1 files changed, 337 insertions, 0 deletions

diff --git a/SA_POP/SA_PlanStrategy.h b/SA_POP/SA_PlanStrategy.h
new file mode 100644
index 00000000000..61969a7ae8f
--- /dev/null
+++ b/SA_POP/SA_PlanStrategy.h
@@ -0,0 +1,337 @@
+// -*- C++ -*-
+// $Id$
+
+//=============================================================================
+/**
+ * @file  SA_PlanStrategy.h
+ *
+ * This file contains the definition of the SA_PlanStrategy concrete class,
+ * which implements a PlanStrategy for use with spreading activation networks
+ * and precedence graphs.
+ *
+ * @author  John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#ifndef SA_POP_SA_PLAN_STRATEGY_H_
+#define SA_POP_SA_PLAN_STRATEGY_H_
+
+#include <set>
+#include "SA_POP_Types.h"
+#include "PlanStrategy.h"
+#include "PlanHeuristics.h"
+#include "PlanCommands.h"
+#include "SA_PlanCommands.h"
+
+namespace SA_POP {
+
+  /**
+   * @class SA_PlanStrategy
+   *
+   * @brief PlanStrategy concrete class for the high-level
+   *        planning/scheduling algorithm for use with spreading activation
+   *        networks and precedence graphs.
+   */
+  class SA_PlanStrategy : public PlanStrategy {
+  public:
+    /// Constructor.
+    /**
+     * @param planner  Planner object to use.
+     *
+     * @param cond_choice  Strategy for choosing open condition to satisfy.
+     *
+     * @param task_choice  Strategy for choosing/ordering tasks to satisfy
+     *                     an open condition.
+     *
+     * @param impl_choice  Strategy for choosing an implementation of a task.
+     */
+    SA_PlanStrategy (SA_POP::Planner *planner, CondStrategy *cond_choice,
+      TaskStrategy *task_choice, ImplStrategy *impl_choice);
+
+    /// Destructor.
+    virtual ~SA_PlanStrategy (void);
+
+    /// Set command prototypes to use in planning.
+    /**
+     * @param assoc_impl_cmd  Prototype of command for associating an
+     *                        implementation with a task instance in the plan.
+     *
+     * @param add_task_cmd  Prototype of command for adding a task to the plan.
+     *
+     * @param resolve_threat_cmd  Prototype of command for resolving causal
+     *                            link threats.
+     */
+    virtual void set_commands (AddTaskCmd *add_task_cmd,
+      AssocTaskImplCmd *assoc_impl_cmd,
+      ResolveCLThreatCmd *resolve_threat_cmd);
+
+
+
+    // ************************************************************************
+    // Planning methods.
+    // ************************************************************************
+
+    /// Set goals.
+    /**
+     * @param goals  Set of goals and associated utilities.
+     */
+    virtual void set_goals (GoalMap goals);
+
+    /// Get command ID to use for next command.
+    /**
+     * @return  Command ID to use for next command.
+     */
+    virtual CommandID get_next_cmd_id (void);
+
+    /// Recursively satisfy all open conditions (including recursive
+    /// scheduling constraint satisfaction through call back).
+    /**
+     * @return  True if all open conditions were satisfied, false otherwise.
+     */
+    virtual bool satisfy_open_conds (void);
+
+
+    // ************************************************************************
+    // Methods for obtaining prototypes of commands that work on this strategy.
+    // ************************************************************************
+
+    /// Get a PlanCommand prototype for adding open conditions,
+    /// which works on this strategy.
+    /**
+     * @return  An AddOpenCondsCmd prototype for this strategy.
+     */
+    virtual AddOpenCondsCmd *get_AddOpenCondsCmd (void);
+
+    /// Get a PlanCommand prototype for removing open conditions,
+    /// which works on this strategy.
+    /**
+     * @return  A RemoveOpenCondsCmd prototype for this strategy.
+     */
+    virtual RemoveOpenCondsCmd *get_RemoveOpenCondsCmd (void);
+
+    /// Get an command prototype for adding causal link threats, which works on
+    /// this strategy.
+    /**
+     * @return  An AddOpenThreatsCmd prototype for this strategy.
+     */
+    virtual AddOpenThreatsCmd *get_AddOpenThreatsCmd (void);
+
+    /// Get a PlanCommand prototype for removing causal link threats,
+    /// which works on this strategy.
+    /**
+     * @return  A RemoveOpenThreatsCmd prototype for this strategy.
+     */
+    virtual RemoveOpenThreatsCmd *get_RemoveOpenThreatsCmd (void);
+
+
+
+    // ************************************************************************
+    // Methods for executing and undoing commands.
+    // ************************************************************************
+
+    /// Execute a command to add open conditions to planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void execute (SA_AddOpenCondsCmd *cmd);
+
+    /// Undo a command to add open conditions to planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_AddOpenCondsCmd *cmd);
+
+    /// Execute a command to remove open conditions from planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void execute (SA_RemoveOpenCondsCmd *cmd);
+
+    /// Undo a command to remove open conditions from planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_RemoveOpenCondsCmd *cmd);
+
+    /// Execute a command to add causal link threats to planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void execute (SA_AddOpenThreatsCmd *cmd);
+
+    /// Undo a command to add causal link threats to planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_AddOpenThreatsCmd *cmd);
+
+    /// Execute a command to remove causal link threats from planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void execute (SA_RemoveOpenThreatsCmd *cmd);
+
+    /// Undo a command to remove causal link threats from planning.
