Fri Oct 2 23:31:27 UTC 2009 Ben Podgursky <bpodgursky@gmail.com>

7 files changed, 31 insertions, 16 deletions

diff --git a/ChangeLog b/ChangeLog
index aa7a4092e2f..fc4b0628af1 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,10 +1,22 @@
+Fri Oct  2 23:31:27 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
+
+        * SANet/SANet.cpp:
+        * SANet/SANetFileIn.cpp:
+
+        * SA_POP_Types.h:
+        * SA_PlanHeuristics.cpp:
+        * SA_WorkingPlan.cpp:
+        * TaskMapFileIn.cpp:
+
+	Init task renumbered
+
 Thu Oct  1 21:33:24 UTC 2009  unknown  <unknown@vanderbilt.edu>
 
         * SA_POP_Types.h:
         * SA_PlanStrategy.cpp:
-        * SA_SchedStrategy.cpp:		
+        * SA_SchedStrategy.cpp:
 
-	Various cleanup
+        Various cleanup
 
 Thu Oct  1 20:10:38 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
diff --git a/SANet/SANet.cpp b/SANet/SANet.cpp
index 61489ddc01b..981ff8e4d49 100644
--- a/SANet/SANet.cpp
+++ b/SANet/SANet.cpp
@@ -14,6 +14,7 @@
 #include <map>
 #include <iostream>
 #include "SANet_Types.h"
+#include "SA_POP_Types.h"
 #include "SANet.h"
 #include "SANode.h"
 #include "SANet_Exceptions.h"
@@ -406,15 +407,15 @@ void SANet::Network::update (int max_steps)
     }
   }
 
+  //Until the initial task is not a task, we need to ensure that it always has a higher
+  //utility than anything else so it is considered first as a way to satisfy a task.
   double max_util = 0;
   for(TaskNodeMap::iterator it = task_nodes_.begin(); it != task_nodes_.end(); it++){
 	  if(it->second->get_pos_util().utility > max_util){
 		  max_util = it->second->get_pos_util().utility;
-	  }
-	  
+	  }	  
   }
-
-  task_nodes_.find(20)->second->set_pos_util(max_util*2);
+  task_nodes_.find(SA_POP::INIT_TASK_ID)->second->set_pos_util(max_util*2);
 
 };
 
diff --git a/SANet/SANetFileIn.cpp b/SANet/SANetFileIn.cpp
index 5025f4091ed..a8c3c6da4a3 100644
--- a/SANet/SANetFileIn.cpp
+++ b/SANet/SANetFileIn.cpp
@@ -14,6 +14,7 @@
 
 #include "SANet_Types.h"
 #include "SANetFileIn.h"
+#include "SA_POP_Types.h"
 
 #if !defined (SANET_STANDALONE)
 #include "Builder.h"
@@ -185,7 +186,7 @@ void SANetFileIn::build_net (std::string filename, SA_POP::Builder *builder)
     builder->add_task (nodeID, priorProb, name);
   }
   
-	builder->add_task(20, .5, "initact");
+  builder->add_task(SA_POP::INIT_TASK_ID, .5, "initact");
 
   // Get condition nodes.
   for (SANet::XML::Network::condNode_iterator iter = xml_net.begin_condNode ();
@@ -207,7 +208,7 @@ void SANetFileIn::build_net (std::string filename, SA_POP::Builder *builder)
   else cond=::SA_POP::DATA;
 	builder->add_cond (nodeID, utility, probTrue, name, cond);
 
-	builder->set_effect(20, nodeID, "", (probTrue-.5)*2);
+	builder->set_effect(SA_POP::INIT_TASK_ID, nodeID, "", (probTrue-.5)*2);
   }
 
   // Get precondition->task links.
diff --git a/SA_POP_Types.h b/SA_POP_Types.h
index 9efffe81c9c..c74cd776466 100644
--- a/SA_POP_Types.h
+++ b/SA_POP_Types.h
@@ -150,6 +150,8 @@ namespace SA_POP {
 	/// Null task instance ID (for unknown/uninitialized task instances).
 	const TaskInstID NULL_TASK_INST_ID = -2;
 
