Thu Oct 1 20:10:38 UTC 2009 Daniel L.C. Mack <daniel.l.mack@vanderbilt.edu>

7 files changed, 183 insertions, 198 deletions

diff --git a/C2W/C2W_Demo.cpp b/C2W/C2W_Demo.cpp
index 2ad8c0355e8..cf53993bb9a 100644
--- a/C2W/C2W_Demo.cpp
+++ b/C2W/C2W_Demo.cpp
@@ -211,7 +211,7 @@ int main (int argc, char* argv[])
 
 
   SA_POP::Planner *planner = 0;
-  SA_POP::LogGraphOut graph_out	(std::cout, 1);
+  SA_POP::LogGraphOut graph_out	(std::cout, false);
   
 
 
@@ -258,7 +258,7 @@ int main (int argc, char* argv[])
     planner->add_out_adapter (&graph_out);
 	  //SA_POP::SchemaOut s_out	(std::cout, *kconds);
     //planner->add_out_adapter (&s_out);
-	  planner->add_out_adapter (&screen_out);
+	  //planner->add_out_adapter (&screen_out);
 
     planner->plan (15, goal);
 
diff --git a/ChangeLog b/ChangeLog
index 3ee453d8d7b..85bf55f1213 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,19 @@
+Thu Oct  1 20:10:38 UTC 2009  Daniel L.C. Mack  <daniel.l.mack@vanderbilt.edu>
+
+        * C2W/C2W_Demo.cpp:
+		Modified the graph_out adapter call to take advantage of the new function call.
+
+        * LogGraphOut.h:
+        * LogGraphOut.cpp:
+		Refactored some of the code that draws the graph, improved visualization of non-stepping graph
+
+        * SANet/SANet.h:
+        * SANet/SANet.cpp:
+		Simplified the print_graphviz function to remove outside logging code. Takes a default color. 
+
+        * SA_PlanStrategy.cpp:
+		Resolved conflict about the task restrictor.
+
 Thu Oct  1 17:25:36 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
         * C2W/C2W_Demo.cpp:
@@ -22,8 +38,8 @@ Thu Oct  1 17:25:36 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
         * utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/PDDL_Translator.java:
 
         * utils/PDDLtoSANetTranslator/PDDLParser/src/Translator/SAN_Data/TaskNode.java:
-		
-		Various changes to the PDDL parser
+
+                Various changes to the PDDL parser
 
 Wed Aug 12 19:15:30 UTC 2009  Ben Podgursky  <bpodgursky@gmail.com>
 
diff --git a/LogGraphOut.cpp b/LogGraphOut.cpp
index b7edb97aeeb..c22c4d9a50e 100644
--- a/LogGraphOut.cpp
+++ b/LogGraphOut.cpp
@@ -33,12 +33,20 @@
 using namespace SA_POP;
 
 // Constructor.
-LogGraphOut::LogGraphOut (std::ostream &out, int startstep)
+LogGraphOut::LogGraphOut (std::ostream &out, bool startstep)
 : out_ (out)
 {
-  graphn = startstep;
+  // Set up the current step
+  if(startstep)
+  {
+    curStep = 1;
+  }
+  else
+  {
+    curStep = 0;
+  }
+  byStep = startstep;
   hasTracks = false;
-  // Nothing to do.
 }
 
 // Destructor.
@@ -91,16 +99,8 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
   time_t cur_time = time(0);
   bool done = false;
 
-  /*
-  GVC_t *gvc;
-  graph_t *g;
-  FILE *fp;
 
-  mfg::DrawGraph * graph;
-  */
-  
-  //gvc = gvContext();
-  //This 
+  //This sends planning info not included in the graph to the console,  about timing windows.
   this->out_ << std::endl;
   this->out_ << "Plan (" << plan.name << ") Changed at " << std::endl;
   this->out_ << ctime (&cur_time) << std::endl;
@@ -118,7 +118,7 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
   //Make sure we don't run out of bounds
   int lastime = 0;
   int plansize = 0;
-  if(graphn > 0)
+  if(byStep)
   {
 	  for (PlanInstSet::iterator inst_iter = plan.task_insts.begin ();
 		inst_iter != plan.task_insts.end ();
@@ -127,11 +127,11 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
 	  	PlanTaskInst inst = *inst_iter;
 		  startimes.push_back(inst.start_window.first);
 	  }
-
+    //Sort the tasks and grab the current latest time
 	  std::sort(startimes.begin(), startimes.end());
-	  if(graphn < startimes.size())
+	  if(curStep < startimes.size())
 	  {
-		  lastime = startimes[graphn];
+		  lastime = startimes[curStep];
 	  }
 	  else
 	  {
@@ -147,163 +147,101 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
   gfile.open("GViz.dot");
 