+    /**
+     * @param cmd  Command object.
+     */
+    virtual void undo (SA_RemoveOpenThreatsCmd *cmd);
+
+  protected:
+    // ************************************************************************
+    // State information.
+    // ************************************************************************
+
+    /// Flag for whether command prototypes have been set.
+    bool has_cmds_;
+
+    /// Set of open conditions with associated task instances that require
+    /// them as preconditions.
+    OpenCondMap open_conds_;
+
+    /// Set of open causal link threats.
+    CLThreatSet open_threats_;
+
+    /// ID of current task being tried (to satisfy an open condition).
+    TaskID cur_task_;
+
+    /// ID of instance of current task being tried.
+    TaskInstID cur_task_inst_;
+
+    /// Current step number.
+    int cur_step_;
+
+    /// Current decision point.
+    int cur_decision_pt_;
+
+    /// Current sequence number for commands in this decision point.
+    int cur_seq_num_;
+
+
+
+    // ************************************************************************
+    // Decision point numbers.
+    // ************************************************************************
+
+    /// Task choice is first decision point.
+    static const int  TASK_DECISION = 1;
+
+    /// Causal link threat handling is second decision point.
+    static const int THREAT_DECISION = 2;
+
+    /// Task implementation choice is third decision point.
+    static const int IMPL_DECISION = 3;
+
+    /// Scheduling is fourth decision point.
+    static const int SCHEDULE_DECISION = 3;
+
+
+
+    // ************************************************************************
+    // Decision point heuristic strategies.
+    // ************************************************************************
+
+    /// Strategy for choosing open condition to satisfy.
+    CondStrategy *cond_choice_;
+
+    /// Strategy for choosing tasks to satisfy an open condition.
+    TaskStrategy *task_choice_;
+
+    /// Strategy for choosing task implementation.
+    ImplStrategy *impl_choice_;
+
+
+
+    // ************************************************************************
+    // Prototypes of commands that work on this object.
+    // ************************************************************************
+
+    /// PlanCommand prototype to add open conditions.
+    SA_AddOpenCondsCmd *add_conds_cmd_;
+
+    /// PlanCommand prototype to remove open conditions.
+    SA_RemoveOpenCondsCmd *rmv_conds_cmd_;
+
+    /// PlanCommand prototype to add open causal link threats.
+    SA_AddOpenThreatsCmd *add_threats_cmd_;
+
+    /// PlanCommand prototype to remove open causal link threats.
+    SA_RemoveOpenThreatsCmd *rmv_threats_cmd_;
+
+
+
+    // ************************************************************************
+    // Prototypes of commands that work on other objects.
+    // ************************************************************************
+
+    /// PlanCommand prototype for adding a task to the plan.
+    AddTaskCmd *add_task_cmd_;
+
+    /// PlanCommand prototype for associating an implementation with a
+    /// task instance in the plan.
+    AssocTaskImplCmd *assoc_impl_cmd_;
+
+    /// PlanCommand prototype for resolving a causal link threat in the
+    /// plan (with promotion or demotion).
+    ResolveCLThreatCmd *resolve_threat_cmd_;
+
+
+
+    // ************************************************************************
+    // Internal helper methods.
+    // ************************************************************************
+
+    /// Recursively satisfy all open causal link threats and continue planning.
+    /**
+     * @return  True if planning succeeded, false otherwise.
+     */
+    virtual bool satisfy_open_threats (void);
+
+    /// Satisfy an open condition with an appropriate task.
+    /**
+     * @param open_cond  Open condition to be satisfied.
+     *
+     * @return  Pointer to command passed to planner.
+     */
+    virtual AddTaskCmd *satisfy_cond (Condition open_cond);
+
+    /// Add open conditions.
+    /**
+     * @param open_conds  Set of open conditions to add.
+     *
+     * @param task_inst  The task instance for which these are preconditions.
+     *
+     * @return  ID of command passed to planner to add open conditions.
+     */
+    virtual CommandID add_open_conds (const CondSet &open_conds,
+      TaskInstID task_inst);
+
+    /// Remove open condition.
+    /**
+     * @param open_cond  Open condition to remove.
+     *
+     * @return  ID of command passed to planner to remove open condition.
+     */
+    virtual CommandID rmv_open_cond (Condition open_cond);
+
+    /// Add open causal link threats.
+    /**
+     * @param threats  Set of open causal link threats to add.
+     *
+     * @return  ID of command passed to planner to add open threats.
+     */
+    virtual CommandID add_open_threats (const CLThreatSet &threats);
+
+    /// Remove open causal link threat.
+    /**
+     * @param threat  Open causal link threat to remove.
+     *
+     * @return  ID of command passed to planner to remove open threat.
+     */
+    virtual CommandID rmv_open_threat (CLThreat threat);
+
+  };
+
+};  /* SA_POP namespace */
+
+#endif /* SA_POP_SA_PLAN_STRATEGY_H_ */