diff options
Diffstat (limited to 'SA_POP/LogGraphOut.cpp')
| -rw-r--r-- | SA_POP/LogGraphOut.cpp | 373 |
1 files changed, 373 insertions, 0 deletions
diff --git a/SA_POP/LogGraphOut.cpp b/SA_POP/LogGraphOut.cpp new file mode 100644 index 00000000000..95ba262c90c --- /dev/null +++ b/SA_POP/LogGraphOut.cpp @@ -0,0 +1,373 @@ +// -*- C++ -*- +// + +//============================================================================= +/** + * @file LogGraphOut.cpp + * + * This file contains the LogGraphOut class implementation for the output adapter + * that displays graph visualizations of the plan. + * + * @author Daniel L.C. Mack <daniel.l.mack@vanderbilt.edu> + */ +//============================================================================= + +//For Spawning a new Thread: +//#include <windows.h> + + +#include <iostream> +#include <algorithm> +#include <time.h> +#include "SA_POP_Types.h" +#include "LogGraphOut.h" +#include "SANet/SANetFileIn.h" +#include "Planner.h" +#include <fstream> +#include <vector> +//#include "gvc.h" +//#include "mfg_draw_graph.h" +//#include "mfg_graph_drawer.h" + +using namespace SA_POP; + +// Constructor. +LogGraphOut::LogGraphOut (std::ostream &out, int startstep) +: out_ (out) +{ + graphn = startstep; + hasTracks = false; + // Nothing to do. +} + +// Destructor. +LogGraphOut::~LogGraphOut (void) +{ + // Nothing to do. +} + + +//add Tracking +void LogGraphOut::addTracking(std::vector<SANet::CondID> checks) +{ + tracks = checks; + hasTracks = true; +} + +// Notify about task future expected utility changes. +void LogGraphOut::notify_eu (SA_POP::Planner *planner) +{ + time_t cur_time = time(0); + this->out_ << std::endl; + this->out_ << "EU Changes:" << std::endl; + this->out_ << ctime (&cur_time) << std::endl; + + TaskEUMap eu_changes = planner->get_eu_changes (); + for (TaskEUMap::iterator iter = eu_changes.begin (); + iter != eu_changes.end (); + iter++) + { + this->out_ << "Task " << iter->first << " = " << iter->second; + this->out_ << std::endl; + } +} + +unsigned long WINAPI SecondThread(PVOID pvParam) +{ + system("dot -Tgif GViz.dot -o step.gif"); + system("step.gif"); + return 0; +} + + +// Notify about plan changes. +void LogGraphOut::notify_plan (SA_POP::Planner *planner) +{ + Plan plan = planner->get_plan (); + + time_t cur_time = time(0); + bool done = false; + + /* + GVC_t *gvc; + graph_t *g; + FILE *fp; + + mfg::DrawGraph * graph; + */ + + //gvc = gvContext(); + //This + this->out_ << std::endl; + this->out_ << "Plan (" << plan.name << ") Changed at " << std::endl; + this->out_ << ctime (&cur_time) << std::endl; + this->out_ << "ID: " << plan.plan_id << std::endl; + + this->out_ << "Start Window: [" << plan.start_window.first << ", "; + this->out_ << plan.start_window.second << "]" << std::endl; + + this->out_ << "End Window: [" << plan.end_window.first << ", "; + this->out_ << plan.end_window.second << "]" << std::endl; + + std::vector<int> startimes; + + //Find the plan, and find the ealiest time for the latest time step + //Make sure we don't run out of bounds + int lastime = 0; + int plansize = 0; + if(graphn > 0) + { + for (PlanInstSet::iterator inst_iter = plan.task_insts.begin (); + inst_iter != plan.task_insts.end (); + inst_iter++) + { + PlanTaskInst inst = *inst_iter; + startimes.push_back(inst.start_window.first); + } + + std::sort(startimes.begin(), startimes.end()); + if(graphn < startimes.size()) + { + lastime = startimes[graphn]; + } + else + { + lastime = startimes[startimes.size() - 1]; + done = true; + } + + } + + //Open File we are going to save to, constant for the moment. + + ofstream gfile; + gfile.open("GViz.dot"); + + + gfile << "strict digraph graph" << graphn << " {\n"; + + if(graphn == 0) + { + 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; + 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) + { + 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) + { + 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 + { + 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, 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"; + } + 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(hasTracks) + { + for(int i = 0; i < tracks.size(); i++) + { + SANet::CondID ccid = tracks[i]; + double prob = planner->get_cond_val(ccid); + if(prob == 1) + { + gfile << "\t\"" << planner->get_cond_name (ccid) << " " << ccid << "\" " << "[color = green];\n"; + } + else + { + gfile << "\t\"" << planner->get_cond_name (ccid) << " " << ccid << "\" " << "[color = red];\n"; + } + } + } + if(done) + { + SA_POP::GoalMap curgoals = planner->get_goals(); + SA_POP::GoalMap::iterator giter; + for(giter = curgoals.begin(); giter != curgoals.end(); giter++) + { + + gfile << "\t\"" << planner->get_cond_name (giter->first) << " " << giter->first << "\" " << "[color = green];\n"; + } + } + gfile << "}\n"; + + gfile.close(); + this->out_ << std::endl; + + //Regardless, we turn it into a gif and display it Now with Threading. + unsigned long dwThreadId; + // Create a new thread. + char *imageName = "step.gif"; + HANDLE hThread = CreateThread(NULL, 0, SecondThread, (PVOID) imageName, + 0, &dwThreadId); + CloseHandle(hThread); + //system("dot -Tgif GViz.dot -o step.gif"); + //system("step.gif"); + + for (SchedLinkSet::iterator sched_iter = plan.sched_links.begin (); + sched_iter != plan.sched_links.end (); + sched_iter++) + { + SchedLink sched_link = (*sched_iter); + this->out_ << "Scheduling Link:" << std::endl; + this->out_ << " " << sched_link.first << " ("; + this->out_ << planner->get_task_name ( + planner->get_task_from_inst (sched_link.first)) << ") -> "; + this->out_ << sched_link.second << " ("; + this->out_ << planner->get_task_name ( + planner->get_task_from_inst (sched_link.second)) << ")" << std::endl; + + } + + + this->out_ << std::endl; +}; + + +void LogGraphOut::moveStep() +{ + graphn++; +}; + +void LogGraphOut::resetStep() +{ + graphn = 1; +};
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