void ADPlanner::UpdateSetMembership(ADState* state)
{
CKey key;
if(state->v != state->g)
{
if(state->iterationclosed != pSearchStateSpace_->iteration)
{
key = ComputeKey(state);
if(state->heapindex == 0)
pSearchStateSpace_->heap->insertheap(state, key);
else
pSearchStateSpace_->heap->updateheap(state, key);
}
else if(state->listelem[AD_INCONS_LIST_ID] == NULL)
{
pSearchStateSpace_->inconslist->insert(state, AD_INCONS_LIST_ID);
}
}
else
{
if(state->heapindex != 0)
pSearchStateSpace_->heap->deleteheap(state);
else if(state->listelem[AD_INCONS_LIST_ID] != NULL)
pSearchStateSpace_->inconslist->remove(state, AD_INCONS_LIST_ID);
}
}
void
TnmSnmpComputeKeys(TnmSnmp *session)
{
int authProto, privProto;
authProto = (session->securityLevel & TNM_SNMP_AUTH_MASK);
privProto = (session->securityLevel & TNM_SNMP_PRIV_MASK);
if (authProto != TNM_SNMP_AUTH_NONE) {
ComputeKey(&session->usmAuthKey, session->authPassWord,
session->engineID, authProto);
if (privProto != TNM_SNMP_PRIV_NONE) {
ComputeKey(&session->usmPrivKey, session->privPassWord,
session->engineID, authProto);
}
}
}
void ADPlanner::PrintSearchState(ADState* searchstateinfo, FILE* fOut)
{
CKey key = ComputeKey(searchstateinfo);
fprintf(fOut, "g=%d v=%d h = %d heapindex=%d inconslist=%d key=[%d %d]",
searchstateinfo->g, searchstateinfo->v, searchstateinfo->h, searchstateinfo->heapindex, (searchstateinfo->listelem[AD_INCONS_LIST_ID] != NULL),
(int)key[0], (int)key[1]);
}
void ADPlanner::PrintSearchState(ADState* searchstateinfo, FILE* fOut)
{
CKey key = ComputeKey(searchstateinfo);
fprintf(fOut, "g=%d v=%d h = %d heapindex=%d inconslist=%d key=[%d %d] iterc=%d callnuma=%d expands=%d (current callnum=%d iter=%d)",
searchstateinfo->g, searchstateinfo->v, searchstateinfo->h, searchstateinfo->heapindex, (searchstateinfo->listelem[AD_INCONS_LIST_ID] != NULL),
(int)key[0], (int)key[1], searchstateinfo->iterationclosed, searchstateinfo->callnumberaccessed, searchstateinfo->numofexpands,
this->pSearchStateSpace_->callnumber, this->pSearchStateSpace_->searchiteration);
}
void KeyManager::SetCurrentKeySequence(uint32_t aKeySequence)
{
mPreviousKeyValid = true;
mPreviousKeySequence = mCurrentKeySequence;
memcpy(mPreviousKey, mCurrentKey, sizeof(mPreviousKey));
mCurrentKeySequence = aKeySequence;
ComputeKey(mCurrentKeySequence, mCurrentKey);
mMacFrameCounter = 0;
mMleFrameCounter = 0;
UpdateNeighbors();
}
void ADPlanner::Reevaluatefvals(ADSearchStateSpace_t* pSearchStateSpace)
{
CKey key;
int i;
CHeap* pheap = pSearchStateSpace->heap;
#if DEBUG
fprintf(fDeb, "re-computing heap priorities\n");
#endif
//recompute priorities for states in OPEN and reorder it
for (i = 1; i <= pheap->currentsize; ++i)
{
ADState* state = (ADState*)pheap->heap[i].heapstate;
pheap->heap[i].key = ComputeKey(state);
}
pheap->makeheap();
pSearchStateSpace->bReevaluatefvals = false;
}
void ADPlanner::BuildNewOPENList(ADSearchStateSpace_t* pSearchStateSpace)
{
ADState *state;
CKey key;
CHeap* pheap = pSearchStateSpace->heap;
CList* pinconslist = pSearchStateSpace->inconslist;
//move incons into open
while(pinconslist->firstelement != NULL)
{
state = (ADState*)pinconslist->firstelement->liststate;
//compute f-value
key = ComputeKey(state);
//insert into OPEN
pheap->insertheap(state, key);
//remove from INCONS
pinconslist->remove(state, AD_INCONS_LIST_ID);
}
}
//initialization before each search
void ADPlanner::ReInitializeSearchStateSpace(ADSearchStateSpace_t* pSearchStateSpace)
{
CKey key;
//increase callnumber
pSearchStateSpace->callnumber++;
//reset iteration
pSearchStateSpace->searchiteration = 0;
#if DEBUG
fprintf(fDeb, "reinitializing search state-space (new call number=%d search iter=%d)\n",
pSearchStateSpace->callnumber,pSearchStateSpace->searchiteration );
#endif
pSearchStateSpace->heap->makeemptyheap();
pSearchStateSpace->inconslist->makeemptylist(AD_INCONS_LIST_ID);
//reset
pSearchStateSpace->eps = this->finitial_eps;
pSearchStateSpace->eps_satisfied = INFINITECOST;
//initialize start state
ADState* startstateinfo = (ADState*)(pSearchStateSpace->searchstartstate->PlannerSpecificData);
if(startstateinfo->callnumberaccessed != pSearchStateSpace->callnumber)
ReInitializeSearchStateInfo(startstateinfo, pSearchStateSpace);
startstateinfo->g = 0;
