/* swap two nodes' file line, their related nodes(father and children nodes) will also be updated. */
void VSTree::swapNodeFileLine(VNode* _p_node_a, VNode* _p_node_b)
{
int oldNodeAFileLine = _p_node_a->getFileLine();
int oldNodeBFileLine = _p_node_b->getFileLine();
int newNodeAFileLine = oldNodeBFileLine;
int newNodeBFileLine = oldNodeAFileLine;
// at first, we should get their fathers' and children's pointer.
VNode* nodeAFatherPtr = _p_node_a->getFather(*(this->node_buffer));
int nodeARank = _p_node_a->getIndexInFatherNode(*(this->node_buffer));
VNode* nodeBFatherPtr = _p_node_b->getFather(*(this->node_buffer));
int nodeBRank = _p_node_b->getIndexInFatherNode(*(this->node_buffer));
VNode* nodeAChildPtr[VNode::MAX_CHILD_NUM];
VNode* nodeBChildPtr[VNode::MAX_CHILD_NUM];
int nodeAChildNum = _p_node_a->getChildNum();
int nodeBChildNum = _p_node_b->getChildNum();
for (int i=0;i<nodeAChildNum;i++)
{
nodeAChildPtr[i] = _p_node_a->getChild(i, *(this->node_buffer));
}
for (int i=0;i<nodeBChildNum;i++)
{
nodeBChildPtr[i] = _p_node_b->getChild(i, *(this->node_buffer));
}
// update nodes self file line.
_p_node_a->setFileLine(newNodeAFileLine);
_p_node_b->setFileLine(newNodeBFileLine);
// update nodes' fathers' child file line.
if (!_p_node_a->isRoot())
{
nodeAFatherPtr->setChildFileLine(nodeARank, newNodeAFileLine);
}
if (!_p_node_b->isRoot())
{
nodeBFatherPtr->setChildFileLine(nodeBRank, newNodeBFileLine);
}
// update nodes' children's father file line.
if (!_p_node_a->isLeaf())
{
for (int i=0;i<nodeAChildNum;i++)
{
nodeAChildPtr[i]->setFatherFileLine(newNodeAFileLine);
}
}
if (!_p_node_b->isLeaf())
{
for (int i=0;i<nodeBChildNum;i++)
{
nodeBChildPtr[i]->setFatherFileLine(newNodeBFileLine);
}
}
// update the node_buffer.
this->node_buffer->update(newNodeAFileLine, _p_node_a);
this->node_buffer->update(newNodeBFileLine, _p_node_b);
}
// Can pass root as an argument, but will not affect performance much
double DESPOT::WEU(VNode* vnode, double xi) {
VNode* root = vnode;
while (root->parent() != NULL) {
root = root->parent()->parent();
}
return Gap(vnode) - xi * vnode->Weight() * Gap(root);
}
//NOTICE:this can only be done by one thread
//write out all the elements to hard disk.
bool LRUCache::flush()
{
#ifdef DEBUG_VSTREE
cout<<"to flush in LRUCache"<<endl;
#endif
FILE* filePtr = fopen(this->dataFilePath.c_str(), "r+b");
if (filePtr == NULL)
{
cerr << "error, can't open file. @LRUCache::flush" << endl;
return false;
}
int startIndex = LRUCache::DEFAULT_NUM;
int endIndex = startIndex + this->size;
size_t vNodeSize = VNode::VNODE_SIZE;
//size_t vNodeSize = sizeof(VNode);
//NOTICE:values are continuous
for (int i = startIndex; i < endIndex; ++i)
{
VNode* nodePtr = this->values[i];
int line = this->keys[i];
//cout<<"file line to write "<<line<<endl;
#ifdef DEBUG
if (nodePtr->getFileLine() != line)
{
cout << "line error at !!!" << line << " " << nodePtr->getFileLine() << endl;
}
#endif
if (nodePtr == NULL)
{
cerr << "error, VNode do not exist. @LRUCache::flush" << endl;
return false;
}
if(!nodePtr->isDirty())
{
continue;
}
int flag = 0;
long long seekPos = (long long)line * vNodeSize;
flag = fseek(filePtr, seekPos, SEEK_SET);
if (flag != 0)
{
cerr << "error, can't seek to the fileLine. @LRUCache::flush" << endl;
return false;
}
//fwrite((char *)nodePtr, vNodeSize, 1, filePtr);
nodePtr->writeNode(filePtr);
}
fclose(filePtr);
return true;
}
//create a new node when one node need splitting.
