Wed Jul 1 22:13:25 UTC 2009 Daniel L.C. Mack <daniel.l.mack@vanderbilt.edu>

3 files changed, 34 insertions, 10 deletions

diff --git a/ChangeLog b/ChangeLog
index b4932e9a125..0be39f7c072 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,9 +1,16 @@
+Wed Jul  1 22:13:25 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
+
+        * SA_PlanStrategy.cpp:
+        * SA_WorkingPlan.cpp:
+	Updated to allow for goal_task_inst to be part of threats. 
+	Small aesthetic changes
+
 Tue Jun 30 20:10:07 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
 
         * SA_PlanStrategy.cpp:
         * SA_SchedStrategy.cpp:
-	Modified undo for removing open conds to match the breadth first search.
-	Indented some of ankits code for readability.
+        Modified undo for removing open conds to match the breadth first search.
+        Indented some of ankits code for readability.
 
 Mon Jun 29 21:52:33 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
diff --git a/SA_PlanStrategy.cpp b/SA_PlanStrategy.cpp
index 899b9ba47d6..ea55dcdacc8 100644
--- a/SA_PlanStrategy.cpp
+++ b/SA_PlanStrategy.cpp
@@ -245,6 +245,12 @@ bool SA_PlanStrategy::satisfy_everything(){
 
 	this->cur_task_inst_ = assoc_impl_cmd->get_task_inst ();
 
+  //TEMP***
+  //if(this->cur_task_inst_ == 10)
+  //{
+  //  throw "At the 10th task instance";
+  //}
+
     while (this->planner_->try_next (assoc_impl_cmd->get_id ())) 
     {
 
diff --git a/SA_WorkingPlan.cpp b/SA_WorkingPlan.cpp
index 045655b30ef..5bb69a959aa 100644
--- a/SA_WorkingPlan.cpp
+++ b/SA_WorkingPlan.cpp
@@ -652,12 +652,13 @@ void SA_WorkingPlan::generate_all_threats(void)
 
   debug_text << "SA_WorkingPlan::generate_all_threats:  All Causal Threats: " << std::endl;
 
-
+  //Iterate through task instances
   for(InstToTaskMap::iterator iterator = this->task_insts_.begin(); iterator != this->task_insts_.end(); iterator++){
     TaskInstID threat_possibility = iterator->first;
     TaskID threat_possibility_taskid = iterator->second;
     CondSet set = this->planner_->get_effects(threat_possibility_taskid);
-
+  
+    //Iterate through the effects of each task instance
     for(CondSet::iterator arr = set.begin(); arr != set.end(); arr++){ 
 
         Condition condition = (*arr);
@@ -667,7 +668,7 @@ void SA_WorkingPlan::generate_all_threats(void)
           CondToCLinksMap::iterator
             > ret = this->causal_links_.equal_range(condition);
       
-
+        //Iterates through causal links
         for(CondToCLinksMap::iterator nit = ret.first; nit != ret.second; nit++){
 
             CausalLink causal_threatened = (*nit).second;
@@ -679,18 +680,28 @@ void SA_WorkingPlan::generate_all_threats(void)
            
             if((threat_effect > 0 && causal_effect < 0 )|| (threat_effect < 0 && causal_effect > 0)){
 
-              if(causal_threatened.first != threat_possibility && causal_threatened.second != threat_possibility
-				  && causal_threatened.second != -1)
+              if(causal_threatened.first != threat_possibility && causal_threatened.second != threat_possibility)
               {
-                TaskID threatened_task1 = this->task_insts_.find(causal_threatened.first)->second;
-                TaskID threatened_task2 = this->task_insts_.find(causal_threatened.second)->second;
+                
 
                 CLThreat new_threat;
                 new_threat.clink = causal_threatened;
                 new_threat.threat = threat_possibility;
                 threat_set.insert(new_threat);
 
-                debug_text <<"  Causal link from Task ("<< threatened_task1 <<") Inst ("<< causal_threatened.first <<") to Task ("<< threatened_task2 <<") Inst ("<< causal_threatened.second <<") using condition "<<causal_threatened.cond.id<<" threatened by Task ("<< threat_possibility_taskid <<") Inst ("<<threat_possibility<<")" << std::endl;
+                TaskID threatened_task1 = this->task_insts_.find(causal_threatened.first)->second;
+                if(causal_threatened.second != SA_POP::GOAL_TASK_INST_ID)
+                {
+                 TaskID threatened_task2 = this->task_insts_.find(causal_threatened.second)->second;
+                 debug_text <<"  Causal link from Task ("<< threatened_task1 <<") Inst ("<< causal_threatened.first <<") to Task ("<< threatened_task2 <<") Inst ("<< causal_threatened.second <<") using condition "<<causal_threatened.cond.id<<" threatened by Task ("<< threat_possibility_taskid <<") Inst ("<<threat_possibility<<")" << std::endl;
+
+                }
+                else
+                {
+                  debug_text <<"  Causal link from Task ("<< threatened_task1 <<") Inst ("<< causal_threatened.first <<") to Task ( GOAL_TASK )Inst (GOAL_TASK_INST) using condition "<<causal_threatened.cond.id<<" threatened by Task ("<< threat_possibility_taskid <<") Inst ("<<threat_possibility<<")" << std::endl;
+                }
+
+                
              
               
               }