task main()
{
initializeRobot();
setupPlans();
waitForStart(); // Wait for the beginning of autonomous phase.
resetTracker();
StartTask(trackRobot);
executePlan(&planA);
}
bool checkPlan (const std::string& domain_file, const std::string& problem_file, std::stringstream& plan)
{
try
{
current_analysis = &an_analysis;
//an_analysis.const_tab.symbol_put(""); //for events - undefined symbol
Silent = false;
errorCount = 0;
Verbose = false;
ContinueAnyway = false;
ErrorReport = false;
InvariantWarnings = false;
makespanDefault = false;
bool CheckDPs = true;
bool giveAdvice = true;
double tolerance = 0.01;
bool lengthDefault = true;
string s;
std::ifstream domainFile (domain_file.c_str());
if (!domainFile)
{
std::cerr << "Bad domain file!\n";
exit (1);
};
yfl = new yyFlexLexer (&domainFile, &cout);
yydebug = 0;
yyparse();
delete yfl;
if (!an_analysis.the_domain)
{
std::cerr << "Problem in domain definition!\n";
exit (1);
};
TypeChecker tc (current_analysis);
bool typesOK = tc.typecheckDomain();
if (!typesOK)
{
std::cerr << "Type problem in domain description!\n";
exit (1);
};
std::ifstream problemFile (problem_file.c_str());
if (!problemFile)
{
std::cerr << "Bad problem file!\n";
exit (1);
};
yfl = new yyFlexLexer (&problemFile, &cout);
yyparse();
delete yfl;
if (!tc.typecheckProblem())
{
std::cerr << "Type problem in problem specification!\n";
exit (1);
};
const DerivationRules * derivRules = new DerivationRules (an_analysis.the_domain->drvs, an_analysis.the_domain->ops);
if (CheckDPs && !derivRules->checkDerivedPredicates())
{
exit (1);
};
executePlan (plan, tc, derivRules, tolerance, lengthDefault, giveAdvice);
delete derivRules;
}
catch (exception & e)
{
std::cerr << "Error: " << e.what() << "\n";
an_analysis.error_list.report();
return 2;
};
return errorCount == 0;
};