VNode*
VSTree::createNode()
{
VNode* newNodePtr = new VNode();
int key = -1;
if(this->free_nid_list.empty())
{
key = this->max_nid_alloc++;
//cout<<"get key by adding "<<key<<endl;
}
else
{
key = *(this->free_nid_list.begin());
this->free_nid_list.pop_front();
//cout<<"createNode() - get key "<<key<<endl;
//int nkey = *(this->free_nid_list.begin());
//cout<<"createNode() - next key "<<nkey<<endl;
}
//key = this->node_num;
newNodePtr->setFileLine(key);
this->node_buffer->set(key, newNodePtr);
this->node_num++;
return newNodePtr;
}
std::string VSTree::to_str()
{
//debug
{
stringstream _ss;
_ss << "after build tree, root is:" << endl;
_ss << this->getRoot()->to_str() << endl;
Util::logging(_ss.str());
}
std::stringstream _ss;
std::queue<int> nodeFileLineQueue;
nodeFileLineQueue.push(this->getRoot()->getFileLine());
while(! nodeFileLineQueue.empty())
{
int currentNodeFileLine = nodeFileLineQueue.front();
nodeFileLineQueue.pop();
VNode* currentNodePtr = this->getNode(currentNodeFileLine);
_ss << currentNodePtr->to_str();
int childNum = currentNodePtr->getChildNum();
for(int i = 0; i < childNum; i ++)
{
if(! currentNodePtr->isLeaf())
{
int childNodeFileLine = currentNodePtr->getChildFileLine(i);
nodeFileLineQueue.push(childNodeFileLine);
}
}
}
return _ss.str();
}
//Replace the Entry(_enitty_id)'s EntityBitSet with _bitset
//Entry of _entity_id must exists
bool
VSTree::replaceEntry(int _entity_id, const EntityBitSet& _bitset)
{
VNode* leafNodePtr = this->getLeafNodeByEntityID(_entity_id);
if (leafNodePtr == NULL)
{
cerr << "error, can not find the mapping leaf node. @VSTree::replaceEntry" << endl;
return false;
}
// find the mapping child entry, update it and refresh signature.
int childNum = leafNodePtr->getChildNum();
bool findFlag = false;
for (int i = 0; i < childNum; i++)
{
const SigEntry& entry = leafNodePtr->getChildEntry(i);
if (entry.getEntityId() == _entity_id)
{
SigEntry newEntry(EntitySig(_bitset), _entity_id);
leafNodePtr->setChildEntry(i, newEntry);
leafNodePtr->refreshAncestorSignature(*(this->node_buffer));
findFlag = true;
break;
}
}
if (!findFlag)
{
cerr << "error, can not find the mapping child entry in the leaf node. @VSTree::replaceEntry" << endl;
return false;
}
return true;
}
void DESPOT::Update(QNode* qnode) {
double lower = qnode->step_reward;
double upper = qnode->step_reward;
double utility_upper = qnode->step_reward
+ Globals::config.pruning_constant;
map<OBS_TYPE, VNode*>& children = qnode->children();
for (map<OBS_TYPE, VNode*>::iterator it = children.begin();
it != children.end(); it++) {
VNode* vnode = it->second;
lower += vnode->lower_bound();
upper += vnode->upper_bound();
utility_upper += vnode->utility_upper_bound;
}
if (lower > qnode->lower_bound()) {
qnode->lower_bound(lower);
}
if (upper < qnode->upper_bound()) {
qnode->upper_bound(upper);
}
if (utility_upper < qnode->utility_upper_bound) {
qnode->utility_upper_bound = utility_upper;
}
}
LocalVar* find_local_var(const char* name, bool& in_closure) {
