+	method to planner which returns the expected utility of the current plan.
+
 Sat Dec  5 07:07:45 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
         * C2W/C2W_Demo.cpp:
@@ -14,7 +30,7 @@ Sat Dec  5 07:07:45 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
         * utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java:
 
-	Added choose-task-once strategy, other cleanup.  Metrics gathering in translator
+        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>
 
diff --git a/SA_POP/Planner.cpp b/SA_POP/Planner.cpp
index a6d6710d937..84dac981129 100644
--- a/SA_POP/Planner.cpp
+++ b/SA_POP/Planner.cpp
@@ -524,15 +524,24 @@ 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);
 		}
+		std::cout<<(*it).cond.id<<" cond, "<<(*it).first<<" first, "<<(*it).second<<" second"<<std::endl;
+
 	}
 
-	sanet_->update(sa_max_steps);
 
 	GoalMap goals = this->get_goals();
 
+	for(GoalMap::iterator it = goals.begin(); it != goals.end(); it++){
+		this->sanet_->set_cond_state(it->first, true);
+	}
+
+	sanet_->update(sa_max_steps);
+
 	double conj_utils = 0;
 	for(GoalMap::iterator it = goals.begin(); it != goals.end(); it++){
-		conj_utils+=(it->second * this->get_cond_val(it->first));
+		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<<"Plan utility: "<<conj_utils<<std::endl;
diff --git a/SA_POP/SANet/SANet.cpp b/SA_POP/SANet/SANet.cpp
index 2f9fcef0ff4..2b32b0c66dc 100644
--- a/SA_POP/SANet/SANet.cpp
+++ b/SA_POP/SANet/SANet.cpp
@@ -32,6 +32,10 @@ SANet::Network::Network (void)
   this->goals_.clear ();
 };
 
+int SANet::Network::get_step(){
+	return step_;
+}
+
 SANet::Network::~Network ()
 {
   // Deallocate task nodes.
@@ -481,6 +485,13 @@ 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){
+	CondNodeMap::iterator iter = this->cond_nodes_.find(cond_id);
+	if(iter == this->cond_nodes_.end())
+		throw "SANet::Network::get_cond_val (): Unknown condition node.";
+	return iter->second->get_prob (step).probability;
+}
+
 // Get all goals.
 const GoalMap& SANet::Network::get_goals (void)
 {
diff --git a/SA_POP/SANet/SANet.h b/SA_POP/SANet/SANet.h
index 9373ad5be80..488ee75eb45 100644
--- a/SA_POP/SANet/SANet.h
+++ b/SA_POP/SANet/SANet.h
@@ -392,6 +392,10 @@ namespace SANet {
 
 	void reset_step();
 
+	Probability get_current_cond_val(int step, CondID cond_id);
+
+	int get_step();
+
   protected:
     /// Map from ID to node pointer for all task nodes in network.
     TaskNodeMap task_nodes_;
diff --git a/SA_POP/SANet/SANode.cpp b/SA_POP/SANet/SANode.cpp
index 55a26486d5c..13956f4850d 100644
--- a/SA_POP/SANet/SANode.cpp
+++ b/SA_POP/SANet/SANode.cpp
@@ -199,6 +199,10 @@ bool TaskNode::update (void)
     cur_ID = node_iter->first;
     cur_node = (CondNode *) node_iter->second;
 
+	if(!(cur_node->is_active())){
+		continue;
+	}
+
     // Get current link info.
     link_iter = pre_links_.find(cur_ID);
     if (link_iter == pre_links_.end ()) {
@@ -303,6 +307,10 @@ bool TaskNode::update (void)
     cur_ID = node_iter->first;
     cur_node = (CondNode *) node_iter->second;
 
+	if(!(cur_node->is_active())){
+		continue;
+	}
+
     // Update util_changed_ flag if necessary.
     if (cur_node->util_changed ()) {
       util_changed_ = true;
@@ -1000,6 +1008,7 @@ bool CondNode::update (void)
   //Check to see if node is active before updating 
   if(!active)
   {
+	step_++;
     //the node should return as not changing the network
     return false;
   }
@@ -1048,6 +1057,10 @@ bool CondNode::update (void)
     cur_ID = node_iter->first;
     cur_node = (TaskNode *) node_iter->second;
 
+	if(!(cur_node->is_active())){
+		continue;
+	}
+
     // Update util_changed_ flag if necessary.
     if (cur_node->util_changed ()) {
       util_changed_ = true;
@@ -1251,6 +1264,7 @@ bool CondNode::update (void)
     }
     cur_node = (TaskNode *) temp_node_iter->second;
 
+
     // Get current link info.
     link_iter = pre_links_.find(this->false_prob_from_);
     if (link_iter == pre_links_.end ()) {
@@ -1314,6 +1328,10 @@ bool CondNode::update (void)
     cur_ID = node_iter->first;
     cur_node = (TaskNode *) node_iter->second;
 
+	if(!(cur_node->is_active())){
+		continue;
+	}
+
     // Get current link info.
     link_iter = pre_links_.find(cur_ID);
     if (link_iter == pre_links_.end ()) {
@@ -1329,17 +1347,18 @@ bool CondNode::update (void)
     }
 
     // Get current probability info.
-    try {
+    //try {
       cur_prob = cur_node->get_prob (step_);
-    } catch (Invalid_Step e) {
-      std::cerr << "Error in condition node update:  Invalid step value.";
-      std::cerr << std::endl;
-      return false;
-    } catch (...) {
-      std::cerr << "Unexpected exception thrown in condition node update.";
-      std::cerr << std::endl;
-      return false;
-    }
+    //} catch (Invalid_Step e) {
+    //  std::cerr << "Error in condition node update:  Invalid step value.";
+    //  std::cerr << std::endl;
+    //  return false;
+    //} 
+	//catch (...) {
+    //  std::cerr << "Unexpected exception thrown in condition node update.";
+    //  std::cerr << std::endl;
+    //  return false;
+    //}
 
     // Update probability based on current multiplier.
     cur_prob.probability = cur_mult * cur_prob.probability;
diff --git a/SA_POP/SANet/SANode.h b/SA_POP/SANet/SANode.h
index 96366a7a75d..d52b938f058 100644
--- a/SA_POP/SANet/SANode.h
+++ b/SA_POP/SANet/SANode.h
@@ -164,6 +164,10 @@ namespace SANet {
 
 	void reset_step();
 
+	bool is_active(){
+		return active;
+	}
+
   protected:
     /// Unique ID of node (for identification within network).
     NodeID ID_;
diff --git a/SA_POP/SA_PlanStrategy.cpp b/SA_POP/SA_PlanStrategy.cpp
index 6bdbdda60d4..65334b6679e 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_fair (open_cond);
 	add_task_cmd->set_id (this->get_next_cmd_id ());
 	add_task_cmd->set_tasks (task_list);