   
-  gfile << "strict digraph graph" << graphn << " {\n";
+  gfile << "strict digraph graph" << curStep << " {\n";
   
-  if(graphn == 0)
+  //Just draw out the graph from the causal links from the plan.
+  if(!byStep)
   {
+    //Print out the entire graph first.
     planner->print_graph(gfile, graphmap);
+    //Now print out the graph of the causal links in the plan.
 	  for (CLSet::iterator cl_iter = plan.causal_links.begin ();
 		cl_iter != plan.causal_links.end ();
 		cl_iter++)
 	  {
-		CausalLink clink = *cl_iter;
-		//this->out_ << "Build Graph from links.." << std::endl;
-		gfile << "\t" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << "[shape=box];\n";
-		gfile << "\t" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " -> ";
-		gfile <<  planner->get_cond_name (clink.cond.id) << ";\n";
-		gfile << "\t" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << "[shape=box];\n";
-		gfile << "\t" << planner->get_cond_name (clink.cond.id) << " -> ";
-		gfile << planner->get_task_name (
-		  planner->get_task_from_inst (clink.second)) << "\n";
+		  CausalLink clink = *cl_iter;
+		  gfile << "\t" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << "[shape=box];\n";
+		  gfile << "\t" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " -> ";
+		  gfile <<  planner->get_cond_name (clink.cond.id) << ";\n";
+		  gfile << "\t" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << "[shape=box];\n";
+		  gfile << "\t" << planner->get_cond_name (clink.cond.id) << " -> ";
+		  gfile << planner->get_task_name (planner->get_task_from_inst (clink.second)) << "\n";
 	  }
   }
-  else if(graphn == 1)
+  // Draw out the graph as if taking the plan step by step
+  else if(byStep)
   {
+    //Format a dot file with the entire graph to get the entire structure ready to print.
     planner->print_graph(gfile, graphmap);
-	for (CLSet::iterator cl_iter = plan.causal_links.begin ();
-		cl_iter != plan.causal_links.end ();
-		cl_iter++)
-	 {
-		CausalLink clink = *cl_iter;
-		//this->out_ << "Build Graph from links.." << std::endl;
-
-		if(planner->get_start_window (clink.first).first <= lastime)
-		{
-      if(planner->get_start_window (clink.first).first == lastime && !done)
-      {
-        std::map<std::string, std::string>::iterator citer = graphmap.find(planner->get_task_name (planner->get_task_from_inst (clink.first)));
-        if(citer != graphmap.end())
-        {
-          (*citer).second = "green";
-        }
-        citer = graphmap.find(planner->get_cond_name (clink.cond.id));
-        if(citer != graphmap.end())
-        {
-          (*citer).second = "green";
-        }
-        gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << "[shape=box, color= green];\n";
-        gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " [shape=box, style=filled ,color = orange];\n";
-		  	gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << " -> ";
-		  	gfile <<  "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << ";\n";
-      }
-      else
-      {
-        std::map<std::string, std::string>::iterator citer = graphmap.find(planner->get_task_name (planner->get_task_from_inst (clink.first)));
-        if(citer != graphmap.end())
-        {
-          (*citer).second = "blue";
-        }
-        citer = graphmap.find(planner->get_cond_name (clink.cond.id));
-        if(citer != graphmap.end())
-        {
-          (*citer).second = "blue";
-        }
-			  gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << "[shape=box, color= turquoise1];\n";
-        gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[style=filled, color = turquoise1];\n";
-		  	gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << " -> ";
-		  	gfile <<  "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << ";\n";
-      }
-      
-      if(planner->get_start_window (clink.second).first <= lastime)
-			{
-        if(planner->get_start_window (clink.second).first == lastime &&  !done)
+    //Propogate the image of taking a step in the plan by modifying the colors of the nodes.
+    color_step(planner);
+    //Use the timing to find the current step and color as necessary
+	  for (CLSet::iterator cl_iter = plan.causal_links.begin ();cl_iter != plan.causal_links.end ();cl_iter++)
+	  {
+		  CausalLink clink = *cl_iter;
+		  if(planner->get_start_window (clink.first).first <= lastime)
+		  {
+        //Color the current step green
+        if(planner->get_start_window (clink.first).first == lastime && !done)
         {
-          gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << "[shape=box, color = green];\n";
-          //gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[color = green];\n";
-				  gfile << "\t" << "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " -> ";
-				  gfile << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << ";\n";
+          std::map<std::string, std::string>::iterator citer = graphmap.find(planner->get_task_name (planner->get_task_from_inst (clink.first)));
+          if(citer != graphmap.end())
+          {
+            (*citer).second = "green";
+          }
+          citer = graphmap.find(planner->get_cond_name (clink.cond.id));
+          if(citer != graphmap.end())
+          {
+            (*citer).second = "green";
+          }
+          gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << "[shape=box, color= green];\n";
+          gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " [style=filled ,color = orange];\n";
+		  	  gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << " -> ";
+		  	  gfile <<  "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << ";\n";
         }
         else
         {
-				  gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << "[shape=box, color = turquoise1];\n";
-          gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[color = turquoise1];\n";
-				  gfile << "\t" << "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " -> ";
-				  gfile << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << ";\n";
-			
-        }
-      }
-		}
-	 }
-  }
-  else
-  {
-   for (CLSet::iterator cl_iter = plan.causal_links.begin ();
-		cl_iter != plan.causal_links.end ();
-		cl_iter++)
-	 {
-		CausalLink clink = *cl_iter;
-		//this->out_ << "Build Graph from links.." << std::endl;
-
-		if(planner->get_start_window (clink.first).first <= lastime)
-		{
-      if(planner->get_start_window (clink.first).first == lastime && !done)
-      {
-        std::map<std::string, std::string>::iterator citer = graphmap.find(planner->get_task_name (planner->get_task_from_inst (clink.first)));
-        if(citer != graphmap.end())
-        {
-          (*citer).second = "green";
+          //Go through and color the path to the current step blue.
+          std::map<std::string, std::string>::iterator citer = graphmap.find(planner->get_task_name (planner->get_task_from_inst (clink.first)));
+          if(citer != graphmap.end())
+          {
+            (*citer).second = "blue";
+          }
+          citer = graphmap.find(planner->get_cond_name (clink.cond.id));
+          if(citer != graphmap.end())
+          {
+            (*citer).second = "blue";
+          }
+			    gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << "[shape=box, color= turquoise1];\n";
+          gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[style=filled, color = turquoise1];\n";
+		  	  gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << " -> ";
+		  	  gfile <<  "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << ";\n";
         }
-        citer = graphmap.find(planner->get_cond_name (clink.cond.id));
-        if(citer != graphmap.end())
-        {
-          (*citer).second = "green";
-        }
-        gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << "[shape=box, style=filled ,color= green];\n";
-        gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[ style=filled , color = orange];\n";
-		  	gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << " -> ";
-		  	gfile <<  "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << ";\n";
-      }
-      else
-      {
-        std::map<std::string, std::string>::iterator citer = graphmap.find(planner->get_task_name (planner->get_task_from_inst (clink.first)));
-        if(citer != graphmap.end())
-        {
-          (*citer).second = "blue";
-        }
-        citer = graphmap.find(planner->get_cond_name (clink.cond.id));
-        if(citer != graphmap.end())
-        {
-          (*citer).second = "blue";
-        }
-			  gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << "[shape=box, style=filled ,color= turquoise1];\n";
-        gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[ style=filled ,color = turquoise1];\n";
-		  	gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.first)) << " " << planner->get_task_from_inst (clink.first) << "\" " << " -> ";
-		  	gfile <<  "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << ";\n";
-      }
       
