Tue Aug 4 22:14:56 UTC 2009 Ben Podgursky <bpodgursky@gmail.com>

6 files changed, 85 insertions, 19 deletions

diff --git a/ChangeLog b/ChangeLog
index 54a8bc1859b..4f7797dbfe6 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,16 @@
+Tue Aug  4 22:14:56 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
+
+        * SANet/SANetFileIn.cpp:
+
+        * SA_POP_Types.h:
+        * SA_PlanHeuristics.h:
+        * SA_PlanHeuristics.cpp:
+        * SA_PlanStrategy.cpp:
+		
+		Various fixes that make SAPOP correctly handle situations with negative preconditions
+		/goals.  Changed Condition equality to handle value, changed SANetFileIn to give conditions
+		correct initial values, and initial action effects all conditions now
+
 Wed Jul 29 20:06:21 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
         * C2W/C2W_Demo.cpp:
@@ -12,12 +25,12 @@ Wed Jul 29 20:06:21 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
         * SANet/SANode.h:
         * SANet/SANode.cpp:
 
-	Now adds an initial action with an effect of setting all true conditions true.  
-	So the loop in get unsat preconditions that eliminates preconditions true in the environment
-	is gone, since it could generate incorrect plans in environments with threats
+        Now adds an initial action with an effect of setting all true conditions true.
+        So the loop in get unsat preconditions that eliminates preconditions true in the environment
+        is gone, since it could generate incorrect plans in environments with threats
 
-	SANet also sets the utility of this initial condition higher than all other actions, as it should
-	be the first try always
+        SANet also sets the utility of this initial condition higher than all other actions, as it should
+        be the first try always
 
         * SA_POP_Types.h:
         * SA_PlanCommands.h:
@@ -31,10 +44,10 @@ Wed Jul 29 20:06:21 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
         * SA_WorkingPlan.cpp:
         * TaskMapFileIn.cpp:
 
-	Map from last commit has been fixed.
-	
-	Implements a suspended condition map for fixing looping
-	
+        Map from last commit has been fixed.
+
+        Implements a suspended condition map for fixing looping
+
 
 Thu Jul 16 06:13:54 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
diff --git a/SANet/SANetFileIn.cpp b/SANet/SANetFileIn.cpp
index 467b3bc0f86..1d6fbea107e 100644
--- a/SANet/SANetFileIn.cpp
+++ b/SANet/SANetFileIn.cpp
@@ -206,9 +206,9 @@ void SANetFileIn::build_net (std::string filename, SA_POP::Builder *builder)
 	else if(cond_kind==cond_kind.SYSTEM) cond=::SA_POP::SYSTEM;
   else cond=::SA_POP::DATA;
 	//Note: 0 here because of the initial action.  Changed from probTrue--Ben
-	builder->add_cond (nodeID, utility, 0, name, cond);
+	builder->add_cond (nodeID, utility, probTrue, name, cond);
 
-	if((probTrue-.5)*2 > 0)
+//	if((probTrue-.5)*2 > 0)
 		builder->set_effect(20, nodeID, "", (probTrue-.5)*2);
   }
 
diff --git a/SA_POP_Types.h b/SA_POP_Types.h
index d25830d85d6..cbd9a3d3e77 100644
--- a/SA_POP_Types.h
+++ b/SA_POP_Types.h
@@ -72,7 +72,7 @@ namespace SA_POP {
     CondID id;
     CondValue value;
     CondKind kind;
-    bool operator== (const Condition &s) const { return this->id == s.id; };
+	bool operator== (const Condition &s) const { return this->id == s.id && this->value == s.value; };
     bool operator!= (const Condition &s) const { return !(*this == s); };
     bool operator< (const Condition &s) const { return this->id < s.id; };
   };
@@ -529,17 +529,20 @@ namespace SA_POP {
 	
 	Condition satisfied_cond;
 	TaskID satisfying_task;
+	bool satisfied_to;
 
 	StoredCondition(){};
 
