1 files changed, 90 insertions, 73 deletions

diff --git a/SA_POP/LogFileOut.cpp b/SA_POP/LogFileOut.cpp
index ab1af922a16..04cf745c08c 100644
--- a/SA_POP/LogFileOut.cpp
+++ b/SA_POP/LogFileOut.cpp
@@ -63,108 +63,125 @@ void LogFileOut::notify_plan (SA_POP::Planner *planner)
   time_t cur_time = time(0);
 
   this->outfile_ << std::endl;
-  this->outfile_ << "Plan (" << plan.name << ") Changed at " << std::endl;
-  this->outfile_ << ctime (&cur_time) << std::endl;
+  this->outfile_ << "Plan (" << plan.name << ")" << " changed at " << ctime (&cur_time);
   this->outfile_ << "ID: " << plan.plan_id << std::endl;
-
+  this->outfile_ << "Goal Condition(s):";
+  for (GoalMap::iterator goal_iter = plan.goal.goal_conds.begin ();
+    goal_iter != plan.goal.goal_conds.end (); goal_iter++)
+  {
+    this->outfile_ << "   " << planner->get_cond_name (goal_iter->first);
+    if (goal_iter->second >= 0)
+      this->outfile_ << " (TRUE) = " << goal_iter->second;
+    else
+      this->outfile_ << " (FALSE) = " << (-1.0 * goal_iter->second);
+  }
+  this->outfile_ << std::endl;
   this->outfile_ << "Start Window: [" << plan.start_window.first << ", ";
   this->outfile_ << plan.start_window.second << "]" << std::endl;
-
   this->outfile_ << "End Window: [" << plan.end_window.first << ", ";
   this->outfile_ << plan.end_window.second << "]" << std::endl;
-  
+  this->outfile_ << "Expected Utility: " << planner->calc_plan_eu (plan) << std::endl << std::endl;
+
+
+  this->outfile_ << "ALL Task Instances:" << std::endl;
   for (PlanInstSet::iterator inst_iter = plan.task_insts.begin ();
     inst_iter != plan.task_insts.end ();
     inst_iter++)
   {
     PlanTaskInst inst = *inst_iter;
-    this->outfile_ << "Task Instance (" << inst.name << "):" << std::endl;
+    this->outfile_ << "  Task Instance (" << inst.name << "):" << std::endl;
 
-    this->outfile_ << "  ID: " << inst.inst_id << std::endl;
+    this->outfile_ << "    ID: " << inst.inst_id << std::endl;
 
-    this->outfile_ << "  Start Window: [" << inst.start_window.first << ", ";
+    this->outfile_ << "    Start Window: [" << inst.start_window.first << ", ";
     this->outfile_ << inst.start_window.second << "]" << std::endl;
 
-    this->outfile_ << "  End Window: [" << inst.end_window.first << ", ";
+    this->outfile_ << "    End Window: [" << inst.end_window.first << ", ";
     this->outfile_ << inst.end_window.second << "]" << std::endl;
 
-    this->outfile_ << " Task ID: " << inst.task_id << std::endl;
+    this->outfile_ << "    Task ID: " << inst.task_id << std::endl;
 
-    this->outfile_ << " Task Type: " << inst.type_id << std::endl;
+    this->outfile_ << "    Task Type: " << inst.type_id << std::endl;
 
-    this->outfile_ << " Suggested Implementation: ";
+    this->outfile_ << "    Suggested Implementation: ";
     this->outfile_ << inst.suggested_impl << std::endl;
   }
-
   this->outfile_ << std::endl;
 
-  for (PlanConnSet::iterator conn_iter = plan.connections.begin ();
-    conn_iter != plan.connections.end ();
-    conn_iter++)
-  {
-    PlanConnection conn = *conn_iter;
-    this->outfile_ << "Data Connection:" << std::endl;
-    this->outfile_ << "  " << conn.first_task_inst << " (";
-    this->outfile_ << planner->get_task_name (
-      planner->get_task_from_inst (conn.first_task_inst)) << "--";
-    this->outfile_ << conn.first_port << ")  -";
-    this->outfile_ << "(" << planner->get_cond_name (conn.cond) << ")-> ";
-    this->outfile_ << conn.second_task_inst << " (";
-    this->outfile_ << planner->get_task_name (
-      planner->get_task_from_inst (conn.second_task_inst)) << "--";
-    this->outfile_ << conn.second_port << ")" << std::endl;
+  if (plan.connections.size () > 0) {
+    this->outfile_ << "ALL Data Connections:" << std::endl;
+    for (PlanConnSet::iterator conn_iter = plan.connections.begin ();
+      conn_iter != plan.connections.end ();
+      conn_iter++)
+    {
+      PlanConnection conn = *conn_iter;
+      this->outfile_ << "  Data Connection:" << std::endl;
+      this->outfile_ << "  " << conn.first_task_inst << " (";
+      this->outfile_ << planner->get_task_name (
+        planner->get_task_from_inst (conn.first_task_inst)) << "--";
+      this->outfile_ << conn.first_port << ")  -";
+      this->outfile_ << "(" << planner->get_cond_name (conn.cond) << ")-> ";
+      this->outfile_ << conn.second_task_inst << " (";
+      this->outfile_ << planner->get_task_name (
+        planner->get_task_from_inst (conn.second_task_inst)) << "--";
+      this->outfile_ << conn.second_port << ")" << std::endl;
+    }
+    this->outfile_ << std::endl;
   }
 
