diff options
Diffstat (limited to 'SA_POP/Planner.h')
| -rw-r--r-- | SA_POP/Planner.h | 511 |
1 files changed, 511 insertions, 0 deletions
diff --git a/SA_POP/Planner.h b/SA_POP/Planner.h new file mode 100644 index 00000000000..1a904158c89 --- /dev/null +++ b/SA_POP/Planner.h @@ -0,0 +1,511 @@ +// -*- C++ -*- +// $Id$ + +//============================================================================= +/** + * @file Planner.h + * + * This file contains the Planner abstract base class definition for planners, + * which direct planning and mediate communication between other planning + * objects. + * + * @author John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu> + */ +//============================================================================= + +#ifndef SA_POP_PLANNER_H_ +#define SA_POP_PLANNER_H_ + + +#include <string> +#include <set> +#include "SA_POP_Types.h" +#include "PlanStrategy.h" +#include "SchedStrategy.h" +#include "WorkingPlan.h" +#include "TaskMap.h" +#include "OutAdapter.h" +#include "PlanCommands.h" +#include "SANet/SANet.h" + +namespace SA_POP { + + /** + * @class Planner + * + * @brief Abstract base class for planners, which direct planning and + * mediate communication between other planning objects. + */ + class Planner { + public: + /// Constructor. + Planner (void); + + /// Destructor. + virtual ~Planner (void); + + + + // ************************************************************************ + // Initialization methods. + // ************************************************************************ + + /// Add planning objects. + /** + * @param sanet Spreading activation network. + * + * @param plan_strat PlanStrategy object for planning. + * + * @param sched_strat SchedStrategy object for scheduling. + * + * @param working_plan WorkingPlan object for holding plan in progress. + * + * @param task_map TaskMap object for associating tasks with + * implementations and resources. + */ + virtual void set_objects (SANet::Network *sanet, PlanStrategy *plan_strat, + SchedStrategy *sched_strat, WorkingPlan *working_plan, + TaskMap *task_map); + + /// Add output adapter. + /** + * @param out OutAdapter to add. + */ + virtual void add_out_adapter (OutAdapter *out); + + + + // ************************************************************************ + // Planning and changed planning info accessor methods. + // ************************************************************************ + + /// Run planning. + /** + * @param sa_max_steps Maximum steps to run spreading activation. + * + * @return True if planning succeeded, false otherwise. + */ + virtual bool plan (size_t sa_max_steps); + + /// Get current plan. + /** + * @return Reference to current plan. + */ + virtual const Plan& get_plan (void); + + /// Get last set of expected utility changes. + /** + * @return Reference to last set of expected utility changes. + */ + virtual const TaskEUMap& get_eu_changes (void); + + /// Print network. + /** + * @param strm Output stream on which to print network representation. + * + * @param verbose Whether to print verbose representation. + */ + virtual void print_sanet (std::basic_ostream<char, std::char_traits<char> >& strm + = std::cout, bool verbose = false); + + + + // ************************************************************************ + // Recursive planning/scheduling methods. + // ************************************************************************ + + /// Recursively plan (satisfy all open conditions & schedule constraints). + /** + * @return True if fully satisfied plan found, false otherwise. + */ + virtual bool recurse_plan (void); + + /// Recursively schedule (satisfy schedule constraints and continue + /// recursive planning). + /** + * @param task_inst Current task instance being tried in the plan. + * + * @return True if fully satisfied plan found, false otherwise. + */ + virtual bool recurse_sched (TaskInstID task_inst); + + /// Satisfy scheduling constraints in fully instantiated plan (no + /// recursive call backs). + /** + * @param task_inst Current task instance being tried in the plan. + * + * @return True if fully satisfied plan found, false otherwise. + */ + virtual bool full_sched (); + + + + // ************************************************************************ + // Planning/scheduling command execution and undo methods. + // ************************************************************************ + + /// Execute a command (adding it as the current command). + /** + * @param command The command to add and execute. + */ + virtual void execute_command (PlanCommand *command); + + /// Undo and remove command. + /** + * @param id The id of the command to undo and remove. + * + * @exception InvalidCommand The id provided does not correspond to top + * command. + */ + virtual void undo_command (CommandID id); + + /// Add a command to be executed later with execute_next(). + /** + * @param command The command