diff options
Diffstat (limited to 'SA_WorkingPlan.cpp')
| -rw-r--r-- | SA_WorkingPlan.cpp | 378 |
1 files changed, 259 insertions, 119 deletions
diff --git a/SA_WorkingPlan.cpp b/SA_WorkingPlan.cpp index eb4dd0b8ac5..42ef0ba8544 100644 --- a/SA_WorkingPlan.cpp +++ b/SA_WorkingPlan.cpp @@ -389,11 +389,6 @@ void SA_WorkingPlan::generate_all_threats(void) threat_set.clear(); std::ostringstream debug_text; - - - - - debug_text << "SA_WorkingPlan::generate_all_threats: All Causal Links: " << std::endl; @@ -416,10 +411,10 @@ void SA_WorkingPlan::generate_all_threats(void) TaskInstID threat_possibility = iterator->first; TaskID threat_possibility_taskid = iterator->second; - debug_text <<" Task (" <<threat_possibility_taskid << ")"<< ": Inst (" <<iterator->first << ")" << std::endl; + debug_text <<" Task (" <<threat_possibility_taskid << ")"<< ": Inst (" <<iterator->first << ")" << std::endl; } - - SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ()); + debug_text<<std::endl; + SA_POP_DEBUG_STR (SPARTAN, debug_text.str ()); debug_text.str(""); debug_text << "SA_WorkingPlan::generate_all_threats: All Causal Threats: " << std::endl; @@ -454,33 +449,59 @@ void SA_WorkingPlan::generate_all_threats(void) if(causal_threatened.first != threat_possibility && causal_threatened.second != threat_possibility) { - + bool a = false; + bool b = false; + PrecedenceSet::iterator after_thr_it = (&this->precedence_graph_.find(AFTER)->second)->find(threat_possibility); + PrecedenceSet::iterator before_thr_it= (&this->precedence_graph_.find(BEFORE)->second)->find(threat_possibility); + + // if( + // after_thr_it != (&this->precedence_graph_.find(AFTER)->second)->end() && + // before_thr_it != (&this->precedence_graph_.find(BEFORE)->second)->end()){ + + TaskInstSet after_threat = after_thr_it->second; + TaskInstSet before_threat = before_thr_it->second; + + a = after_threat.find(causal_threatened.first) != after_threat.end(); + b = before_threat.find(causal_threatened.second) != before_threat.end(); + + // if(a && b) + // bool wat = true; - CLThreat new_threat; - new_threat.clink = causal_threatened; - new_threat.threat = threat_possibility; + + // continue; - + // if( (a && !b)||(!a && b)){ + // continue; + // } + // } - std::pair<CLThreatSet::iterator, bool> asdf = threat_set.insert(new_threat); + if(!(a || b)) + { + CLThreat new_threat; + new_threat.clink = causal_threatened; + new_threat.threat = threat_possibility; - + - TaskID threatened_task1 = this->task_insts_.find(causal_threatened.first)->second; - if(causal_threatened.second != SA_POP::GOAL_TASK_INST_ID) - { - TaskID threatened_task2 = this->task_insts_.find(causal_threatened.second)->second; - debug_text <<" Causal link from Task ("<< threatened_task1 <<") Inst ("<< causal_threatened.first <<") to Task ("<< threatened_task2 <<") Inst ("<< causal_threatened.second <<") using condition "<<causal_threatened.cond.id<<" threatened by Task ("<< threat_possibility_taskid <<") Inst ("<<threat_possibility<<")" << std::endl; + std::pair<CLThreatSet::iterator, bool> asdf = threat_set.insert(new_threat); - } - else - { - debug_text <<" Causal link from Task ("<< threatened_task1 <<") Inst ("<< causal_threatened.first <<") to Task ( GOAL_TASK )Inst (GOAL_TASK_INST) using condition "<<causal_threatened.cond.id<<" threatened by Task ("<< threat_possibility_taskid <<") Inst ("<<threat_possibility<<")" << std::endl; - } + - + TaskID threatened_task1 = this->task_insts_.find(causal_threatened.first)->second; + if(causal_threatened.second != SA_POP::GOAL_TASK_INST_ID) + { + TaskID threatened_task2 = this->task_insts_.find(causal_threatened.second)->second; + debug_text <<" Causal link from Task ("<< threatened_task1 <<") Inst ("<< causal_threatened.first <<") to Task ("<< threatened_task2 <<") Inst ("<< causal_threatened.second <<") using condition "<<causal_threatened.cond.id<<" threatened by Task ("<< threat_possibility_taskid <<") Inst ("<<threat_possibility<<")" << std::endl; + + } + else + { + debug_text <<" Causal link from Task ("<< threatened_task1 <<") Inst ("<< causal_threatened.first <<") to Task ( GOAL_TASK )Inst (GOAL_TASK_INST) using condition "<<causal_threatened.cond.id<<" threatened by Task ("<< threat_possibility_taskid <<") Inst ("<<threat_possibility<<")" << std::endl; + } + + } - bool a = true; + // bool a = true; } } } @@ -656,6 +677,8 @@ void SA_WorkingPlan::execute (SA_AddTaskCmd *cmd) cmd->last_task_choice_ = task_choice; + + if(task_choice.choice == REUSE_INST){ task_inst = task_choice.task_inst_id; @@ -710,11 +733,13 @@ void SA_WorkingPlan::execute (SA_AddTaskCmd *cmd) this->causal_links_.insert (std::make_pair (cond, clink)); + /* if(clink.second != GOAL_TASK_INST_ID){ this->ordering_links.insert(std::pair<TaskInstID, TaskInstID>(clink.first, clink.second)); this->reverse_ordering_links.insert(std::pair<TaskInstID, TaskInstID>(clink.second, clink.first)); } + */ cmd->added_links_.insert(clink); } } @@ -758,7 +783,7 @@ void SA_WorkingPlan::undo (SA_AddTaskCmd *cmd) this->causal_links_.erase (prev_iter); cmd->added_links_.erase(iter); - + /* if(clink.second != GOAL_TASK_INST_ID){ std::pair<SchedulingLinks::iterator, SchedulingLinks::iterator> ret = ordering_links.equal_range(clink.first); @@ -780,6 +805,7 @@ void SA_WorkingPlan::undo (SA_AddTaskCmd *cmd) this->reverse_ordering_links.erase(it); } + */ break; } } @@ -793,24 +819,13 @@ bool SA_WorkingPlan::execute (SA_AssocTaskImplCmd *cmd) { - - //cmd->precedence_graph_ = *this->precedence_graph_; - - PrecedenceSet* befores = &this->precedence_graph_.find(BEFORE)->second; - PrecedenceSet* afters = &this->precedence_graph_.find(AFTER)->second; - PrecedenceSet* simuls = &this->precedence_graph_.find(SIMUL)->second; - PrecedenceSet* unrankeds = &this->precedence_graph_.find(UNRANKED)->second; - - cmd->befores = *befores; - cmd->afters = *afters; - cmd->simuls = *simuls; - cmd->unrankeds = *unrankeds; - // Associate task instance with first implementation in list from command. if(this->reused_insts_.find(cmd->task_inst_)==this->reused_insts_.end()) { this->task_impls_.insert (std::make_pair(cmd->task_inst_, cmd->impls_.front ())); this->durations.insert(std::make_pair(cmd->task_inst_, this->planner_->get_impl(cmd->impls_.front())->get_duration())); + + } // Update last implementation to this one and remove it from command. cmd->last_impl_ = cmd->impls_.front (); @@ -819,27 +834,42 @@ bool SA_WorkingPlan::execute (SA_AssocTaskImplCmd *cmd) //Ben changed this. undo by returning that stuff + PrecedenceSet* befores = &this->precedence_graph_.find(BEFORE)->second; + + PrecedenceSet::iterator find_inst = befores->find(cmd->task_inst_); + if(find_inst != befores->end()){ + TaskInstSet before_task = find_inst->second; + for(TaskInstSet::iterator it = cmd->satisfied_insts.begin(); it != cmd->satisfied_insts.end(); it++){ + if(before_task.find(*it) != before_task.end()){ + return false; + } + } + } + /* if(is_cycle_in_ordering()){ // cmd->got_to_scheduling = false; - return false; + bool oops = true; } +*/ + + cmd->got_to_scheduling = true; bool toReturn = this->init_prec_insert(cmd->task_inst_,cmd); - cmd->befores_after_ex = *befores; - cmd->afters_after_ex = *afters; - cmd->simuls_after_ex = *simuls; - cmd->unrankeds_after_ex = *unrankeds; +// cmd->befores_after_ex = *befores; +// cmd->afters_after_ex = *afters; +// cmd->simuls_after_ex = *simuls; +// cmd->unrankeds_after_ex = *unrankeds; return toReturn; }; - +/* bool SA_WorkingPlan::is_cycle_in_ordering(){ std::ostringstream debug_text; @@ -881,6 +911,7 @@ bool SA_WorkingPlan::is_cycle_in_ordering(){ return false; } +*/ // Undo a command to associate an implementation with a // task instance in the plan. @@ -896,13 +927,15 @@ void SA_WorkingPlan::undo (SA_AssocTaskImplCmd *cmd) if(cmd->got_to_scheduling){ + /* if(cmd->afters_after_ex != *afters || cmd->befores_after_ex != *befores || cmd->simuls_after_ex != *simuls || cmd->unrankeds_after_ex != *unrankeds) { bool hi = true; - } + } + */ this->undo(&cmd->max_adj_cmd); @@ -921,7 +954,7 @@ void SA_WorkingPlan::undo (SA_AssocTaskImplCmd *cmd) } - + /* if(cmd->befores != *befores || cmd->afters != *afters || cmd->simuls != *simuls || @@ -929,6 +962,7 @@ void SA_WorkingPlan::undo (SA_AssocTaskImplCmd *cmd) { bool hi = true; } + */ }; @@ -946,27 +980,17 @@ bool SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd) Condition condition = cmd->condition; - this->ordering_links.insert(std::pair<TaskInstID, TaskInstID>(first_task_inst, second_task_inst)); - this->reverse_ordering_links.insert(std::pair<TaskInstID, TaskInstID>(second_task_inst, first_task_inst)); +// this->ordering_links.insert(std::pair<TaskInstID, TaskInstID>(first_task_inst, second_task_inst)); +// this->reverse_ordering_links.insert(std::pair<TaskInstID, TaskInstID>(second_task_inst, first_task_inst)); - PrecedenceSet* befores = &this->precedence_graph_.find(BEFORE)->second; - PrecedenceSet* afters = &this->precedence_graph_.find(AFTER)->second; - PrecedenceSet* simuls = &this->precedence_graph_.find(SIMUL)->second; - PrecedenceSet* unrankeds = &this->precedence_graph_.find(UNRANKED)->second; - cmd->befores = *befores; - cmd->afters = *afters; - cmd->simuls = *simuls; - cmd->unrankeds = *unrankeds; // if(cmd->first == 11 && cmd->second == 12){ // bool hi = false; // } - if(this->task_insts_.size() > 9){ - return false; - } + if(task_insts_.find(cmd->second)->second == 20){ @@ -990,6 +1014,10 @@ bool SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd) return false; } + PrecedenceSet* befores = &this->precedence_graph_.find(BEFORE)->second; + PrecedenceSet* afters = &this->precedence_graph_.find(AFTER)->second; + PrecedenceSet* simuls = &this->precedence_graph_.find(SIMUL)->second; + PrecedenceSet* unrankeds = &this->precedence_graph_.find(UNRANKED)->second; TaskInstSet *before_A = &befores->find(cmd->first)->second; @@ -1014,9 +1042,9 @@ bool SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd) debug_text.str(""); - if(this->is_cycle_in_ordering()){ - bool this_means_ben_failed = true; - } +// if(this->is_cycle_in_ordering()){ +// bool this_means_ben_failed = true; +// } return true; } @@ -1026,9 +1054,9 @@ bool SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd) debug_text << "SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd): Cannot schedule task inst"<<cmd->first<<" before task inst"<<cmd->second<<std::endl; SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ()); debug_text.str(""); - if(!this->is_cycle_in_ordering()){ - bool this_means_ben_failed = true; - } +// if(!this->is_cycle_in_ordering()){ +// bool this_means_ben_failed = true; +// } // loop_detected = true; @@ -1036,14 +1064,18 @@ bool SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd) return false; }else{ - if(this->is_cycle_in_ordering()){ - bool this_means_ben_failed = true; - } +// if(this->is_cycle_in_ordering()){ +// bool this_means_ben_failed = true; +// } } cmd->got_to_change_precedences = true; + cmd->befores = *befores; + cmd->afters = *afters; + cmd->simuls = *simuls; + cmd->unrankeds = *unrankeds; TaskInstSet tmp; @@ -1098,12 +1130,13 @@ bool SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd) SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ()); debug_text.str(""); - print_precedence_graph("SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd)"); +// print_precedence_graph("SA_WorkingPlan::execute (SA_ResolveCLThreatCmd * cmd)"); return true; }; +/* void SA_WorkingPlan::dfs_aux(TaskInstID current, std::stack<TaskInstID>& s, std::map<TaskInstID, bool>& visited, std::map<TaskInstID, bool>& unvisited){ @@ -1145,6 +1178,7 @@ bool SA_WorkingPlan::dfs_aux2(TaskInstID current, std::map<TaskInstID, bool>& vi return true; } +*/ // Undo a command to resolve a causal link threat in the // plan (with promotion or demotion). @@ -1159,8 +1193,6 @@ void SA_WorkingPlan::undo (SA_ResolveCLThreatCmd * cmd) SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ()); debug_text.str(""); - - print_precedence_graph("SA_WorkingPlan::undo (SA_ResolveCLThreatCmd * cmd)"); } // if(cmd->first == 11 && cmd->second == 12){ // bool hi = false; @@ -1207,6 +1239,7 @@ void SA_WorkingPlan::undo (SA_ResolveCLThreatCmd * cmd) } + /* std::pair< std::multimap<TaskInstID, TaskInstID >::iterator, std::multimap<TaskInstID, TaskInstID >::iterator @@ -1234,6 +1267,7 @@ void SA_WorkingPlan::undo (SA_ResolveCLThreatCmd * cmd) } this->reverse_ordering_links.erase(it); + */ }; // Execute a command to resolve a scheduling conflict (i.e. @@ -1241,7 +1275,13 @@ void SA_WorkingPlan::undo (SA_ResolveCLThreatCmd * cmd) // between two task instances in the plan. bool SA_WorkingPlan::execute (SA_ResolveSchedOrderCmd *cmd) { - std::cout<<"Scheduling "<<cmd->first<<" before "<<cmd->second<<std::endl; + std::ostringstream debug_text; + + debug_text<<"Scheduling "<<cmd->first<<" before "<<cmd->second<<std::endl; + + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + TaskInstID first_task_inst = cmd->first; TaskInstID second_task_inst = cmd->second; TimeWindow first_start,second_start; @@ -1342,7 +1382,11 @@ void SA_WorkingPlan::undo (SA_ResolveSchedOrderCmd *cmd) // task instance in the plan. bool SA_WorkingPlan::execute (SA_AdjustMinTimesCmd *cmd) { - std::cout<<"adjusting min time for "<<cmd->task_inst_<<std::endl; + std::ostringstream debug_text; + debug_text<<"adjusting min time for "<<cmd->task_inst_<<std::endl; + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + TimeWindow *start_win = &this->start_window_map_.find(cmd->task_inst_)->second; TimeWindow *end_win = &this->end_window_map_.find(cmd->task_inst_)->second; // If this adjustment violated and time constraints, return false. @@ -1355,7 +1399,7 @@ bool SA_WorkingPlan::execute (SA_AdjustMinTimesCmd *cmd) TimeWindow ts = this->get_start_window(cmd->task_inst_); TimeWindow es = this->get_end_window(cmd->task_inst_); CLSet after_links = this->get_after(cmd->task_inst_); - if(after_links.empty()) std::cout<<"after links is empty"<<std::endl; + if(after_links.empty()) debug_text<<"after links is empty"<<std::endl; TaskInstSet causal,sched,data; for(CLSet::iterator iter=after_links.begin();iter!