/*
Service call when we change the state of a goal/plan/action
*/
bool changeState(supervisor_msgs::ChangeState::Request &req, supervisor_msgs::ChangeState::Response &res){
if(req.type == "action"){
return actionState(req.action, req.state);
}else if(req.type == "plan"){
if(req.state == "PROGRESS"){
return newPlan(req.plan, false);
}else if(req.state == "SHARE"){
return sharePlan();
}else if(req.state == "PROGRESS_SHARE"){
return newPlan(req.plan, true);
}else if(req.state == "ABORT"){
return abortPlan(req.agent);
}
}else if(req.type == "goal"){
if(req.state == "NEW"){
return newGoal(req.goal);
}else if(req.state == "PROGRESS"){
return startGoal(req.goal);
}else if(req.state == "ABORT"){
return abortGoal(req.goal, req.agent);
}
}
}
// _____________________________________________________________________________
void QueryPlanner::applyFiltersIfPossible(
vector<QueryPlanner::SubtreePlan>& row,
const vector<SparqlFilter>& filters) const {
// Apply every filter possible.
// It is possible when,
// 1) the filter has not already been applied
// 2) all variables in the filter are covered by the query so far
for (size_t n = 0; n < row.size(); ++n) {
const auto& plan = row[n];
for (size_t i = 0; i < filters.size(); ++i) {
if (plan._idsOfIncludedFilters.count(i) > 0) {
continue;
}
if (plan._qet.varCovered(filters[i]._lhs) &&
plan._qet.varCovered(filters[i]._rhs)) {
// Apply this filter.
SubtreePlan newPlan(_qec);
newPlan._idsOfIncludedFilters = plan._idsOfIncludedFilters;
newPlan._idsOfIncludedFilters.insert(i);
newPlan._idsOfIncludedNodes = plan._idsOfIncludedNodes;
QueryExecutionTree tree(_qec);
Filter filter(_qec, plan._qet, filters[i]._type,
plan._qet.getVariableColumn(filters[i]._lhs),
plan._qet.getVariableColumn(filters[i]._rhs));
tree.setVariableColumns(plan._qet.getVariableColumnMap());
tree.setOperation(QueryExecutionTree::FILTER, &filter);
tree.setContextVars(plan._qet.getContextVars());
newPlan._qet = tree;
row[n] = newPlan;
}
}
}
}