VNode* vnode = getVStack();
ClosureParseEnvironment* cenv = thread_get_closure_parse_env();
in_closure = false;
if (vnode && !vnode->lvar)
vnode = vnode->nextSearch();
//printd(5, "find_local_var('%s' %p) vnode: %p\n", name, name, vnode);
while (vnode) {
assert(vnode->lvar);
if (cenv && !in_closure && cenv->getHighWaterMark() == vnode)
in_closure = true;
//printd(5, "find_local_var('%s' %p) v: '%s' %p in_closure: %d match: %d\n", name, name, vnode->getName(), vnode->getName(), in_closure, !strcmp(vnode->getName(), name));
if (!strcmp(vnode->getName(), name)) {
//printd(5, "find_local_var() %s in_closure: %d\n", name, in_closure);
if (in_closure)
cenv->add(vnode->lvar);
vnode->setRef();
return vnode->lvar;
}
vnode = vnode->nextSearch();
}
//printd(5, "find_local_var('%s' %p) returning 0 NOT FOUND\n", name, name);
return 0;
}
ValuedAction DESPOT::Evaluate(VNode* root, vector<State*>& particles,
RandomStreams& streams, POMCPPrior* prior, const DSPOMDP* model) {
double value = 0;
for (int i = 0; i < particles.size(); i++) {
particles[i]->scenario_id = i;
}
for (int i = 0; i < particles.size(); i++) {
State* particle = particles[i];
VNode* cur = root;
State* copy = model->Copy(particle);
double discount = 1.0;
double val = 0;
int steps = 0;
while (!streams.Exhausted()) {
int action =
(cur != NULL) ?
OptimalAction(cur).action : prior->GetAction(*copy);
assert(action != -1);
double reward;
OBS_TYPE obs;
bool terminal = model->Step(*copy, streams.Entry(copy->scenario_id),
action, reward, obs);
val += discount * reward;
discount *= Discount();
if (!terminal) {
prior->Add(action, obs);
streams.Advance();
steps++;
if (cur != NULL && !cur->IsLeaf()) {
QNode* qnode = cur->Child(action);
map<OBS_TYPE, VNode*>& vnodes = qnode->children();
cur = vnodes.find(obs) != vnodes.end() ? vnodes[obs] : NULL;
}
} else {
break;
}
}
for (int i = 0; i < steps; i++) {
streams.Back();
prior->PopLast();
}
model->Free(copy);
value += val;
}
return ValuedAction(OptimalAction(root).action, value / particles.size());
}
/* create a new node when one node need splitting. */
VNode* VSTree::createNode()
{
VNode* newNodePtr = new VNode();
newNodePtr->setFileLine(this->node_num);
this->node_buffer->set(this->node_num, newNodePtr);
this->node_num ++;
return newNodePtr;
}
//choose the best leaf node to insert the _entry, return the choosed leaf node's pointer. Recursion!
VNode*
VSTree::chooseNode(VNode* _p_node, const SigEntry& _entry)
{
if(_p_node->isLeaf())
{
return _p_node;
}
else
{
int minDis = Signature::ENTITY_SIG_LENGTH + 1;
//int maxDis = Signature::ENTITY_SIG_LENGTH + 1;
int candidateIndex[VNode::MAX_CHILD_NUM];
int candidateNum = 0;
int childNum = _p_node->getChildNum();
for(int i = 0; i < childNum; i++)
{
int curDis = _p_node->getChildEntry(i).xEpsilen(_entry);
if(minDis >= curDis)
{
if(minDis > curDis)
{
minDis = curDis;
candidateNum = 0;
}
candidateIndex[candidateNum++] = i;
}
}
//NOTICE: the basic idea is to place similar signatures together?(the smaller num?)