=after_links.end();iter++) { if(iter->cond.kind!=DATA) causal.insert(iter->second); @@ -1364,6 +1408,7 @@ bool SA_WorkingPlan::execute (SA_AdjustMinTimesCmd *cmd) for(SchedulingLinks::iterator iter=sched_links_.begin();iter!=sched_links_.end();iter++) if(iter->first==cmd->task_inst_) sched.insert(iter->second); + // Propagate this time window change to all the task instances ordered after this task instance for(TaskInstSet::iterator iter=causal.begin();iter!=causal.end();iter++) { @@ -1371,7 +1416,7 @@ bool SA_WorkingPlan::execute (SA_AdjustMinTimesCmd *cmd) TimeWindow temp_end = this->get_end_window(*iter); if(end_win->first>temp_start.first) { - std::cout<<"adjusting time for causal "<<*iter<<std::endl; + debug_text<<"adjusting time for causal "<<*iter<<std::endl; SA_AdjustMinTimesCmd* temp = static_cast<SA_AdjustMinTimesCmd *> (this->get_AdjustMinTimesCmd()); TimeValue dur = this->durations.find(*iter)->second; if(dur!=0) temp->set_times(*iter,end_win->first,end_win->first+this->durations.find(*iter)->second); @@ -1380,8 +1425,10 @@ bool SA_WorkingPlan::execute (SA_AdjustMinTimesCmd *cmd) } } - if(sched.empty()) std::cout<<"sched is empty"<<std::endl; + if(sched.empty()) debug_text<<"sched is empty"<<std::endl; + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); for(TaskInstSet::iterator iter=sched.begin();iter!=sched.end();iter++) { @@ -1399,26 +1446,30 @@ bool SA_WorkingPlan::execute (SA_AdjustMinTimesCmd *cmd) } } + + // Do the same change for the task instances simultaneous to this one for(TaskInstSet::iterator iter=data.begin();iter!=data.end();iter++) { TimeWindow temp_start = this->get_start_window(*iter); if(start_win->first>temp_start.first) { - std::cout<<"adjusting time for data "<<*iter<<std::endl; + debug_text<<"adjusting time for data "<<*iter<<std::endl; SA_AdjustMinTimesCmd* temp = static_cast<SA_AdjustMinTimesCmd *> (this->get_AdjustMinTimesCmd()); temp->set_times(*iter,start_win->first,end_win->first); cmd->min_adjust_cmds.push_back(temp); } } + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); for(SA_AdjustMinTimesCmd::MinTimesAdjustList::iterator iter=cmd->min_adjust_cmds.begin();iter!=cmd->min_adjust_cmds.end();iter++) { - if(!this->execute(*iter)) return false; } - std::cout<<"the task inst is "<<cmd->task_inst_<<std::endl; + + debug_text<<"the task inst is "<<cmd->task_inst_<<std::endl; // Check to see whether any task instance should be removed from the unranked set due to this time window change TaskInstSet *unranked = &this->precedence_graph_.find(UNRANKED)->second.find(cmd->task_inst_)->second; for(TaskInstSet::iterator iter=unranked->begin();iter!=unranked->end();iter++) @@ -1436,7 +1487,11 @@ bool SA_WorkingPlan::execute (SA_AdjustMinTimesCmd *cmd) { unranked->erase(unranked->find(*iter)); } - std::cout<<"min times of "<<cmd->task_inst_<<" : "<<cmd->new_start_min<<" "<<cmd->new_end_min<<std::endl; + debug_text<<"min times of "<<cmd->task_inst_<<" : "<<cmd->new_start_min<<" "<<cmd->new_end_min<<std::endl; + + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + return true; }; @@ -1477,10 +1532,12 @@ void SA_WorkingPlan::undo (SA_AdjustMinTimesCmd *cmd) // task instance in the plan. bool SA_WorkingPlan::execute (SA_AdjustMaxTimesCmd *cmd) { - std::cout<<"adjusting max time for "<<cmd->task_inst_<<std::endl; + std::ostringstream debug_text; + + debug_text<<"adjusting max time for "<<cmd->task_inst_<<std::endl; TimeWindow *start_win = &this->start_window_map_.find(cmd->task_inst_)->second; TimeWindow *end_win = &this->end_window_map_.find(cmd->task_inst_)->second; - std::cout<<"for "<<cmd->task_inst_<<" "<<cmd->new_end_max<<" "<<end_win->first<<" "<<cmd->new_start_max<<" "<<start_win->first<<std::endl; + debug_text<<"for "<<cmd->task_inst_<<" "<<cmd->new_end_max<<" "<<end_win->first<<" "<<cmd->new_start_max<<" "<<start_win->first<<std::endl; // If this adjustment violated and time constraints, return false. if((end_win->first==NULL_TIME && cmd->new_end_max!