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-rw-r--r--SA_POP/SANet/SANet.cpp476
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diff --git a/SA_POP/SANet/SANet.cpp b/SA_POP/SANet/SANet.cpp
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+// -*- C++ -*-
+
+//=============================================================================
+/**
+ * @file SANet.cpp
+ *
+ * This file contains the Network class implementation for spreading
+ * activation networks.
+ *
+ * @author John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
+ */
+//=============================================================================
+
+#include <map>
+#include <iostream>
+#include "SANet_Types.h"
+#include "SANet.h"
+#include "SANode.h"
+#include "SANet_Exceptions.h"
+
+#if !defined (SANET_STANDALONE)
+#include "SA_POP_Types.h"
+#endif /* SANET_STANDALONE not defined */
+
+using namespace SANet;
+
+
+SANet::Network::Network (void)
+: step_ (0)
+{
+ // Clear maps.
+ this->task_nodes_.clear ();
+ this->cond_nodes_.clear ();
+ this->precond_links_.clear ();
+ this->effect_links_.clear ();
+ this->goals_.clear ();
+};
+
+SANet::Network::~Network ()
+{
+ // Deallocate task nodes.
+ for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
+ node_iter != task_nodes_.end (); node_iter++)
+ {
+ delete node_iter->second;
+ }
+
+ // Deallocate condition nodes.
+ for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
+ node_iter != cond_nodes_.end (); node_iter++)
+ {
+ delete node_iter->second;
+ }
+};
+
+void SANet::Network::add_task (TaskID ID, std::string name, MultFactor atten_factor,
+ TaskCost cost, Probability prior_prob)
+{
+ // If this ID has already been used, throw exception.
+ if (task_nodes_.find (ID) != task_nodes_.end ()) {
+ throw Duplicate_ID ();
+ }
+ if (cond_nodes_.find (ID) != cond_nodes_.end ()) {
+ throw Duplicate_ID ();
+ }
+
+ // Task node pointer.
+ TaskNode *node;
+
+ // Add task node, throwing exception if insertion fails.
+ node = new TaskNode (ID, name, atten_factor, cost, prior_prob);
+ if (!(task_nodes_.insert (std::make_pair (ID, node))).second)
+ {
+ throw Insertion_Error ();
+ }
+};
+
+
+void SANet::Network::add_cond (CondID ID, std::string name, MultFactor atten_factor,
+ Probability true_prob, Probability false_prob,
+ Utility goal_util, CondKind cond_kind)
+{
+ // If this ID has already been used, throw exception.
+ if (task_nodes_.find (ID) != task_nodes_.end ()) {
+ throw Duplicate_ID ();
+ }
+ if (cond_nodes_.find (ID) != cond_nodes_.end ()) {
+ throw Duplicate_ID ();
+ }
+
+ // Condition node pointer.
+ CondNode *node;
+
+ // Add condition node, throwing exception if insertion fails.
+ node = new CondNode (ID, name, atten_factor,
+ true_prob, false_prob, goal_util, cond_kind);
+ if (!(cond_nodes_.insert (std::make_pair (ID, node))).second)
+ {
+ throw Insertion_Error ();
+ }
+
+ if (goal_util != 0)
+ this->goals_.insert (std::make_pair (ID, goal_util));
+};
+
+void SANet::Network::add_precond_link (CondID cond_ID, TaskID task_ID,
+ Probability true_prob, Probability false_prob,
+ PortID port_ID)
+{
+ // Find task node pointer, throwing exception if not found.
+ TaskNodeMap::iterator task_iter = task_nodes_.find (task_ID);
+ if (task_iter == task_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+ TaskNode *task_node = task_iter->second;
+
+ // Find condition node pointer, throwing exception if not found.
+ CondNodeMap::iterator cond_iter = cond_nodes_.find (cond_ID);
+ if (cond_iter == cond_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+ CondNode *cond_node = cond_iter->second;
+
+ // Add link to task node.
+ task_node->add_precond (cond_ID, cond_node, true_prob, false_prob);
+
+ // Add link to port map.
+ this->precond_links_.insert (std::make_pair (std::make_pair (cond_ID,
+ task_ID), port_ID));
+};
+
+void SANet::Network::add_effect_link (TaskID task_ID, CondID cond_ID,
+ LinkWeight weight, PortID port_ID)
+{
+ // Find task node pointer, throwing exception if not found.
+ TaskNodeMap::iterator task_iter = task_nodes_.find (task_ID);
+ if (task_iter == task_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+ TaskNode *task_node = task_iter->second;
+
+ // Find condition node pointer, throwing exception if not found.
+ CondNodeMap::iterator cond_iter = cond_nodes_.find (cond_ID);
+ if (cond_iter == cond_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+ CondNode *cond_node = cond_iter->second;
+
+ // Add link.
+ task_node->add_effect (cond_ID, cond_node, weight);
+
+ // Add link to port map.
+ this->effect_links_.insert (std::make_pair (std::make_pair (task_ID,
+ cond_ID), port_ID));
+};
+
+void SANet::Network::print (std::basic_ostream<char, std::char_traits<char> >& strm,
+ bool verbose)
+{
+ // Print current step.