//BETTER: recursion is too costly , and the performance maybe not so good
minDis = Signature::ENTITY_SIG_LENGTH + 1;
//maxDis = Signature::ENTITY_SIG_LENGTH + 1;
VNode* ret = NULL;
for(int i = 0; i < candidateNum; i++)
{
int child_i = candidateIndex[i];
VNode* p_child = _p_node->getChild(child_i, *(this->node_buffer));
//Recursion
VNode *candidateLeafPtr = this->chooseNode(p_child, _entry);
int curDis = candidateLeafPtr->getEntry().xEpsilen(_entry);
if(curDis == 0)
{
return candidateLeafPtr;
}
if(minDis > curDis)
{
minDis = curDis;
ret = candidateLeafPtr;
}
}
return ret;
}
}
// reiserfs_close_dir
static status_t
reiserfs_close_dir(fs_volume *fs, fs_vnode *_node, void *cookie)
{
TOUCH(fs); TOUCH(cookie);
// FUNCTION_START();
VNode *node = (VNode*)_node->private_node;
FUNCTION(("node: (%Ld: %lu, %lu)\n", node->GetID(), node->GetDirID(),
node->GetObjectID()));
TOUCH(node);
return B_OK;
}
double AEMS::AEMS2Likelihood(QNode* qnode) {
VNode* vnode = qnode->parent();
QNode* qstar = NULL;
for (int action = 0; action < vnode->children().size(); action++) {
QNode* child = vnode->Child(action);
if (qstar == NULL || child->upper_bound() > qstar->upper_bound())
qstar = child;
}
return qstar == qnode;
}
//read the value from hard disk, and put it to the values[_pos].
//before use it, you must make sure that the _pos element in cache is free(unoccupied).
bool LRUCache::readIn(int _pos, int _fileLine)
{
#ifdef DEBUG_LRUCACHE
//cout<<"pos: "<<_pos<<" "<<"fileline: "<<_fileLine<<endl;
#endif
VNode* nodePtr = new VNode(true);
//VNode* nodePtr = NULL;
FILE* filePtr = fopen(this->dataFilePath.c_str(), "rb");
//if (nodePtr == NULL)
//{
//cerr << "error, can not new a VNode. @LRUCache::readIn" << endl;
//return false;
//}
if (filePtr == NULL)
{
cerr << "error, can't open " <<
"[" << this->dataFilePath << "]" <<
". @LRUCache::readIn" << endl;
return false;
}
int line = _fileLine;
size_t vNodeSize = VNode::VNODE_SIZE;
//size_t vNodeSize = sizeof(VNode);
int flag = 0;
long long seekPos = (long long)line * vNodeSize;
flag = fseek(filePtr, seekPos, SEEK_SET);
if (flag != 0)
{
cerr << "error,can't seek to the fileLine. @LRUCache::readIn" << endl;
return false;
}
//bool is_node_read = (fread((char *)nodePtr, vNodeSize, 1, filePtr) == 1);
//fread((char *)nodePtr, vNodeSize, 1, filePtr);
nodePtr->readNode(filePtr);
fclose(filePtr);
if (nodePtr == NULL || nodePtr->getFileLine() != _fileLine)
{
cout<<"node file line: "<<nodePtr->getFileLine()<<endl;
cerr << "error,node fileLine error. @LRUCache::readIn" << endl;
}
this->setElem(_pos, _fileLine, nodePtr);
return true;
}
//traverse the tree_node_file_path file, load the mapping from entity id to file line.