= NULL_TIME) || cmd->new_end_max<end_win->first || cmd->new_start_max<start_win->first) return false; // Set the new time window @@ -1507,9 +1564,9 @@ bool SA_WorkingPlan::execute (SA_AdjustMaxTimesCmd *cmd) } } - if(sched.empty()) std::cout<<"msched is empty ("<<cmd->task_inst_<<")"<<std::endl; + if(sched.empty()) debug_text<<"msched is empty ("<<cmd->task_inst_<<")"<<std::endl; else - std::cout<<"mnot sched is empty ("<<cmd->task_inst_<<")"<<std::endl; + debug_text<<"mnot sched is empty ("<<cmd->task_inst_<<")"<<std::endl; for(TaskInstSet::iterator iter=sched.begin();iter!=sched.end();iter++) { @@ -1522,6 +1579,8 @@ bool SA_WorkingPlan::execute (SA_AdjustMaxTimesCmd *cmd) } } + + // Do the same change for the task instances simultaneous to this one for(TaskInstSet::iterator iter=data.begin();iter!=data.end();iter++) { @@ -1533,6 +1592,11 @@ bool SA_WorkingPlan::execute (SA_AdjustMaxTimesCmd *cmd) cmd->max_adjust_cmds.push_back(temp); } } + + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + + for(SA_AdjustMaxTimesCmd::MaxTimesAdjustList::iterator iter=cmd->max_adjust_cmds.begin();iter!=cmd->max_adjust_cmds.end();iter++) { if(!this->execute(*iter)) return false; @@ -1554,7 +1618,10 @@ bool SA_WorkingPlan::execute (SA_AdjustMaxTimesCmd *cmd) { unranked->erase(unranked->find(*iter)); } - std::cout<<"max times for "<<cmd->task_inst_<<" : "<<cmd->new_start_max<<" "<<cmd->new_end_max<<std::endl; + debug_text<<"max times for "<<cmd->task_inst_<<" : "<<cmd->new_start_max<<" "<<cmd->new_end_max<<std::endl; + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + return true; }; @@ -1562,7 +1629,11 @@ bool SA_WorkingPlan::execute (SA_AdjustMaxTimesCmd *cmd) // task instance in the plan. void SA_WorkingPlan::undo (SA_AdjustMaxTimesCmd *cmd) { - std::cout<<"task inst is "<<cmd->task_inst_<<std::endl; + std::ostringstream debug_text; + debug_text<<"task inst is "<<cmd->task_inst_<<std::endl; + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + TimeWindow *start_win = &this->get_start_window(cmd->task_inst_); TimeWindow *end_win = &this->get_end_window(cmd->task_inst_); if(start_win->second==cmd->old_start_max && end_win->second==cmd->old_end_max) return; @@ -1649,7 +1720,11 @@ TimeValue SA_WorkingPlan::get_duration(TaskInstID task_inst) /// Adds the sched order to the sched_links_ map by putting the first task instance before the second void SA_WorkingPlan::add_sched_link(TaskInstID first_task_inst, TaskInstID second_task_inst) { - std::cout<<"Adding sched link insert"<<std::endl; + std::ostringstream debug_text; + debug_text<<"Adding sched link insert"<<std::endl; + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + this->sched_links_.insert(std::make_pair(first_task_inst,second_task_inst)); } /// Removes the sched order from the sched_links_ map @@ -1678,7 +1753,7 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd this->precedence_graph_.find(SIMUL)->second.insert(std::make_pair(task_inst,temp)); - if(init_start.size() == task_inst){ + if(init_start.size() <= task_inst){ for(int i = init_start.size(); i < 100+task_inst; i++){ this->init_start.insert(std::make_pair(i,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME))); this->init_end.insert(std::make_pair(i,(TimeWindow)std::make_pair(NULL_TIME,NULL_TIME))); @@ -1689,8 +1764,14 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd TimeWindow win_end = this->init_end.find(task_inst)->second; TimeWindow start_win = this->get_start_window(task_inst); TimeWindow end_win = this->get_end_window(task_inst); - std::cout<<"for "<<task_inst<<win_start.first<<" "<<win_start.second<<" "<<win_end.first<<" "<<win_end.second<<std::endl; - std::cout<<"for "<<task_inst<<start_win.first<<" "<<start_win.second<<" "<<end_win.first<<" "<<end_win.second<<std::endl; + + + std::ostringstream debug_text; + debug_text<<"for "<<task_inst<<win_start.first<<" "<<win_start.second<<" "<<win_end.first<<" "<<win_end.second<<std::endl; + debug_text<<"for "<<task_inst<<start_win.first<<" "<<start_win.second<<" "<<end_win.first<<" "<<end_win.second<<std::endl; + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + if(win_start.first!=NULL_TIME) { // An initial time constraint is set on the minimum times @@ -1740,8 +1821,14 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd // No initial time constraint. cmd->min_adj_cmd.set_times(task_inst,start_win.first,end_win.first); cmd->max_adj_cmd.set_times(task_inst,start_win.second,end_win.second); - std::cout<<"for "<<task_inst<<" "<<start_win.first<<" "<<start_win.second<<" "<<end_win.first<<" "<<end_win.second<<std::endl; - if(!this->execute(&cmd->min_adj_cmd)) + + std::ostringstream debug_text; + debug_text<<"for "<<task_inst<<" "<<start_win.first<<" "<<start_win.second<<" "<<end_win.first<<" "<<end_win.second<<std::endl; + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + + + if(!this->execute(&cmd->min_adj_cmd)) { this->undo(&cmd->min_adj_cmd); return false; @@ -1764,14 +1851,20 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd // If this task instance is not reused, insert all the task instances in it unranked set. if(unranked->empty() && (this->reused_insts_.find(task_inst)== this->reused_insts_.end())) { + std::ostringstream debug_text; + for(PrecedenceSet::iterator iter=this->precedence_graph_.find(BEFORE)->second.begin();iter!