+	const TaskID INIT_TASK_ID = -5;
+
 	/// Type of a task implementation id.
 	/// (must be unique across all task implementations).
 	typedef std::string TaskImplID;
diff --git a/SA_PlanHeuristics.cpp b/SA_PlanHeuristics.cpp
index afd4561d09f..11599e60b79 100644
--- a/SA_PlanHeuristics.cpp
+++ b/SA_PlanHeuristics.cpp
@@ -223,7 +223,7 @@ TaskChoiceList SA_TaskStrategy::choose_task_fair (Condition open_cond)
 			to_sort.note_instance(it->second);
 		  }
 	
-		  if(!(iter->second == 20 && this->planner_->init_added)){
+		  if(!(iter->second == INIT_TASK_ID && this->planner_->init_added)){
 			tasks_with_existing_instances.push_back(to_sort);
 		 }
 	  
@@ -258,7 +258,7 @@ TaskChoiceList SA_TaskStrategy::choose_task (Condition open_cond)
   TaskSet tasks = this->planner_->get_satisfying_tasks (open_cond);
 
   if(this->planner_->init_added){
-    tasks.erase(20);
+    tasks.erase(INIT_TASK_ID);
   }
     
   // Add tasks to map with EU (to sort).
@@ -278,7 +278,6 @@ TaskChoiceList SA_TaskStrategy::choose_task (Condition open_cond)
 
   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));
   }
 
diff --git a/SA_WorkingPlan.cpp b/SA_WorkingPlan.cpp
index 07e3cdcd7bc..8364de87682 100644
--- a/SA_WorkingPlan.cpp
+++ b/SA_WorkingPlan.cpp
@@ -600,12 +600,12 @@ void SA_WorkingPlan::execute (SA_AddTaskCmd *cmd)
 	}
 	else if(task_choice.choice == NEW_INST){
 
-		if(task == 20 && this->planner_->init_added)
+		if(task == INIT_TASK_ID && this->planner_->init_added)
 		{
 			throw "Reached SA_WorkingPlan::execute (SA_AddTaskCmd *cmd) for Special Initial Action after it was already existing instance tried";
 		}
 
-		if(task == 20){
+		if(task == INIT_TASK_ID){
 			this->planner_->init_added =  true;
 		}
 
@@ -769,7 +769,7 @@ void SA_WorkingPlan::undo (SA_AddTaskCmd *cmd)
 
 
 	if(cmd->last_task_choice_.choice == NEW_INST){
-		if(cmd->last_task_ == 20){
+		if(cmd->last_task_ == INIT_TASK_ID){
 			planner_->init_added = false;
 		}
 
@@ -957,7 +957,7 @@ bool SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd)
 	Condition condition = cmd->condition;
 
 
-	if(task_insts_.find(cmd->second)->second == 20){
+	if(task_insts_.find(cmd->second)->second == INIT_TASK_ID){
 
 		debug_text << "SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd):  Cannot schedule before initial task"<<std::endl;
 		SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ());
diff --git a/TaskMapFileIn.cpp b/TaskMapFileIn.cpp
index 37c89381d69..583a95c4551 100644
--- a/TaskMapFileIn.cpp
+++ b/TaskMapFileIn.cpp
@@ -164,7 +164,7 @@ void TaskMapFileIn::build_task_map (std::string filename, Builder *builder)
     builder->assoc_task_with_impl (taskID, implID, duration);
   }
 
-  builder->assoc_task_with_impl (20, "initact_impl", 1);
+  builder->assoc_task_with_impl (INIT_TASK_ID, "initact_impl", 1);
 
   // Get task implementation to resource associations.
   for (SA_POP::XML::TaskMap::implToResource_iterator iassocr_iter =