bool
VSTree::loadEntityID2FileLineMap()
{
FILE* filePtr = fopen(VSTree::tree_node_file_path.c_str(), "rb");
if (filePtr == NULL)
{
cerr << "error, can not open tree node file. @VSTree::loadEntityID2FileLineMap" << endl;
return false;
}
size_t vNodeSize = sizeof(VNode);
int flag = 0;
flag = fseek(filePtr, 0, SEEK_SET);
if (flag != 0)
{
cerr << "error,can't seek to the fileLine. @VSTree::loadEntityID2FileLineMap" << endl;
return false;
}
this->entityID2FileLineMap.clear();
VNode* nodePtr = new VNode();
int cycle_count = 0;
while (!feof(filePtr))
{
bool is_node_read = (fread((char *)nodePtr,vNodeSize,1,filePtr) == 1);
//NOTICE:not consider invalid node
if (is_node_read && nodePtr->getFileLine() >= 0)
{
this->updateEntityID2FileLineMap(nodePtr);
//debug
//{
//stringstream _ss;
//if (cycle_count != nodePtr->getFileLine())
//{
//_ss << "line=" << cycle_count << " nodeLine=" << nodePtr->getFileLine() << endl;
//Util::logging(_ss.str());
//}
//}
cycle_count ++;
}
}
delete nodePtr;
fclose(filePtr);
return true;
}
// reiserfs_free_cookie
static status_t
reiserfs_free_cookie(fs_volume *fs, fs_vnode *_node, void *cookie)
{
TOUCH(fs);
// FUNCTION_START();
VNode *node = (VNode*)_node->private_node;
FUNCTION(("node: (%Ld: %lu, %lu)\n", node->GetID(), node->GetDirID(),
node->GetObjectID()));
TOUCH(node);
StreamReader *reader = (StreamReader*)cookie;
delete reader;
return B_OK;
}
// reiserfs_free_dir_cookie
static status_t
reiserfs_free_dir_cookie(fs_volume *fs, fs_vnode *_node, void *cookie)
{
TOUCH(fs);
// FUNCTION_START();
VNode *node = (VNode*)_node->private_node;
FUNCTION(("node: (%Ld: %lu, %lu)\n", node->GetID(), node->GetDirID(),
node->GetObjectID()));
TOUCH(node);
DirectoryCookie *iterator = (DirectoryCookie*)cookie;
delete iterator;
return B_OK;
}
//Replace the Entry(_enitty_id)'s EntityBitSet with _bitset
//Entry of _entity_id must exists
bool
VSTree::replaceEntry(int _entity_id, const EntityBitSet& _bitset)
{
//cout<<"begin replaceEntry()"<<endl;
VNode* leafNodePtr = this->getLeafNodeByEntityID(_entity_id);
if (leafNodePtr == NULL)
{
cerr << "error, can not find the mapping leaf node. @VSTree::replaceEntry" << endl;
return false;
}
// find the mapping child entry, update it and refresh signature.
int childNum = leafNodePtr->getChildNum();
//cout<<"get child num, now to loop"<<endl;
bool findFlag = false;
for (int i = 0; i < childNum; i++)
{
const SigEntry& entry = leafNodePtr->getChildEntry(i);
if (entry.getEntityId() == _entity_id)
{
//cout<<"find the entityid in pos "<<i<<endl;
SigEntry newEntry(EntitySig(_bitset), _entity_id);
leafNodePtr->setChildEntry(i, newEntry);
leafNodePtr->refreshAncestorSignature(*(this->node_buffer));
findFlag = true;
break;
}
}
//cout<<"root file line: "<<this->root_file_line<<" "<<"max nid num: "<<this->max_nid_alloc<<endl;
//cout<<"node num: "<<this->node_num<<" "<<"file line: "<<leafNodePtr->getFileLine()<<" "<<"child num: "<<childNum<<endl;
//for(int j = 1; j < 4; ++j)
//{
//VNode* tmp = this->getNode(j);
//for(int i = 0; i < tmp->getChildNum(); ++i)
//{
//const SigEntry& entry = tmp->getChildEntry(i);
//cout << entry.getEntityId() << " ";
//}
//cout << endl;
//}
if (!findFlag)
{
cerr << "error, can not find the mapping child entry in the leaf node. @VSTree::replaceEntry" << endl;
return false;
}
return true;
}
/* choose the best leaf node to insert the _entry,
* return the choosed leaf node's pointer.