+ strm << "Current Step: " << step_ << std::endl << std::endl;
+
+ // Print all task nodes.
+ for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
+ node_iter != task_nodes_.end (); node_iter++)
+ {
+ node_iter->second->print (strm, verbose);
+ strm << std::endl;
+ }
+
+ // Print all condition nodes.
+ for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
+ node_iter != cond_nodes_.end (); node_iter++)
+ {
+ node_iter->second->print (strm, verbose);
+ strm << std::endl;
+ }
+ strm << std::endl;
+};
+
+// Print links and ports.
+void SANet::Network::print_link_ports (std::basic_ostream<char,
+ std::char_traits<char> >& strm,
+ bool verbose)
+{
+
+ // Print all precondition links.
+ strm << "Precondition Links: " << std::endl;
+ for (PrecondLinkPortMap::iterator precond_iter = precond_links_.begin ();
+ precond_iter != precond_links_.end (); precond_iter++)
+ {
+ strm << " " << "Cond " << precond_iter->first.first;
+ strm << " -> " << "Task " << precond_iter->first.second << "(";
+ strm << precond_iter->second << ")" << std::endl;
+ }
+
+ // Print all effect links.
+ strm << "Effect Links: " << std::endl;
+ for (EffectLinkPortMap::iterator effect_iter = effect_links_.begin ();
+ effect_iter != effect_links_.end (); effect_iter++)
+ {
+ strm << " " << "Task " << effect_iter->first.first << "(";
+ strm << effect_iter->second << ") -> " << "Cond ";
+ strm << effect_iter->first.second << std::endl;
+ }
+ strm << std::endl;
+};
+
+void SANet::Network::update (int max_steps)
+{
+ // Flag for whether network changed on last step, initially true.
+ bool net_changed = true;
+
+ // Set step limit.
+ int step_limit = step_ + max_steps;
+
+ // Run spreading activation until step limit is reached or no changes made.
+ while (net_changed && (step_ < step_limit)) {
+ // Update step.
+ step_++;
+
+ // Reset net_changed flag.
+ net_changed = false;
+
+#if defined (SANET_DEBUG)
+ std::cout << std::endl << "DEBUG in SANet::Network::update()... step_=" << step_ << std::endl << std::endl;
+#endif /* SANET_DEBUG */
+ // Update all task nodes.
+ for (TaskNodeMap::iterator node_iter = task_nodes_.begin ();
+ node_iter != task_nodes_.end (); node_iter++)
+ {
+ // Update node, setting net_changed flag if node changed.
+ if (node_iter->second->update ()) {
+ net_changed = true;
+ }
+ }
+
+ // Update all condition nodes.
+ for (CondNodeMap::iterator node_iter = cond_nodes_.begin ();
+ node_iter != cond_nodes_.end (); node_iter++)
+ {
+ // Update node, setting net_changed flag if node changed.
+ if (node_iter->second->update ()) {
+ net_changed = true;
+ }
+ }
+ }
+};
+
+// Update a condition's current value (probability of being true).
+void SANet::Network::update_cond_val (CondID cond_id, Probability true_prob)
+{
+ CondNodeMap::iterator iter = this->cond_nodes_.find (cond_id);
+ if (iter == this->cond_nodes_.end ())
+ throw "SANet::Network::update_cond_val (): Unknown condition node.";
+ iter->second->set_init_prob (true_prob);
+};
+
+// Update a condition's (goal) utility.
+void SANet::Network::update_cond_util (CondID cond_id, Probability utility)
+{
+ // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+ throw "Plan monitoring/updating/replanning not yet implemented: SANet::SANet::Network::updated_cond_val ().";
+};
+
+// Update all condition utilities based on new goal set.
+void SANet::Network::update_goals (GoalMap goals)
+{
+ // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+ throw "Plan monitoring/updating/replanning not yet implemented: SANet::SANet::Network::update_goals ().";
+};
+
+// Get a condition's current value (probability of being true).
+Probability SANet::Network::get_cond_val (CondID cond_id)
+{
+ CondNodeMap::iterator iter = this->cond_nodes_.find (cond_id);
+ if (iter == this->cond_nodes_.end ())
+ throw "SANet::Network::get_cond_val (): Unknown condition node.";
+ return iter->second->get_init_prob ();
+};
+
+// Get all goals.
+const GoalMap& SANet::Network::get_goals (void)
+{
+ return this->goals_;
+};
+
+// Get a task's name.
+std::string SANet::Network::get_task_name (TaskID task_id)
+{
+ // Find task node.
+ TaskNodeMap::iterator task_iter = task_nodes_.find (task_id);
+ if (task_iter == task_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+
+ return task_iter->second->get_name ();
+};
+
+// Get a condition's name.
+std::string SANet::Network::get_cond_name (CondID cond_id)
+{
+ // Find condition node.
+ CondNodeMap::iterator cond_iter = cond_nodes_.find (cond_id);
+ if (cond_iter == cond_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+
+ return cond_iter->second->get_name ();
+};
+
+// Get a condition's type/kind.