//insert start state into the heap
key = ComputeKey(startstateinfo);
pSearchStateSpace->heap->insertheap(startstateinfo, key);
pSearchStateSpace->bReinitializeSearchStateSpace = false;
pSearchStateSpace->bReevaluatefvals = false;
pSearchStateSpace->bRebuildOpenList = false;
}
//returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time
int ADPlanner::ComputePath(ADSearchStateSpace_t* pSearchStateSpace, double MaxNumofSecs)
{
int expands;
ADState *state, *searchgoalstate;
CKey key, minkey;
CKey goalkey;
expands = 0;
if(pSearchStateSpace->searchgoalstate == NULL)
{
printf("ERROR searching: no goal state is set\n");
exit(1);
}
//goal state
searchgoalstate = (ADState*)(pSearchStateSpace->searchgoalstate->PlannerSpecificData);
if(searchgoalstate->callnumberaccessed != pSearchStateSpace->callnumber)
ReInitializeSearchStateInfo(searchgoalstate, pSearchStateSpace);
//set goal key
goalkey = ComputeKey(searchgoalstate);
//expand states until done
minkey = pSearchStateSpace->heap->getminkeyheap();
CKey oldkey = minkey;
while(!pSearchStateSpace->heap->emptyheap() && (goalkey > minkey || searchgoalstate->g > searchgoalstate->v) &&
(clock()-TimeStarted) < MaxNumofSecs*(double)CLOCKS_PER_SEC)
{
//get the state
state = (ADState*)pSearchStateSpace->heap->deleteminheap();
#if DEBUG
CKey debkey = ComputeKey(state);
fprintf(fDeb, "expanding state(%d): g=%u v=%u h=%d key=[%d %d] iterc=%d callnuma=%d expands=%d (g(goal)=%u)\n",
state->MDPstate->StateID, state->g, state->v, state->h, (int)debkey[0], (int)debkey[1],
state->iterationclosed, state->callnumberaccessed, state->numofexpands, searchgoalstate->g);
environment_->PrintState(state->MDPstate->StateID, true, fDeb);
fflush(fDeb);
#endif
#if DEBUG
if(minkey.key[0] < oldkey.key[0] && fabs(this->finitial_eps - 1.0) < ERR_EPS)
{
printf("WARN in search: the sequence of keys decreases in an optimal search\n");
//exit(1);
}
oldkey = minkey;
#endif
if(state->v == state->g)
{
printf("ERROR: consistent state is being expanded\n");
exit(1);
}
//new expand
expands++;
state->numofexpands++;
if(state->v > state->g)
{
//overconsistent expansion
//recompute state value
state->v = state->g;
state->iterationclosed = pSearchStateSpace->iteration;
#if AD_SEARCH_FORWARD == 0
UpdatePredsofOverconsState(state, pSearchStateSpace);
#else
UpdateSuccsofOverconsState(state, pSearchStateSpace);
#endif
}
else
{
//underconsistent expansion
printf("underconstistent expansion\n");
//force the state to be overconsistent
state->v = INFINITECOST;
//update state membership
UpdateSetMembership(state);
#if AD_SEARCH_FORWARD == 0
UpdatePredsofUnderconsState(state, pSearchStateSpace);
#else
UpdateSuccsofUnderconsState(state, pSearchStateSpace);
#endif
}
//recompute minkey
minkey = pSearchStateSpace->heap->getminkeyheap();
//recompute goalkey if necessary
goalkey = ComputeKey(searchgoalstate);
if(expands%100000 == 0 && expands > 0)
{
printf("expands so far=%u\n", expands);
}
}
int retv = 1;
if(searchgoalstate->g == INFINITECOST && pSearchStateSpace->heap->emptyheap())
{
printf("solution does not exist: search exited because heap is empty\n");
#if DEBUG
fprintf(fDeb, "solution does not exist: search exited because heap is empty\n");
#endif
retv = 0;
}
else if(!pSearchStateSpace->heap->emptyheap() && (goalkey > minkey || searchgoalstate->g > searchgoalstate->v))
{
printf("search exited because it ran out of time\n");
#if DEBUG
fprintf(fDeb, "search exited because it ran out of time\n");
#endif
retv = 2;
}
else if(searchgoalstate->g == INFINITECOST && !pSearchStateSpace->heap->emptyheap())
{
printf("solution does not exist: search exited because all candidates for expansion have infinite heuristics\n");
#if DEBUG
fprintf(fDeb, "solution does not exist: search exited because all candidates for expansion have infinite heuristics\n");
#endif
retv = 0;
}
else
{
printf("search exited with a solution for eps=%.3f\n", pSearchStateSpace->eps);
#if DEBUG
fprintf(fDeb, "search exited with a solution for eps=%.3f\n", pSearchStateSpace->eps);
#endif
retv = 1;
}
//fprintf(fDeb, "expanded=%d\n", expands);
searchexpands += expands;
return retv;
}
const uint8_t *KeyManager::GetTemporaryMleKey(uint32_t aKeySequence)
{
ComputeKey(aKeySequence, mTemporaryKey);
return mTemporaryKey;
}