=this->precedence_graph_.find(BEFORE)->second.end();iter++) { if(iter->first!=task_inst) { - std::cout<<"inserting "<<iter->first<<" in unranked of "<<task_inst<<std::endl; + debug_text<<"inserting "<<iter->first<<" in unranked of "<<task_inst<<std::endl; unranked->insert(iter->first); } } + + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + if(unranked->empty()) return true; } CLSet after_links = this->get_after(task_inst); @@ -1791,7 +1884,10 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd TaskInstSet *iter_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second; TaskInstSet *iter_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter)->second; if(after->find(*iter)!=after->end()) continue; - std::cout<<"inserting "<<*iter<<" in after set of "<<task_inst<<std::endl; + + + std::ostringstream debug_text; + debug_text<<"inserting "<<*iter<<" in after set of "<<task_inst<<std::endl; TaskInstSet temp = *before; temp.insert(task_inst); for(TaskInstSet::iterator iter2=simul->begin();iter2!=simul->end();iter2++) @@ -1805,7 +1901,7 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd iter2_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter2)->second; for(TaskInstSet::iterator iter1=iter_after->begin();iter1!=iter_after->end();iter1++) { - std::cout<<*iter1<<" is after "<<*iter<<" so it is after "<<*iter2<<std::endl; + debug_text<<*iter1<<" is after "<<*iter<<" so it is after "<<*iter2<<std::endl; TaskInstSet *iter1_before,*iter1_unranked; iter1_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter1)->second; iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second; @@ -1818,7 +1914,7 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd } for(TaskInstSet::iterator iter1=iter_simul->begin();iter1!=iter_simul->end();iter1++) { - std::cout<<*iter1<<" is siml to "<<*iter<<" so it is after "<<*iter2<<std::endl; + debug_text<<*iter1<<" is siml to "<<*iter<<" so it is after "<<*iter2<<std::endl; TaskInstSet *iter1_before,*iter1_unranked; iter1_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter1)->second; iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second; @@ -1836,19 +1932,25 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd if(iter_unranked->find(*iter2)!=iter_unranked->end()) iter_unranked->erase(*iter2); if(iter2_unranked->find(*iter)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter)); } + + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + } for(TaskInstSet::iterator iter=data.begin();iter!=data.end();iter++) { + std::ostringstream debug_text; + TaskInstSet *iter_after = &this->precedence_graph_.find(AFTER)->second.find(*iter)->second; TaskInstSet *iter_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter)->second; TaskInstSet *iter_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second; TaskInstSet *iter_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter)->second; if(simul->find(*iter)!=simul->end()) continue; - std::cout<<"inserting "<<*iter<<" in simul set of "<<task_inst<<std::endl; + debug_text<<"inserting "<<*iter<<" in simul set of "<<task_inst<<std::endl; TaskInstSet temp = *before; for(TaskInstSet::iterator iter2=temp.begin();iter2!=temp.end();iter2++) { - std::cout<<"iter2 is "<<*iter2<<std::endl; + debug_text<<"iter2 is "<<*iter2<<std::endl; TaskInstSet *iter2_before,*iter2_after,*iter2_simul,*iter2_unranked; iter2_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter2)->second; iter2_after = &this->precedence_graph_.find(AFTER)->second.find(*iter2)->second; @@ -1856,7 +1958,7 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd iter2_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter2)->second; for(TaskInstSet::iterator iter1=iter_after->begin();iter1!=iter_after->end();iter1++) { - std::cout<<*iter1<<" is after "<<*iter<<" so it is after "<<*iter2<<std::endl; + debug_text<<*iter1<<" is after "<<*iter<<" so it is after "<<*iter2<<std::endl; TaskInstSet *iter1_before,*iter1_unranked; iter1_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter1)->second; iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second; @@ -1869,7 +1971,7 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd } for(TaskInstSet::iterator iter1=iter_simul->begin();iter1!