void add_to_bfs_space( State *S, int op, BfsNode *father )
{
static int max_d = 0;
BfsNode *tmp, *i;
int h, num;
/* see if state is already a part of this search space
*/
if ( op >= 0 ) {/* intial state has op -1 */
if ( gcmd_line.dominating && bfs_state_hashed( S, father, op ) ) {
return;
}
}
if ( gcmd_line.A && gcmd_line.debug ) {
num = 0;
for ( i = father; i; i = i->father ) {
num++;
}
if ( num > max_d ) {
max_d = num;
printf("\ndepth: %d", num);
}
}
h = get_1P( S, &ggoal_state, NULL, father, op );
if ( h == INFINITY ) {
return;
}
for ( i = lbfs_space_head; i->next; i = i->next ) {
if ( gcmd_line.breadth_bfs ) {
if ( i->next->h > h ) break;/* stop only when next one is strictly worse */
} else {
if ( i->next->h >= h ) break;/* stop already when next one is equally good */
}
}
tmp = new_BfsNode();
copy_source_to_dest( &(tmp->S), S );
tmp->op = op;
tmp->h = h;
tmp->father = father;
tmp->next = i->next;
tmp->prev = i;
i->next = tmp;
if ( tmp->next ) {
tmp->next->prev = tmp;
}
if ( gcmd_line.dominating ) {
hash_bfs_node( tmp );
}
}
/*************************************
* Jovi: update for multiple purpose *
* BEST FIRST SEARCH IMPLEMENTATION *
*************************************/
Bool do_best_first_search_for_multiple_purpose ( void ) {
static Bool fc_for_multiple_purpose = TRUE; /*first round*/
static State S;
BfsNode *first;
int i, min = INFINITY;
Bool start = TRUE;
if ( fc_for_multiple_purpose ) {
make_state( &S, gnum_ft_conn );
S.max_F = gnum_ft_conn;
fc_for_multiple_purpose = FALSE;
}
lbfs_space_head = new_BfsNode();
lbfs_space_had = NULL;
for ( i = 0; i < BFS_HASH_SIZE; i++ ) {
lbfs_hash_entry[i] = NULL;
}
add_to_bfs_space_for_multiple_purpose( &ginitial_state, -1, NULL );
while ( TRUE ) {
if ( (first = lbfs_space_head->next) == NULL ) {
printf("\n\nbest first search space empty! problem proven unsolvable.\n\n");
return FALSE;
}
lbfs_space_head->next = first->next;
if ( first->next ) {
first->next->prev = lbfs_space_head;
}
if ( LESS( first->h, min ) ) {
min = first->h;
if ( start ) {
printf("\nadvancing to distance : %4d", min);
start = FALSE;
} else {
printf("\n %4d", min);
}
/*
* modified by JC: return ealier
*/
if(is_solved_state( &first->S )){
printf("\nstate have seen. return!\n");
break;
}
}
if ( first->h == 0 ) {
break;
}
get_A( &(first->S) );
for ( i = 0; i < gnum_A; i++ ) {
/*if(g_is_strong){*/
/*JC: dismiss invalid actions*/
int k;
Bool found = FALSE;
for(k = 0; k < gnum_IV; k++){
if(gA[i] == gInvActs[k].act){
found = TRUE;
break;
}
}
/*}*/
if(found) continue;
result_to_dest( &S, &(first->S), gA[i] );
add_to_bfs_space_for_multiple_purpose( &S, gA[i], first );
}
first->next = lbfs_space_had;
lbfs_space_had = first;
}
extract_plan( first );
return TRUE;
}
void manual_control( void )
{
static Bool fc = TRUE;
static State S;
int i, j, h, choice;
BfsNode *tmp, *curr;
if ( fc ) {
make_state( &S, gnum_ft_conn );
fc = FALSE;
}
tmp = new_BfsNode();
copy_source_to_dest( &(tmp->S), &ginitial_state );
tmp->op = -1;
curr = tmp;
if ( gcmd_line.dominating ) {
hash_bfs_node( curr );
}
while ( TRUE ) {
if ( !curr ) break;
h = get_1P_and_H( &(curr->S), &ggoal_state, NULL, curr->father, curr->op );
get_A( &(curr->S) );
while ( TRUE ) {
printf("\n\n\n-------------state h = %d", h);
if ( h > 0 ) printf(" (resp. %d actions)", h - 1);
printf(", info level %d, %d applicable actions", gcmd_line.debug, gnum_A);
if ( gcmd_line.debug >= 1 ) {
print_state( curr->S );
}
if ( 0 ) {
printf("\nH:");
for ( i = 0; i < gnum_H; i++ ) {
printf(" ");
print_op_name( gH[i] );
}
}
printf("\n");
for ( i = 0; i < gnum_A; i++ ) {
printf("\n%3d ", i);
for ( j = 0; j < gnum_H; j++ ) {
if ( gA[i] == gH[j] ) break;
}
if ( j < gnum_H ) {
printf("H: ");
} else {
printf(" : ");
}
print_op_name( gA[i] );
}
printf("\n\n -1: retract last choice");
printf("\n -2: set info level");
printf("\n\nchoice: "); scanf("%d", &choice);
if ( choice >= -2 && choice < gnum_A ) break;
}
if ( choice >= 0 ) {
if ( !result_to_dest( &S, NULL, curr, gA[choice] ) ) {
printf("\naction not applicable!");
continue;
}
if ( gcmd_line.dominating && bfs_state_hashed( &S, curr, gA[choice] ) ) {
printf("\nthis state is dominated!\n\n");
}
tmp = new_BfsNode();
copy_source_to_dest( &(tmp->S), &S );
tmp->father = curr;
tmp->op = gA[choice];
curr = tmp;
if ( gcmd_line.dominating ) {
hash_bfs_node( curr );
}
continue;
}
if ( choice == -1 ) {
curr = curr->father;
continue;
}
printf("\nlevel : "); scanf("%d", &gcmd_line.debug);
}
}
Bool do_best_first_search( void )
{
static Bool fc = TRUE;
static State S;
BfsNode *first;
int i, min = INFINITY;
Bool start = TRUE;
if ( fc ) {
make_state( &S, gnum_ft_conn );
fc = FALSE;
}
lbfs_space_head = new_BfsNode();
lbfs_space_had = NULL;
add_to_bfs_space( &ginitial_state, -1, NULL );
while ( TRUE ) {
if ( (first = lbfs_space_head->next) == NULL ) {
printf("\n\nbest first search space empty! problem proven unsolvable.\n\n");
return FALSE;
}
lbfs_space_head->next = first->next;
if ( first->next ) {
first->next->prev = lbfs_space_head;
}
if ( LESS( first->h, min ) ) {
min = first->h;
if ( start ) {
printf("\nadvancing to distance : %4d", min);
start = FALSE;
fflush(stdout);
} else {
printf("\n %4d", min);
fflush(stdout);
}
}
if ( first->h == 0 ) {
break;
}
get_A( &(first->S) );
for ( i = 0; i < gnum_A; i++ ) {
if ( !result_to_dest( &S, NULL, first, gA[i] ) ) continue;
add_to_bfs_space( &S, gA[i], first );
}
first->next = lbfs_space_had;
lbfs_space_had = first;
}
extract_plan( first );
return TRUE;
}