* Recursion function! */
VNode* VSTree::chooseNode(VNode* _p_node, const SigEntry& _entry)
{
if (_p_node->isLeaf())
{
return _p_node;
}
else
{
int minDis = Signature::ENTITY_SIG_LENGTH + 1;
int candidateIndex[VNode::MAX_CHILD_NUM];
int candidateNum = 0;
int childNum = _p_node->getChildNum();
for (int i=0;i<childNum;i++)
{
int curDis = _p_node->getChildEntry(i).xEpsilen(_entry);
if (minDis >= curDis)
{
if (minDis > curDis)
{
minDis = curDis;
candidateNum = 0;
}
candidateIndex[candidateNum ++] = i;
}
}
minDis = Signature::ENTITY_SIG_LENGTH + 1;
VNode* ret = NULL;
for (int i=0;i<candidateNum;i++)
{
int child_i = candidateIndex[i];
VNode* p_child = _p_node->getChild(child_i, *(this->node_buffer));
/* Recursion */
VNode *candidateLeafPtr = this->chooseNode(p_child, _entry);
int curDis = candidateLeafPtr->getEntry().xEpsilen(_entry);
if (curDis == 0)
{
return candidateLeafPtr;
}
if (minDis > curDis)
{
minDis = curDis;
ret = candidateLeafPtr;
}
}
return ret;
}
}
VNode* DESPOT::ConstructTree(vector<State*>& particles, RandomStreams& streams,
ScenarioLowerBound* lower_bound, ScenarioUpperBound* upper_bound,
const DSPOMDP* model, History& history, double timeout,
SearchStatistics* statistics) {
if (statistics != NULL) {
statistics->num_particles_before_search = model->NumActiveParticles();
}
for (int i = 0; i < particles.size(); i++) {
particles[i]->scenario_id = i;
}
VNode* root = new VNode(particles);
logd
<< "[DESPOT::ConstructTree] START - Initializing lower and upper bounds at the root node.";
InitBounds(root, lower_bound, upper_bound, streams, history);
logd
<< "[DESPOT::ConstructTree] END - Initializing lower and upper bounds at the root node.";
if (statistics != NULL) {
statistics->initial_lb = root->lower_bound();
statistics->initial_ub = root->upper_bound();
}
double used_time = 0;
int num_trials = 0;
do {
double start = clock();
VNode* cur = Trial(root, streams, lower_bound, upper_bound, model, history, statistics);
used_time += double(clock() - start) / CLOCKS_PER_SEC;
start = clock();
Backup(cur);
if (statistics != NULL) {
statistics->time_backup += double(clock() - start) / CLOCKS_PER_SEC;
}
used_time += double(clock() - start) / CLOCKS_PER_SEC;
num_trials++;
} while (used_time * (num_trials + 1.0) / num_trials < timeout
&& (root->upper_bound() - root->lower_bound()) > 1e-6);
if (statistics != NULL) {
statistics->num_particles_after_search = model->NumActiveParticles();
statistics->num_policy_nodes = root->PolicyTreeSize();
statistics->num_tree_nodes = root->Size();
statistics->final_lb = root->lower_bound();
statistics->final_ub = root->upper_bound();
statistics->time_search = used_time;
statistics->num_trials = num_trials;
}
return root;
}
//Incrementally update bitset of _entity_id
//conduct OR operation on Entry(_entity_id)'s EntityBitSet with _bitset
//Entry of _entity_id must exists
bool VSTree::updateEntry(int _entity_id, const EntityBitSet& _bitset)
{
VNode* leafNodePtr = this->getLeafNodeByEntityID(_entity_id);
if (leafNodePtr == NULL)
{
cerr << "error, can not find the mapping leaf node. @VSTree::updateEntry" << endl;
return false;
}
// find the mapping child entry, update it and refresh signature.