-      if(planner->get_start_window (clink.second).first <= lastime)
-			{
-        if(planner->get_start_window (clink.second).first == lastime &&  !done)
-        {
-          gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << "[shape=box, style=filled , color = green];\n";
-          //gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[color = green];\n";
-				  gfile << "\t" << "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " -> ";
-				  gfile << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << ";\n";
+        //Otherwise print the graph with colors that indicate that the graph has been traversed through all the steps in the plan.
+        if(planner->get_start_window (clink.second).first <= lastime)
+			  {
+          if(planner->get_start_window (clink.second).first == lastime &&  !done)
+          {
+            gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << "[shape=box, color = green];\n";
+            //gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[color = green];\n";
+				    gfile << "\t" << "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " -> ";
+				    gfile << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << ";\n";
+          }
+          else
+          {
+				    gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << "[shape=box, color = turquoise1];\n";
+            gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[color = turquoise1];\n";
+				    gfile << "\t" << "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " -> ";
+				    gfile << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << ";\n";
+  			
+          }
         }
-        else
-        {
-				  gfile << "\t" << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << "[shape=box, style=filled , color = turquoise1];\n";
-          gfile <<  "\t\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << "[style=filled , color = turquoise1];\n";
-				  gfile << "\t" << "\"" << planner->get_cond_name (clink.cond.id) << " " << clink.cond.id << "\" " << " -> ";
-				  gfile << "\"" << planner->get_task_name (planner->get_task_from_inst (clink.second)) << " " << planner->get_task_from_inst (clink.second) << "\" " << ";\n";
-			
-        }
-      }
-    }
-   }
-   }
-  
+		  }
+	  }
+  }
   