to add for execution. + */ + virtual void add_command (PlanCommand *command); + + /// On current command, undo last execution (if any) & execute next option. + /** + * @param id The id of the command to undo and remove. + * + * @exception InvalidCommand The id provided does not correspond to top + * command. + * + * @return True if command had an option to execute, false otherwise. + */ + virtual bool try_next (CommandID id); + + /// Undo and remove all commands back to specified point. + /** + * @param id The id of the command to undo and remove through. + */ + virtual void undo_through (CommandID id); + + /// Get the current command id. + /** + * @return The id of the current command + */ + virtual CommandID cur_command_id(); + + + // ************************************************************************ + // Condition update methods (environment/system state or goal changes). + // ************************************************************************ + + /// Update a condition's current value (probability of being true). + /** + * @param cond_id The condition id. + * + * @param true_prob New probability that condition is true. + */ + virtual void update_cond_val (CondID cond_id, double true_prob); + + /// Update a condition's (goal) utility. + /** + * @param cond_id The condition id. + * + * @param utility New goal utility of condition. + */ + virtual void update_cond_util (CondID cond_id, double utility); + + /// Update all condition utilities based on new goal set. + /** + * @param goals Set of goal condition ids and associated utilities. + */ + virtual void update_goals (GoalMap goals); + + + + // ************************************************************************ + // General task/condition accessor methods. + // ************************************************************************ + + /// Get a condition's current value (probability of being true). + /** + * @param cond_id The condition id. + * + * @return Probability that condition is true. + */ + virtual double get_cond_val (CondID cond_id); + + /// Get all goals. + /** + * @return Set of condition ids and associated utilities. + */ + virtual const GoalMap& get_goals (void); + + /// Get a task's name. + /** + * @param task_id The task id. + * + * @return Task name. + */ + virtual std::string get_task_name (TaskID task_id); + + /// Get a condition's name. + /** + * @param cond_id The condition id. + * + * @return Condition name. + */ + virtual std::string get_cond_name (CondID cond_id); + + /// Get a condition's type/kind. + /** + * @param cond_id The condition id. + * + * @return Condition type. + */ + virtual CondKind get_cond_type (CondID cond_id); + + /// Get a task's current expected utility. + /** + * @param task_id The task id. + * + * @return Current task expected utility. + */ + virtual double get_task_current_eu (TaskID task_id); + + /// Get a task's future expected utility. + /** + * @param task_id The task id. + * + * @return Future task expected utility. + */ + virtual double get_task_future_eu (TaskID task_id); + + /// Get all preconditions of a task. + /** + * @param task_id The task id. + * + * @return Set of all preconditions with associated values. + */ + virtual CondSet get_preconds (TaskID task_id); + + /// Get currently unsatisfied preconditions of a task. + /** + * @param task_id The task id. + * + * @return Set of all unsatisfied preconditions with associated values. + */ + virtual CondSet get_unsat_preconds (TaskID task_id); + + /// Get all effects of a task. + /** + * @param task_id The task id. + * + * @return Set of all effects with associated values. + */ + virtual CondSet get_effects (TaskID task_id); + + /// Get all tasks that satisfy a condition. + /** + * @param cond_id The condition id. + * + * @return Set of all tasks that satisfy the given condition. + */ + virtual TaskSet get_satisfying_tasks (Condition cond); + + /// Get ports for a causal link. + /** + * @param task1_id ID of start task node in causal link. + * + * @param cond_id ID of condition node in both precondition and effect + * links. + * + * @param task2_id ID of end task node in causal link. + */ + virtual LinkPorts get_clink_ports (TaskID task1_id, CondID cond_id, + TaskID task2_id); + + + + // ************************************************************************ + // Planning task/condition info accessor methods. + // ************************************************************************ + + /// Get task id of a task instance. + /** + * @param inst_id The task instance id. + * + * @return The task id of this task instance. + */ + virtual TaskID get_task_from_inst (TaskInstID inst_id); + + /// Get all current causal link threats. + /** + * @return Set of all current causal link threats. + */ + virtual CLThreatSet get_all_threats (void); + + + + // ************************************************************************ + // TaskMap accessor methods (resources, task->implementations, + // and