int childNum = leafNodePtr->getChildNum();
bool findFlag = false;
for (int i = 0; i < childNum; i++)
{
const SigEntry& entry = leafNodePtr->getChildEntry(i);
if (entry.getEntityId() == _entity_id)
{
SigEntry newEntry = entry;
newEntry |= SigEntry(EntitySig(_bitset), _entity_id);
//debug
// {
// if (_entity_id == 10)
// {
// stringstream _ss;
// _ss << "lead node line: " << leafNodePtr->getFileLine() << endl;
// _ss << "old entry:\n " << Signature::BitSet2str(entry.getEntitySig().entityBitSet) << endl;
// _ss << "new entry:\n " << Signature::BitSet2str(newEntry.getEntitySig().entityBitSet) << endl;
// Util::logging(_ss.str());
// }
// }
leafNodePtr->setChildEntry(i, newEntry);
leafNodePtr->refreshAncestorSignature(*(this->node_buffer));
findFlag = true;
break;
}
}
if (!findFlag)
{
cerr<< "error, can not find the mapping child entry in the leaf node. @VSTree::updateEntry" << endl;
return false;
}
return true;
}
int rmdir(const char path[])
{
VNode *dir;
char entry[256];
int error;
error = FileSystem::GetDirEntry(path, strlen(path), entry, 256, &dir);
if (error < 0)
return error;
error = dir->RemoveDir(entry, strlen(entry));
dir->ReleaseRef();
return error;
}
void DESPOT::Compare() {
vector<State*> particles = belief_->Sample(Globals::config.num_scenarios);
SearchStatistics statistics;
RandomStreams streams = RandomStreams(Globals::config.num_scenarios,
Globals::config.search_depth);
VNode* root = ConstructTree(particles, streams, lower_bound_, upper_bound_,
model_, history_, Globals::config.time_per_move, &statistics);
CheckDESPOT(root, root->lower_bound());
CheckDESPOTSTAR(root, root->lower_bound());
delete root;
}
// reiserfs_rewind_dir
static status_t
reiserfs_rewind_dir(fs_volume *fs, fs_vnode *_node, void *cookie)
{
TOUCH(fs);
// FUNCTION_START();
VNode *node = (VNode*)_node->private_node;
FUNCTION(("node: (%Ld: %lu, %lu)\n", node->GetID(), node->GetDirID(),
node->GetObjectID()));
TOUCH(node);
DirectoryCookie *iterator = (DirectoryCookie*)cookie;
status_t error = iterator->Rewind(); // no need to Resume()
if (error == B_OK)
error = iterator->Suspend();
RETURN_ERROR(error);
}
// _InitNegativeEntries
void
Volume::_InitNegativeEntries()
{
// build a list of vnode IDs
for (int32 i = 0; const char *entry = fSettings->HiddenEntryAt(i); i++) {
if (entry && strlen(entry) > 0 && entry[0] != '/') {
VNode node;
if (FindEntry(fRootVNode, entry, &node) == B_OK
&& node.GetID() != fRootVNode->GetID()) {
fNegativeEntries.AddItem(node.GetID());
} else
INFORM(("WARNING: negative entry not found: `%s'\n", entry));
}
}
}
/*********************************************************************************
*Function: OnReadOnePart(FILE* fp)
*Description： 导入网格模型中的一个part，并挂载到场景结构中
*Input: fp-文件指针
*Return: 成功true 否则false
*CREATED BY: [8/17/2015 niewenchao]
**********************************************************************************/
bool VImport::OnReadOnePart(FILE* fp)
{
char buf[512];
fscanf(fp,"#Part\n");
fscanf(fp,"n %s\n",buf); // mesh的名称