=iter_simul->end();iter1++) { - std::cout<<*iter1<<" is simul to "<<*iter<<" so it is after "<<*iter2<<std::endl; + debug_text<<*iter1<<" is simul to "<<*iter<<" so it is after "<<*iter2<<std::endl; TaskInstSet *iter1_before,*iter1_unranked; iter1_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter1)->second; iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second; @@ -1886,11 +1988,18 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd iter2_after->insert(*iter); if(iter_unranked->find(*iter2)!=iter_unranked->end()) iter_unranked->erase(*iter2); if(iter2_unranked->find(*iter)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter)); - } + + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + } + + temp = *simul; temp.insert(task_inst); for(TaskInstSet::iterator iter2=temp.begin();iter2!=temp.end();iter2++) { + std::ostringstream debug_text; + TaskInstSet *iter2_before,*iter2_after,*iter2_simul,*iter2_unranked; iter2_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter2)->second; iter2_after = &this->precedence_graph_.find(AFTER)->second.find(*iter2)->second; @@ -1898,7 +2007,7 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd iter2_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter2)->second; for(TaskInstSet::iterator iter1=iter_after->begin();iter1!=iter_after->end();iter1++) { - std::cout<<*iter1<<" is after "<<*iter<<" so it is after "<<*iter2<<std::endl; + debug_text<<*iter1<<" is after "<<*iter<<" so it is after "<<*iter2<<std::endl; TaskInstSet *iter1_before,*iter1_unranked; iter1_before = &this->precedence_graph_.find(BEFORE)->second.find(*iter1)->second; iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second; @@ -1911,7 +2020,7 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd } for(TaskInstSet::iterator iter1=iter_simul->begin();iter1!=iter_simul->end();iter1++) { - std::cout<<*iter1<<" is simul "<<*iter<<" so it is simul "<<*iter2<<std::endl; + debug_text<<*iter1<<" is simul "<<*iter<<" so it is simul "<<*iter2<<std::endl; TaskInstSet *iter1_simul,*iter1_unranked; iter1_simul = &this->precedence_graph_.find(SIMUL)->second.find(*iter1)->second; iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second; @@ -1927,7 +2036,7 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd } for(TaskInstSet::iterator iter1=iter_before->begin();iter1!=iter_before->end();iter1++) { - std::cout<<*iter1<<" is before "<<*iter<<" so it is before "<<*iter2<<std::endl; + debug_text<<*iter1<<" is before "<<*iter<<" so it is before "<<*iter2<<std::endl; TaskInstSet *iter1_after,*iter1_unranked; iter1_after = &this->precedence_graph_.find(AFTER)->second.find(*iter1)->second; iter1_unranked = &this->precedence_graph_.find(UNRANKED)->second.find(*iter1)->second; @@ -1938,6 +2047,10 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd if(iter1_unranked->find(*iter2)!=iter1_unranked->end()) iter1_unranked->erase(*iter2); if(iter2_unranked->find(*iter1)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter1)); } + + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + if(iter_simul->find(*iter2)!=iter_simul->end()) continue; else cmd->simul_insertions.insert(std::make_pair(*iter2,*iter)); iter2_simul->insert(*iter); @@ -1946,12 +2059,16 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd if(iter2_unranked->find(*iter)!=iter2_unranked->end()) iter2_unranked->erase(iter2_unranked->find(*iter)); } } - std::cout<<"for "<<task_inst<<" start window: "<<start_win.first<<"-"<<start_win.second<<" and end window "<<end_win.first<<"-"<<end_win.second<<std::endl; + + + debug_text<<"for "<<task_inst<<" start window: "<<start_win.first<<"-"<<start_win.second<<" and end window "<<end_win.first<<"-"<<end_win.second<<std::endl; + + for(TaskInstSet::iterator iter = unranked->begin();iter!=unranked->end();iter++) { TimeWindow temp_start = this->get_start_window(*iter); TimeWindow temp_end = this->get_end_window(*iter); - std::cout<<"checking "<<*iter<<" in all with start window: "<<temp_start.first<<"-"<<temp_start.second<<" and end window "<<temp_end.first<<"-"<<temp_end.second<<std::endl; + debug_text<<"checking "<<*iter<<" in all with start window: "<<temp_start.first<<"-"<<temp_start.second<<" and end window "<<temp_end.first<<"-"<<temp_end.second<<std::endl; if(end_win.second!