+  //If we are tracking conditions not controlled by the plan, but that impact it(such as environmental conditions
   if(hasTracks)
   {
     for(int i = 0; i < tracks.size(); i++)
@@ -320,6 +258,8 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
       }
     }
   }
+
+  // If we are actually done with the graph, color the goal as true, and done.
   if(done)
   {
     SA_POP::GoalMap curgoals = planner->get_goals();
@@ -347,6 +287,7 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
   //system("dot -Tgif GViz.dot -o step.gif");
   //system("step.gif");
 
+  //This is debug output to the console about scheduling links
   for (SchedLinkSet::iterator sched_iter = plan.sched_links.begin ();
     sched_iter != plan.sched_links.end ();
     sched_iter++)
@@ -366,13 +307,50 @@ void LogGraphOut::notify_plan (SA_POP::Planner *planner)
   this->out_ << std::endl;
 };
 
-
+//Advance a step 
 void LogGraphOut::moveStep()
 {
-	graphn++;
+	curStep++;
 };
 
+//Reset current step
 void LogGraphOut::resetStep()
 {
-	graphn = 1;
+	curStep = 1;
+};
+
+// Uses a color pattern to effect the nodes in the plan to give the impression that they are the pervious step
+void LogGraphOut::color_step(SA_POP::Planner *planner)
+{
+  Plan plan = planner->get_plan ();
+  for (CLSet::iterator cl_iter = plan.causal_links.begin (); cl_iter != plan.causal_links.end (); cl_iter++)
+	{
+		CausalLink clink = *cl_iter;
+    std::map<std::string, std::string>::iterator titer = graphmap.find(planner->get_task_name (planner->get_task_from_inst (clink.first)));
+    if(titer != graphmap.end())
+    {
+      if((*titer).second == "blue" )
+      {
+        (*titer).second = "cornflowerblue";
+    
+      }
+      else if((*titer).second == "green")
+      {
+        (*titer).second = "red";
+      }
+    }
+    std::map<std::string, std::string>::iterator citer = graphmap.find(planner->get_cond_name (clink.cond.id));
+    if(citer != graphmap.end())
+    {
+      if((*citer).second == "blue" )
+      {
+        (*citer).second = "cornflowerblue";
+    
+      }
+      else if((*citer).second == "green")
+      {
+        (*citer).second = "red";
+      }
+    }
+  }
 };
\ No newline at end of file
diff --git a/LogGraphOut.h b/LogGraphOut.h
index 900c50c1be8..3ccd2cf40ee 100644
--- a/LogGraphOut.h
+++ b/LogGraphOut.h
@@ -37,7 +37,7 @@ namespace SA_POP {
     /**
      * @param strm  Output stream to log to.
      */
-    LogGraphOut (std::ostream &out, int startStep);
+    LogGraphOut (std::ostream &out, bool startStep);
 
     /// Destructor.
     virtual ~LogGraphOut (void);
@@ -72,10 +72,20 @@ namespace SA_POP {
     */
   void addTracking(std::vector<SANet::CondID> checks);
 