VMesh* m_mesh = new VMesh();
VNode* node = m_pScence->CreateNode(m_mesh);
node->SetNodeName(buf);
float mat[12];
fscanf(fp,"m %f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n", //读取对象矩阵
&mat[0],&mat[1],&mat[2],&mat[3],&mat[4],&mat[5],&mat[6],
&mat[7],&mat[8],&mat[9],&mat[10],&mat[11]);
VMatrix3* pmat = new VMatrix3;
pmat->SetValue(mat);
node->GetTMController()->SetTM(pmat);
// 问题，忽略最后一个字符行
fscanf(fp,"t %s\n",buf);
bool nExist=false;
bool tExist=false;
while(fscanf(fp,"%s",buf) != EOF && strcmp(buf,"#PartEnd") != 0) {
switch(buf[0]){
case 'v':
fseek(fp,-1L,SEEK_CUR);
OnImportVertex(fp,m_mesh); //导入顶点数据
break;
case 'n':
nExist = true;
fseek(fp,-1L,SEEK_CUR);
OnImportNormal(fp,m_mesh); //导入法线数据
break;
case 't':
tExist = true;
fseek(fp,-1L,SEEK_CUR);
OnImportTVert(fp,m_mesh); //导入纹理顶点数据
break;
case 'f':
fseek(fp,-1L,SEEK_CUR);
OnImportFace(fp,m_mesh,nExist,tExist); //导入面片数据
break;
}
}
fscanf(fp,"\n");
m_mesh->ComputeBoundBox();
return true;
}
//
// StdParse::ParseStringVNode
//
// Parses a string VNode, NULL if error
//
VNode* StdParse::ParseStringVNode(TBuf *tBuf)
{
// Allow empty strings
Bool empty = FALSE;
// Store string delimiter
char delim[2];
// Accept the start of the string literal
tBuf->NextToken();
// Insert string delimiter
delim[0] = *tBuf->lastToken;
// Insert null terminator
delim[1] = '\0';
// Start reading the string constant
tBuf->ReadConstant(*delim);
// Read in string
switch (tBuf->NextToken())
{
// Copy string, then accept closing symbol
case TR_OK:
tBuf->Accept(delim);
break;
// Must have been an empty string
case TR_PUN:
tBuf->Expect(delim);
empty = TRUE;
break;
// This should be caught in tBuf
case TR_EOF:
ERR_FATAL(("Unexpected return code"));
default:
ERR_FATAL(("Missing case"));
}
// Create the new VNode
VNode *newNode = new VNode;
newNode->SetupString(empty ? "" : tBuf->prevToken);
return (newNode);
}
int open(const char path[], int)
{
VNode *node;
int error = FileSystem::WalkPath(path, strlen(path), &node);
if (error < 0)
return error;
FileDescriptor *desc;
error = node->Open(&desc);
if (error < 0) {
node->ReleaseRef();
return error;
}
desc->SetName(path);
return OpenHandle(desc);
}
VNode* DESPOT::FindBlocker(VNode* vnode) {
VNode* cur = vnode;
int count = 1;
while (cur != NULL) {
if (cur->utility_upper_bound - count * Globals::config.pruning_constant
<= cur->default_move().value) {
break;
}
count++;
if (cur->parent() == NULL) {
cur = NULL;
} else {
cur = cur->parent()->parent();
}
}
return cur;
}
void AEMS::Update(QNode* qnode) {
double lower = qnode->step_reward;
double upper = qnode->step_reward;
map<OBS_TYPE, VNode*>& children = qnode->children();
for (map<OBS_TYPE, VNode*>::iterator it = children.begin();
it != children.end(); it++) {
VNode* vnode = it->second;
lower += Discount() * vnode->likelihood * vnode->lower_bound();
upper += Discount() * vnode->likelihood * vnode->upper_bound();
}
if (lower > qnode->lower_bound())
qnode->lower_bound(lower);
if (upper < qnode->upper_bound())
qnode->upper_bound(upper);
}