+CondKind SANet::Network::get_cond_type (CondID cond_id)
+{
+ // Find condition node.
+ CondNodeMap::iterator cond_iter = cond_nodes_.find (cond_id);
+ if (cond_iter == cond_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+
+ return cond_iter->second->get_cond_kind ();
+};
+
+// Get a task's current expected utility.
+Utility SANet::Network::get_task_current_eu (TaskID task_id)
+{
+ // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+ throw "Plan monitoring/updating/replanning not yet implemented: SANet::SANet::Network::get_task_current_eu ().";
+};
+
+// Get a task's future expected utility.
+Utility SANet::Network::get_task_future_eu (TaskID task_id)
+{
+ TaskNodeMap::iterator task_iter = task_nodes_.find (task_id);
+ if (task_iter == task_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+ return task_iter->second->get_utility (this->step_);
+};
+
+// Get all preconditions of a task.
+CondSet SANet::Network::get_preconds (TaskID task_id)
+{
+ // Find task node.
+ TaskNodeMap::iterator task_iter = task_nodes_.find (task_id);
+ if (task_iter == task_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+
+ // Create set of preconditions from pre-nodes set.
+ CondSet preconds;
+ preconds.clear ();
+ LinkMap pre_links = task_iter->second->get_pre ();
+ for (LinkMap::iterator iter = pre_links.begin (); iter != pre_links.end ();
+ iter++)
+ {
+ Condition cond;
+ cond.id = iter->first;
+ CondNode* cond_node = this->cond_nodes_.find(iter->first)->second;
+ cond.kind = cond_node->get_cond_kind();
+
+ if (iter->second > 0)
+ cond.value = true;
+ else
+ cond.value = false;
+ preconds.insert (cond);
+ }
+
+ return preconds;
+};
+
+// Get all effects of a task.
+CondSet SANet::Network::get_effects (TaskID task_id)
+{
+ // Find task node.
+ TaskNodeMap::iterator task_iter = task_nodes_.find (task_id);
+ if (task_iter == task_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+
+ // Create set of effects from pre-nodes set.
+ CondSet effects;
+ effects.clear ();
+ LinkMap post_links = task_iter->second->get_post ();
+ for (LinkMap::iterator iter = post_links.begin (); iter != post_links.end ();
+ iter++)
+ {
+ Condition cond;
+ cond.id = iter->first;
+ // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+#if defined (SANET_STANDALONE)
+ cond.kind = SANet::DATA;
+#else // SANET_STANDALONE not defined
+ cond.kind = SA_POP::DATA;
+#endif /* SANET_STANDALONE */
+ // ****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
+ if (iter->second > 0)
+ cond.value = true;
+ else
+ cond.value = false;
+ effects.insert (cond);
+ }
+
+ return effects;
+};
+
+// Get the duration of a task.
+TimeValue SANet::Network::get_duration (TaskID task_id)
+{
+ TaskNode *temp = this->task_nodes_.find(task_id)->second;
+ return NULL_TIME;
+}
+
+// Get all tasks that satisfy a condition.
+TaskSet SANet::Network::get_satisfying_tasks (Condition cond)
+{
+ // Find condition node.
+ CondNodeMap::iterator cond_iter = this->cond_nodes_.find (cond.id);
+ if (cond_iter == this->cond_nodes_.end ()) {
+ throw UnknownNode ();
+ }
+
+ // Create set of tasks from pre-nodes set.
+ TaskSet tasks;
+ tasks.clear ();
+ LinkMap pre_links = cond_iter->second->get_pre ();
+ for (LinkMap::iterator iter = pre_links.begin (); iter != pre_links.end ();
+ iter++)
+ {
+ // Add tasks with positive link weights for true condition or
+ // tasks with negative link weights for false condition.
+ if (cond.value) {
+ if (iter->second > 0)
+ tasks.insert (iter->first);
+ } else {
+ if (iter->second < 0)
+ tasks.insert (iter->first);
+ }
+ }
+
+ return tasks;
+};
+
+// Get effect link port.
+PortID SANet::Network::get_effect_port (TaskID task_id, CondID cond_id)
+{
+ // Find port, throwing exception if not found.
+ EffectLinkPortMap::iterator iter = this->effect_links_.find (
+ std::make_pair (task_id, cond_id));
+ if (iter == this->effect_links_.end ()) {
+ throw UnknownNode ();
+ }
+
+ return iter->second;
+};
+
+// Get precondition link port.
+PortID SANet::Network::get_precond_port (CondID cond_id, TaskID task_id)
+{
+ // Find port, throwing exception if not found.
+ PrecondLinkPortMap::iterator iter = this->precond_links_.find (
+ std::make_pair (cond_id, task_id));
+ if (iter == this->precond_links_.end ()) {
+ throw UnknownNode ();
+ }
+
+ return iter->second;
+};
+
+// Get ports for a causal link.
+LinkPorts SANet::Network::get_clink_ports (TaskID task1_id, CondID cond_id,
+ TaskID task2_id)
+{
+ return std::make_pair (this->get_effect_port (task1_id, cond_id),
+ this->get_precond_port (cond_id, task2_id));
+};
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