void PnpPlanTemplate<PnpPlaceClass, PnpTransitionClass>::executeStep()
{
PNP_OUT("\nEXECUTESTEP of plan '"<<getPlanName()<<"'");
if (isInGoalState())
{
std::map<std::string,std::string>::iterator it = activePlaces.find(getPlanName());
if (it != activePlaces.end()) activePlaces.erase(it);
PNP_OUT("Goal reached!");
return;
}
else if (isInFailState())
{
std::map<std::string,std::string>::iterator it = activePlaces.find(getPlanName());
if (it != activePlaces.end()) activePlaces.erase(it);
PNP_OUT("Plan failed");
return;
}
std::map<std::string,std::string>::iterator it = activePlaces.find(getPlanName());
if (it != activePlaces.end()) activePlaces.erase(it);
std::set<PnpPlace*> nepForTest = this->getNonEmptyPlaces();
std::string places;
places = "";
for (std::set<PnpPlace*>::iterator it = nepForTest.begin(); it != nepForTest.end(); ++it)
{
places += (*it)->pnmlString + ";";
}
activePlaces.insert(make_pair(getPlanName(),places));
#if PNP_OUTPUT_ENABLED
std::set<PnpPlace*> nepForTest2 = this->getNonEmptyPlaces();
PNP_OUT("Current active places:");
for (std::set<PnpPlace*>::iterator it = nepForTest2.begin(); it != nepForTest2.end(); ++it) {
PNP_OUT(" " << (*it)->nodeId << " \"" << (*it)->pnmlString << "\"");
}
#endif
executeAllActiveActions();
fireAllEnabledTransitions();
if(this->observer != NULL)
this->observer->markingChanged(this->currentMarking());
}
void PnpPlanTemplate<PnpPlaceClass, PnpTransitionClass>::fail()
{
std::map<std::string,std::string>::iterator it = activePlaces.find(getPlanName());
if (it != activePlaces.end()) activePlaces.erase(it);
//call end() on each active executable
MapSecondArgument<std::string, PnpExecutable, void> callEnd(std::mem_fun(&PnpExecutable::end));
for_each(activeExecutables.begin(), activeExecutables.end(), callEnd);
//move them to the inactive map
inactiveExecutables.insert(activeExecutables.begin(), activeExecutables.end());
activeExecutables.clear();
}
PnpPlanTemplate<PnpPlaceClass, PnpTransitionClass>::~PnpPlanTemplate()
{
PNP_OUT("Destroying plan '"<<getPlanName()<<"'");
for (std::map<std::string, PnpExecutable*>::iterator it = inactiveExecutables.begin();
it != inactiveExecutables.end(); ++it) {
PNP_OUT(" Destroying sub-executable '"<<it->first<<"'");
delete it->second;
}
for (std::map<std::string, PnpExecutable*>::iterator it = activeExecutables.begin();
it != activeExecutables.end(); ++it) {
PNP_OUT(" Destroying sub-executable '"<<it->first<<"'");
delete it->second;
}
}
bool PnpPlanTemplate<PnpPlaceClass, PnpTransitionClass>::isInGoalState() const
{
bool noGoalMarking = true;
std::set<PnpPlace*>::iterator p_iter=PetriNet<PnpPlaceClass, PnpTransitionClass>::places.begin();
for(;p_iter!=PetriNet<PnpPlaceClass, PnpTransitionClass>::places.end();p_iter++) {
PnpPlace* p = *p_iter;
if (p->goalMarking == -1) continue;
else {
noGoalMarking = false;
if (p->currentMarking!=(size_t)p->goalMarking) return false;
}
}
if (noGoalMarking) return false;
else
{
std::map<std::string,std::string>::iterator it = activePlaces.find(getPlanName());
if (it != activePlaces.end()) activePlaces.erase(it);
return true;
}
}