1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
|
// -*- C++ -*-
// $Id$
//=============================================================================
/**
* @file SA_Builder.cpp
*
* This file contains the implementation of the SA_Builder concrete class,
* which implements a Builder creating SA_Planner and associated
* objects for planning with spreading activation networks and scheduling
* with precedence graphs.
*
* @author John S. Kinnebrew <john.s.kinnebrew@vanderbilt.edu>
*/
//=============================================================================
#include "SA_POP_Types.h"
#include "SA_Builder.h"
#include "Planner.h"
#include "SANet/SANet.h"
#include "SA_PlanHeuristics.h"
#include "SA_PlanStrategy.h"
#include "SA_SchedStrategy.h"
#include "SA_WorkingPlan.h"
#include "TaskMap.h"
using namespace SA_POP;
// Constructor.
SA_Builder::SA_Builder (void)
: planner_ (0),
sanet_ (0),
cond_choice_ (0),
task_choice_ (0),
impl_choice_ (0),
plan_strat_ (0),
sched_strat_ (0),
working_plan_ (0),
task_map_ (0)
{
this->init ();
};
// Destructor.
SA_Builder::~SA_Builder (void)
{
// Nothing to do because client deletes Planner and Planner
// handles deletion of the rest of the objects.
};
// Reset for building a new set of SA-POP objects.
void SA_Builder::reset (void)
{
// Reset planning object pointers to null.
this->planner_ = 0;
this->sanet_ = 0;
this->cond_choice_ = 0;
this->task_choice_ = 0;
this->impl_choice_ = 0;
this->plan_strat_ = 0;
this->sched_strat_ = 0;
this->working_plan_ = 0;
this->task_map_ = 0;
// Create and initialize planning objects.
this->init ();
};
// Get Planner object.
Planner *SA_Builder::get_planner (void)
{
return this->planner_;
};
// Add a task.
void SA_Builder::add_task (TaskID id, double prior_prob,
std::string name)
{
this->sanet_->add_task (id, name, 1, 0, prior_prob);
};
// Add a condition.
void SA_Builder::add_cond (CondID id, Utility utility,
double init_prob_true, std::string name, CondKind cond_kind)
{
this->sanet_->add_cond (id, name, 1,
init_prob_true, 1.0 - init_prob_true, utility, cond_kind);
};
// Add a link between a precondition and task.
void SA_Builder::set_precond (CondID cond_id, TaskID task_id,
PortID port, double true_prob, double false_prob)
{
this->sanet_->add_precond_link (cond_id, task_id,
true_prob, false_prob, port);
};
// Add a link between a task and an effect.
void SA_Builder::set_effect (TaskID task_id, CondID cond_id,
PortID port, double weight)
{
this->sanet_->add_effect_link (task_id, cond_id, weight, port);
};
// Add a resource.
void SA_Builder::add_resource (Resource resource)
{
this->task_map_->add_resource (resource);
};
// Add an implementation.
void SA_Builder::add_task_impl (TaskImpl *task_impl)
{
this->task_map_->add_task_impl (task_impl);
};
// Associate a task with a task implementation.
void SA_Builder::assoc_task_with_impl (TaskID task_id, TaskImplID task_impl_id,
TimeValue duration)
{
this->task_map_->assoc_task_with_impl (task_id, task_impl_id, duration);
};
// Associate a task implementation with its utilization of a resource.
void SA_Builder::assoc_impl_with_resource (TaskImplID impl_id,
ResourceID resource_id, ResourceValue resource_usage)
{
this->task_map_->assoc_impl_with_resource (impl_id, resource_id,
resource_usage);
};
// Create SA-POP objects.
void SA_Builder::init (void)
{
// Create objects.
this->planner_ = new Planner ();
this->sanet_ = new SANet::Network ();
this->cond_choice_ = new SA_CondStrategy (this->planner_);
this->task_choice_ = new SA_TaskStrategy (this->planner_);
this->impl_choice_ = new SA_ImplStrategy (this->planner_);
this->plan_strat_ = new SA_PlanStrategy (this->planner_,
this->cond_choice_, this->task_choice_, this->impl_choice_);
this->sched_strat_ = new SA_SchedStrategy (this->planner_);
this->working_plan_ = new SA_WorkingPlan (this->planner_);
this->task_map_ = new TaskMap ();
// Provide PlanCommand prototypes to objects.
this->plan_strat_->set_commands (
this->working_plan_->get_AddTaskCmd (),
this->working_plan_->get_AssocTaskImplCmd (),
this->working_plan_->get_ResolveCLThreatCmd());
this->sched_strat_->set_commands (
this->working_plan_->get_ResolveSchedOrderCmd (),
this->working_plan_->get_AdjustMinTimesCmd (),
this->working_plan_->get_AdjustMaxTimesCmd ());
this->working_plan_->set_commands (
this->plan_strat_->get_AddOpenThreatsCmd ());
// Provide planning objects to Planner.
this->planner_->set_objects (
this->sanet_,
this->plan_strat_,
this->sched_strat_,
this->working_plan_,
this->task_map_);
};
|