+    /// Color the graph to immitate the nextstep
+    /**
+    *
+    */
+  void color_step(SA_POP::Planner *planner);
+
   protected:
-    /// Output stream to log to.
-    std::ostream &out_;
-	int graphn;
+  /// Output stream to log to.
+  std::ostream &out_;
+  // Utilize the graphviz layout to fake taking steps?
+	bool byStep;
+
+  // Utilized for the step needed to isolate
+  int curStep;
   bool hasTracks;
   std::map<std::string, std::string> graphmap;
   std::vector<SANet::CondID> tracks;
diff --git a/SANet/SANet.cpp b/SANet/SANet.cpp
index 02432326a9c..61489ddc01b 100644
--- a/SANet/SANet.cpp
+++ b/SANet/SANet.cpp
@@ -223,54 +223,33 @@ void SANet::Network::update_effect_link(TaskID task_ID, CondID cond_ID,
 
 };
 
-void SANet::Network::print_graphviz(std::basic_ostream<char, std::char_traits<char> >& strm, std::map<std::string, std::string>& graphmap)
+void SANet::Network::print_graphviz(std::basic_ostream<char, std::char_traits<char> >& strm, std::map<std::string, std::string>& graphmap, std::string defaultColor)
 {
+  //Go through the task nodes, and if it's without a color, then give it the default. Then write it to the stream.
   for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
     node_iter != task_nodes_.end (); node_iter++)
   {
     std::map<std::string, std::string>::iterator titer = graphmap.find(node_iter->second->get_name());
-    if(titer != graphmap.end())
+    if(titer == graphmap.end())
     {
-      if((*titer).second == "blue" )
-      {
-        (*titer).second = "cornflowerblue";
-    
-      }
-      else if((*titer).second == "green")
-      {
-        (*titer).second = "red";
-      }
-    }
-    else
-    {
-      graphmap[node_iter->second->get_name()] =  "grey";
+      graphmap[node_iter->second->get_name()] =  defaultColor;
     }
     strm << "\t" << "\"" << node_iter->second->get_name() << " " << node_iter->first  << "\" " << "[shape=box, style=filled, color = " << graphmap[node_iter->second->get_name()] <<"];\n";
   }
 
+  //Go through the cond nodes, and if it's without a color, then give it the default. Then write it to the stream.
   for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
     node_iter != cond_nodes_.end (); node_iter++)
   {
     std::map<std::string, std::string>::iterator citer = graphmap.find(node_iter->second->get_name());
-    if(citer != graphmap.end())
-    {
-      if((*citer).second == "blue" )
-      {
-        (*citer).second = "cornflowerblue";
-    
-      }
-      else if((*citer).second == "green")
-      {
-        (*citer).second = "red";
-      }
-    }
-    else
+    if(citer == graphmap.end())
     {
-      graphmap[node_iter->second->get_name()] =  "grey";
+      graphmap[node_iter->second->get_name()] =  defaultColor;
     }
     strm << "\t" << "\"" << node_iter->second->get_name() << " " << node_iter->first  << "\" " << "[style=filled, color = " << graphmap[node_iter->second->get_name()] << "];\n";
   }
 
+  //Go through the effect and preconds for the task nodes and link them in the stream
   for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
     node_iter != task_nodes_.end (); node_iter++)
   {
diff --git a/SANet/SANet.h b/SANet/SANet.h
index fc0810aabf4..7368037de24 100644
--- a/SANet/SANet.h
+++ b/SANet/SANet.h
@@ -180,8 +180,10 @@ namespace SANet {
     /// Print Graphviz network representation to stream.
     /**
      * @param strm  Output stream on which to print network representation.
+     * @param graphmap  The color mapping being used.
+     * @param defaultColor  The default color if it's not in the mapping.     
      */
-    virtual void print_graphviz (std::basic_ostream<char, std::char_traits<char> >& strm, std::map<std::string, std::string>& graphmap);
+    virtual void print_graphviz (std::basic_ostream<char, std::char_traits<char> >& strm, std::map<std::string, std::string>& graphmap, std::string defaultColor = "grey");
 
     
 
diff --git a/SA_PlanStrategy.cpp b/SA_PlanStrategy.cpp
index b3b517598c4..9b6b2192dd6 100644
--- a/SA_PlanStrategy.cpp
+++ b/SA_PlanStrategy.cpp
@@ -142,9 +142,9 @@ CommandID SA_PlanStrategy::get_next_cmd_id (void)
 // scheduling constraint satisfaction through call back).
 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();
+  // If all open conditions have been satisfied, then return true for success.
+  if (this->open_conds_.empty ())
+	  return this->planner_->full_sched();
 
 	//Note: change this number to limit the size of the final plan.  Set true for unlimited
 	//!(this->planner_->get_working_plan()->get_all_insts().size() > 12)