-  this->outfile_ << std::endl;
 
-  for (CLSet::iterator cl_iter = plan.causal_links.begin ();
-    cl_iter != plan.causal_links.end ();
-    cl_iter++)
-  {
-    CausalLink clink = *cl_iter;
-    this->outfile_ << "Causal Link:" << std::endl;
-    this->outfile_ << "  " << clink.first << " (";
-    this->outfile_ << planner->get_task_name (
-      planner->get_task_from_inst (clink.first)) << ") -";
-    this->outfile_ << "(" << planner->get_cond_name (clink.cond.id) << ")-> ";
-    this->outfile_ << clink.second << " (";
-    this->outfile_ << planner->get_task_name (
-      planner->get_task_from_inst (clink.second)) << ")" << std::endl;
+  if (plan.causal_links.size () > 0) {
+    this->outfile_ << "ALL Causal Links:" << std::endl;
+    for (CLSet::iterator cl_iter = plan.causal_links.begin ();
+      cl_iter != plan.causal_links.end ();
+      cl_iter++)
+    {
+      CausalLink clink = *cl_iter;
+      this->outfile_ << "  " << clink.first << " (";
+      this->outfile_ << planner->get_task_name (
+        planner->get_task_from_inst (clink.first)) << ") -";
+      this->outfile_ << "(" << planner->get_cond_name (clink.cond.id) << ")-> ";
+      this->outfile_ << clink.second << " (";
+      this->outfile_ << planner->get_task_name (
+        planner->get_task_from_inst (clink.second)) << ")" << std::endl;
+    }
+    this->outfile_ << std::endl;
   }
 
-  this->outfile_ << std::endl;
-
-  for (SchedLinkSet::iterator sched_iter = plan.sched_links.begin ();
-    sched_iter != plan.sched_links.end ();
-    sched_iter++)
-  {
-    SchedLink sched_link = (*sched_iter);
-    this->outfile_ << "Scheduling Link:" << std::endl;
-    this->outfile_ << "  " << sched_link.first  << " (";
-    this->outfile_ << planner->get_task_name (
-      planner->get_task_from_inst (sched_link.first)) << ") -> ";
-    this->outfile_ << sched_link.second  << " (";
-    this->outfile_ << planner->get_task_name (
-      planner->get_task_from_inst (sched_link.second)) << ")" << std::endl;
 
+  if (plan.sched_links.size () > 0) {
+    this->outfile_ << "ALL Scheduling Links:" << std::endl;
+    for (SchedLinkSet::iterator sched_iter = plan.sched_links.begin ();
+      sched_iter != plan.sched_links.end ();
+      sched_iter++)
+    {
+      SchedLink sched_link = (*sched_iter);
+      this->outfile_ << "  " << sched_link.first  << " (";
+      this->outfile_ << planner->get_task_name (
+        planner->get_task_from_inst (sched_link.first)) << ") -> ";
+      this->outfile_ << sched_link.second  << " (";
+      this->outfile_ << planner->get_task_name (
+        planner->get_task_from_inst (sched_link.second)) << ")" << std::endl;
+
+    }
+    this->outfile_ << std::endl;
   }
 
-  this->outfile_ << std::endl;
-
-  for (ThreatLinkSet::iterator threat_iter = plan.threat_links.begin ();
-    threat_iter != plan.threat_links.end ();
-    threat_iter++)
-  {
-    ThreatLink threat_link = (*threat_iter);
-    this->outfile_ << "Threat Link:" << std::endl;
-    this->outfile_ << "  " << threat_link.first  << " (";
-    this->outfile_ << planner->get_task_name (
-      planner->get_task_from_inst (threat_link.first)) << ") -> ";
-    this->outfile_ << threat_link.second  << " (";
-    this->outfile_ << planner->get_task_name (
-      planner->get_task_from_inst (threat_link.second)) << ")" << std::endl;
-
+  if (plan.threat_links.size () > 0) {
+    this->outfile_ << "ALL Threat Links:" << std::endl;
+    for (ThreatLinkSet::iterator threat_iter = plan.threat_links.begin ();
+      threat_iter != plan.threat_links.end ();
+      threat_iter++)
+    {
+      ThreatLink threat_link = (*threat_iter);
+      this->outfile_ << "  " << threat_link.first  << " (";
+      this->outfile_ << planner->get_task_name (
+        planner->get_task_from_inst (threat_link.first)) << ") -> ";
+      this->outfile_ << threat_link.second  << " (";
+      this->outfile_ << planner->get_task_name (
+        planner->get_task_from_inst (threat_link.second)) << ")" << std::endl;
+
+    }
+    this->outfile_ << std::endl;
   }
-
-  this->outfile_ << std::endl;
 };