 	StoredCondition(Condition cond, TaskID task){
 		this->satisfied_cond = cond;
+		this->satisfied_to = cond.value;
 		this->satisfying_task = task;
 	}
 
 	bool operator==(const StoredCondition & s)const{
 		return (satisfied_cond == s.satisfied_cond &&
-			satisfying_task == s.satisfying_task);
+			satisfying_task == s.satisfying_task &&
+			satisfied_to == s.satisfied_to);
 	};
 
 	bool operator<(const StoredCondition & s) const{
@@ -621,8 +624,6 @@ namespace SA_POP {
 					for(StoredConditionSet::iterator it2 = old_open_conds.begin();
 						it2 != old_open_conds.end(); it2++)
 					{
-						if((*it2).satisfying_task == -1) 
-							bool breakkk = 0;
 
 
 						std::pair<OpenCondMap::iterator, OpenCondMap::iterator>
@@ -639,7 +640,8 @@ namespace SA_POP {
 							else{
 								if((*it3).second == -1)
 								{}
-								else if((*it2).satisfying_task == task_insts.find((*it3).second)->second){
+								else if((*it2).satisfying_task == task_insts.find((*it3).second)->second &&
+									(*it2).satisfied_to == ((*it3).first).value){
 									found_no_equiv_in_open = false;
 								}
 							}
diff --git a/SA_PlanHeuristics.cpp b/SA_PlanHeuristics.cpp
index 7fd50172445..afd4561d09f 100644
--- a/SA_PlanHeuristics.cpp
+++ b/SA_PlanHeuristics.cpp
@@ -83,6 +83,53 @@ Condition SA_CondStrategy::choose_cond_suspension (const OpenCondMap &open_conds
 //  return open_conds.front().first;
 };
 
+// Choose the next open condition to satisfy.
+Condition SA_CondStrategy::choose_cond_suspension_most_constrained (const OpenCondMap &open_conds)
+{
+
+  if (open_conds.empty ())
+    throw "SA_POP::SA_CondStrategy::choose_cond (): Empty condition list.";
+
+  // Return first data condition.
+  for (OpenCondMap::const_iterator iter = open_conds.begin ();
+    iter != open_conds.end (); iter++)
+  {
+    if (iter->first.kind == SA_POP::DATA)
+      return iter->first;
+  }
+
+	std::map<int, std::pair<Condition, TaskInstID>> by_num_satisfying;
+
+	for(OpenCondMap::const_iterator iter = open_conds.begin();
+		iter != open_conds.end(); iter++){
+
+		int num_sat = this->planner_->get_satisfying_tasks(iter->first).size();
+			
+
+		by_num_satisfying.insert(std::pair<int, std::pair<Condition, TaskInstID>>(num_sat, *iter));
+	}
+
+  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++){
+	  
+
+	if(!working_plan->condition_in_suspended(it->second.first, it->second.second)){
+
+			Condition cond = it->second.first;
+
+			return cond;
+	  }else{
+		bool grah = true;
+	  }
+  }
+
+  return working_plan->get_no_condition();
+
+  // If no data conditions, just return first condition.
+//  return open_conds.front().first;
+};
+
 
 
 // Constructor.
diff --git a/SA_PlanHeuristics.h b/SA_PlanHeuristics.h
index 216d7391c76..9604719baee 100644
--- a/SA_PlanHeuristics.h
+++ b/SA_PlanHeuristics.h
@@ -47,6 +47,8 @@ namespace SA_POP {
     virtual Condition choose_cond (const OpenCondMap &open_conds);
 
 	virtual Condition choose_cond_suspension (const OpenCondMap &open_conds);
+  
+	virtual Condition choose_cond_suspension_most_constrained (const OpenCondMap &open_conds);
   };
 
   /**
diff --git a/SA_PlanStrategy.cpp b/SA_PlanStrategy.cpp
index e6cbb685b12..e3023bff98a 100644
--- a/SA_PlanStrategy.cpp
+++ b/SA_PlanStrategy.cpp
@@ -142,7 +142,7 @@ bool SA_PlanStrategy::satisfy_open_conds (void)
   // If all open conditions have been satisfied, then return true for success.
   if (this->open_conds_.empty ())
 	  return this->planner_->full_sched();
-//))!(this->planner_->get_working_plan()->get_all_insts().size() > 8)
+//))//!(this->planner_->get_working_plan()->get_all_insts().size() > 8))
   if(true){
 	  // Increment step counter.
 	  this->cur_step_++;
@@ -634,8 +634,10 @@ AddTaskCmd *SA_PlanStrategy::satisfy_cond (Condition open_cond)
   for (OpenCondMap::iterator iter = this->open_conds_.lower_bound (open_cond);
     iter != this->open_conds_.upper_bound (open_cond); iter++)
   {
-    inst_set.insert (iter->second);
-	break;
+	  if(iter->first.value == open_cond.value){
+		inst_set.insert (iter->second);
+		break;
+	  }
   }
   add_task_cmd->set_causal_info (open_cond, inst_set);