implementation->resources). + // ************************************************************************ + + /// Get all implementations of a task. + /** + * @param task_id The task id. + * + * @return The set of all implementations (ids) for the given task. + */ + virtual TaskImplSet get_all_impls (TaskID task_id); + + /// Get task implementation. + /** + * @param impl_id The task implementation id. + * + * @return Reference to the task implementation. + */ + virtual TaskImpl *get_impl (TaskImplID impl_id); + + /// Get utilization info of a task implementation for a resource. + /** + * @param impl_id The task implementation id. + * + * @param resource_id The resource id. + * + * @return The quantity of resource used. + */ + virtual ResourceValue get_resource_usage (TaskImplID impl_id, + ResourceID resource_id); + + /// Get all resources used by a task implementation. + /** + * @param impl_id The task implementation id. + * + * @return The set of all resources used (with associated usage values). + */ + virtual ResourceMap get_all_resources (TaskImplID impl_id); + + // ************************************************************************ + // Scheduling Precedence Graph/Time Windows/Resources accessor methods. + // ************************************************************************ + + + /// Get the Task instances in a particular set of the specified task instance + /** + * @param task_inst The Task Instance whose Precedence Set has been queried + * + * @param prec_rel The Precedence relation to the task_inst + * + * @return A pointer to the Task Instance Set that has the relation prec_rel to task_inst + */ + virtual const TaskInstSet* get_prec_insts (TaskInstID task_inst, PrecedenceRelation prec_rel); + + /// Get the Start Window of the Task instance + /** + * @param task_inst The Task Instance whose Start Window is required + * + * @return The Start Window of task_inst + */ + virtual TimeWindow get_start_window (TaskInstID task_inst); + + /// Get the End Window of the Task instance + /** + * @param task_inst The Task Instance whose End Window is required + * + * @return The End Window of task_inst + */ + virtual TimeWindow get_end_window (TaskInstID task_inst); + + //Get the duration of a task instance + /** + * @param task_inst The task instance of which the duration is returned + * + * @return The duration of the task instance + */ + virtual TimeValue get_duration(TaskInstID task_inst); + + /// Get task implementation id of a task instance. + /** + * @param inst_id The task instance id. + * + * @return The task implementation id of this task instance. + */ + /// Get task implementation id of a task instance. + virtual TaskImplID get_task_impl_from_inst (TaskInstID inst_id); + + /// Get the capacity of a resource. + /** + * @param res_id The resource id whose capacity that we want to get. + * + * @return The capacity of the resource + */ + virtual ResourceValue get_capacity (ResourceID res_id); + + /// Get the Causal and Scheduling orderings to this task instance + /** + * @param inst_id The task instance to which all orderings are required + */ + virtual TaskInstSet before_orderings (TaskInstID inst_id); + + /// Get the Causal and Scheduling orderings from this task instance + /** + * @param inst_id The task instance from which all orderings are required + */ + virtual TaskInstSet after_orderings (TaskInstID inst_id); + + /// Get all the task instances + virtual TaskInstSet get_all_insts(); + + /// Check if the instance id already exists and is being reused. + /** + * @param task_inst The task instance being checked + * + * @return True If this task instance already exists. + */ + virtual bool inst_exists (TaskInstID task_inst); + + /// Get task implementation for a task instance. + /** + * @param task_inst The task instance. + * + * @return The task implementation id. + */ + virtual TaskImplID get_impl_id (TaskInstID task_inst); + + protected: + /// Threshold for current probability of a condition to be satisfied. + const Probability cond_prob_thresh_; + + /// Flag for whether planning objects have been set. + bool has_objs_; + + /// Spreading activation network. + SANet::Network *sanet_; + + /// PlanStrategy object for planning. + PlanStrategy *plan_strat_; + + /// SchedStrategy object for scheduling. + SchedStrategy *sched_strat_; + + /// WorkingPlan object for holding plan in progress. + WorkingPlan *working_plan_; + + /// TaskMap object for associating tasks with implementations and resources. + TaskMap *task_map_; + + /// OutAdapter objects. + std::set <OutAdapter *> out_adapters_; + + /// Current complete plan. + Plan plan_; + + /// Last set of expected utility changes. + TaskEUMap eu_changes_; + + /// Current command. + PlanCommand *cur_cmd_; + + /// Notify all output adapters that plans have changed. + virtual void notify_plan_changed (void); + }; + +}; /* SA_POP namespace */ + +#endif /* SA_POP_PLANNER_H_ */ |