=NULL_TIME && temp_start.first>end_win.second) { after->insert(*iter); @@ -1966,36 +2083,52 @@ bool SA_WorkingPlan::init_prec_insert(TaskInstID task_inst, SA_AssocTaskImplCmd { this->precedence_graph_.find(UNRANKED)->second.find(*iter)->second.insert(task_inst); } + + } + + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + this->print_prec(); + for(InstToWinMap::iterator iter=this->start_window_map_.begin();iter!=this->start_window_map_.end();iter++) { - std::cout<<"The start window for "<<iter->first<<" is "<<iter->second.first<<" - "<<iter->second.second<<std::endl; + debug_text<<"The start window for "<<iter->first<<" is "<<iter->second.first<<" - "<<iter->second.second<<std::endl; } for(InstToWinMap::iterator iter=this->end_window_map_.begin();iter!=this->end_window_map_.end();iter++) { - std::cout<<"The end window for "<<iter->first<<" is "<<iter->second.first<<" - "<<iter->second.second<<std::endl; + debug_text<<"The end window for "<<iter->first<<" is "<<iter->second.first<<" - "<<iter->second.second<<std::endl; } + + SA_POP_DEBUG_STR (SA_POP_DEBUG_NORMAL, debug_text.str ()); + debug_text.str(""); + return true; }; // Print the precedence graph void SA_WorkingPlan::print_prec() { - std::cout<<"BEFORE : "<<BEFORE<<", AFTER : "<<AFTER<<", SIMUL : "<<SIMUL<<", UNRANKED : "<<UNRANKED<<std::endl; + std::ostringstream debug_text; + + debug_text<<"BEFORE : "<<BEFORE<<", AFTER : "<<AFTER<<", SIMUL : "<<SIMUL<<", UNRANKED : "<<UNRANKED<<std::endl; for(PrecedenceGraph::iterator iter1 = this->precedence_graph_.begin(); iter1 != this->precedence_graph_.end(); iter1++) { - std::cout<<"The precedence set "<<iter1->first<<": "<<std::endl; + debug_text<<"The precedence set "<<iter1->first<<": "<<std::endl; for(PrecedenceSet::iterator iter2 = iter1->second.begin(); iter2 != iter1->second.end(); iter2++) { - std::cout<<"The task inst set of "<<iter2->first<<" is "; + debug_text<<"The task inst set of "<<iter2->first<<" is "; for(TaskInstSet::iterator iter3 = iter2->second.begin(); iter3 != iter2->second.end(); iter3++) { - std::cout<<*iter3<<","; + debug_text<<*iter3<<","; } - std::cout<<std::endl; + debug_text<<std::endl; } } + + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); }; // Undo all the updation to the precedence graph due to the chosen task instance @@ -2005,10 +2138,13 @@ PrecedenceSet *before = &this->precedence_graph_.find(BEFORE)->second; PrecedenceSet *simul = &this->precedence_graph_.find(SIMUL)->second; PrecedenceSet *after = &this->precedence_graph_.find(AFTER)->second; PrecedenceSet *unranked = &this->precedence_graph_.find(UNRANKED)->second; + +std::ostringstream debug_text; + for(std::set< std::pair<TaskInstID,TaskInstID> >::iterator iter = cmd->causal_insertions.begin();iter!=cmd->causal_insertions.end();iter++) { // iter->second has been inserted in the after set of iter->first - std::cout<<"removing "<<iter->second<<" from after of "<<iter->first<<std::endl; + debug_text<<"removing "<<iter->second<<" from after of "<<iter->first<<std::endl; before->find(iter->second)->second.erase(iter->first); after->find(iter->first)->second.erase(iter->second); unranked->find(iter->first)->second.insert(iter->second); @@ -2017,7 +2153,7 @@ PrecedenceSet *unranked = &this->precedence_graph_.find(UNRANKED)->second; for(std::set< std::pair<TaskInstID,TaskInstID> >::iterator iter = cmd->simul_insertions.begin();iter!=cmd->simul_insertions.end();iter++) { // iter->second has been inserted in the simul set of iter->first - std::cout<<"removing "<<iter->second<<" from simul of "<<iter->first<<std::endl; + debug_text<<"removing "<<iter->second<<" from simul of "<<iter->first<<std::endl; simul->find(iter->second)->second.erase(iter->first); simul->find(iter->first)->second.erase(iter->second); unranked->find(iter->first)->second.insert(iter->second); @@ -2030,7 +2166,7 @@ PrecedenceSet *unranked = &this->precedence_graph_.find(UNRANKED)->second; // if(iter->second.second == GOAL_TASK_INST_ID && iter->second.first == task_inst) break; // if(iter==this->causal_links_.end() || cmd->impls_.size()!=0) // { - std::cout<<this->reused_insts_.size()<<std::endl; + debug_text<<this->reused_insts_.size()<<std::endl; if(this->reused_insts_.find(task_inst)==this->reused_insts_.end()) { before->erase(before->find(task_inst)); @@ -2042,6 +2178,10 @@ PrecedenceSet *unranked = &this->precedence_graph_.find(UNRANKED)->second; for(PrecedenceSet::iterator iter1 = unranked->begin();iter1!=unranked->end();iter1++) iter1->second.erase(task_inst); } + + SA_POP_DEBUG_STR (ANKET, debug_text.str ()); + debug_text.str(""); + // } //std::cout<<"after erasing the precedence graph is "<<std::endl; //this->print_prec(); 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