void executePlan (std::stringstream& plan_to_validate, TypeChecker & tc, const DerivationRules * derivRules, double tolerance, bool lengthDefault, bool giveAdvice)
{
Ranking rnk;
Ranking rnkInv;
vector<string> failed;
vector<string> queries;
std::string name = "The master plan";
plan * the_plan = getPlan (plan_to_validate, tc, failed, name);
if (the_plan == 0) return;
plan * copythe_plan = new plan (*the_plan);
plan * planNoTimedLits = new plan();
vector<plan_step *> timedInitialLiteralActions = getTimedInitialLiteralActions();
double deadLine = 101;
//add timed initial literals to the plan from the problem spec
for (vector<plan_step *>::iterator ps = timedInitialLiteralActions.begin(); ps != timedInitialLiteralActions.end(); ++ps)
{
the_plan->push_back (*ps);
};
//add actions that are not to be moved to the timed intitial literals otherwise to the plan to be repaired
//i.e. pretend these actions are timed initial literals
for (pc_list<plan_step*>::const_iterator i = copythe_plan->begin(); i != copythe_plan->end(); ++i)
{
planNoTimedLits->push_back (*i);
};
copythe_plan->clear(); delete copythe_plan;
PlanRepair pr (timedInitialLiteralActions, deadLine, derivRules, tolerance, tc, an_analysis.the_domain->ops,
an_analysis.the_problem->initial_state,
the_plan, planNoTimedLits, an_analysis.the_problem->metric, lengthDefault,
an_analysis.the_domain->isDurative(), an_analysis.the_problem->the_goal, current_analysis);
if (Verbose)
pr.getValidator().displayPlan();
try
{
if (pr.getValidator().execute())
{
if (!Silent) cout << "Plan executed successfully - checking goal\n";
if (pr.getValidator().checkGoal (an_analysis.the_problem->the_goal))
{
if (! (pr.getValidator().hasInvariantWarnings()))
{
rnk[pr.getValidator().finalValue() ].push_back (name);
if (!Silent) *report << "Plan valid\n";
if (!Silent) *report << "Final value: " << pr.getValidator().finalValue() << "\n";
}
else
{
rnkInv[pr.getValidator().finalValue() ].push_back (name);
if (!Silent) *report << "Plan valid (subject to further invariant checks)\n";
if (!Silent) *report << "Final value: " << pr.getValidator().finalValue();
};
if (Verbose)
{
pr.getValidator().reportViolations();
};
}
else
{
failed.push_back (name);
*report << "Goal not satisfied\n";
*report << "Plan invalid\n";
++errorCount;
};
}
else
{
failed.push_back (name);
++errorCount;
if (ContinueAnyway)
{
cout << "\nPlan failed to execute - checking goal\n";
if (!pr.getValidator().checkGoal (an_analysis.the_problem->the_goal)) *report << "\nGoal not satisfied\n";
}
else *report << "\nPlan failed to execute\n";
};
if (pr.getValidator().hasInvariantWarnings())
{
cout << "\n\n";
*report << "This plan has the following further condition(s) to check:";
cout << "\n\n";
pr.getValidator().displayInvariantWarnings();
};
}
catch (exception & e)
{
cout << "Error occurred in validation attempt:\n " << e.what() << "\n";
queries.push_back (name);
};
//display error report and plan repair advice
if (giveAdvice && (Verbose || ErrorReport))
{
pr.firstPlanAdvice();
};
planNoTimedLits->clear(); delete planNoTimedLits;
delete the_plan;
if (!rnk.empty())
{
if (!Silent) cout << "\nSuccessful plans:";
if (an_analysis.the_problem->metric &&
an_analysis.the_problem->metric->opt == E_MINIMIZE)
{
if (!Silent) for_each (rnk.begin(), rnk.end(), showList());
}
else
{
if (!Silent) for_each (rnk.rbegin(), rnk.rend(), showList());
};
*report << "\n";
};
if (!rnkInv.empty())
{
if (!Silent) cout << "\nSuccessful Plans Subject To Further Invariant Checks:";
if (an_analysis.the_problem->metric &&
an_analysis.the_problem->metric->opt == E_MINIMIZE)
{
for_each (rnkInv.begin(), rnkInv.end(), showList());
}
else
{
for_each (rnkInv.rbegin(), rnkInv.rend(), showList());
};
*report << "\n";
};
if (!failed.empty())
{
cout << "\n\nFailed plans:\n ";
copy (failed.begin(), failed.end(), ostream_iterator<string> (cout, " "));
*report << "\n";
};
if (!queries.empty())
{
cout << "\n\nQueries (validator failed):\n ";
copy (queries.begin(), queries.end(), ostream_iterator<string> (cout, " "));
*report << "\n";
};
};
//execute all the plans in the usual manner without robustness checking
void executePlans(int & argc,char * argv[],int & argcount,TypeChecker & tc,const DerivationRules * derivRules,double tolerance,bool lengthDefault,bool giveAdvice)
{
Ranking rnk;
Ranking rnkInv;
vector<string> failed;
vector<string> queries;
while(argcount < argc)
{
string name(argv[argcount]);
plan * the_plan = getPlan(argc,argv,argcount,tc,failed,name);
if(the_plan == 0) continue;
plan * copythe_plan = new plan(*the_plan);
plan * planNoTimedLits = new plan();
vector<plan_step *> timedInitialLiteralActions = getTimedInitialLiteralActions();
double deadLine = 101;
//add timed initial literals to the plan from the problem spec
for(vector<plan_step *>::iterator ps = timedInitialLiteralActions.begin(); ps != timedInitialLiteralActions.end(); ++ps)
{
the_plan->push_back(*ps);
};
//add actions that are not to be moved to the timed intitial literals otherwise to the plan to be repaired
//i.e. pretend these actions are timed initial literals
for(pc_list<plan_step*>::const_iterator i = copythe_plan->begin(); i != copythe_plan->end(); ++i)
{
planNoTimedLits->push_back(*i);
};
copythe_plan->clear(); delete copythe_plan;
PlanRepair pr(timedInitialLiteralActions,deadLine,derivRules,tolerance,tc,current_analysis->the_domain->ops,
current_analysis->the_problem->initial_state,
the_plan,planNoTimedLits,current_analysis->the_problem->metric,lengthDefault,
current_analysis->the_domain->isDurative(),current_analysis->the_problem->the_goal,current_analysis);
PlanExecutionTracker pet(State(&(pr.getValidator()),current_analysis->the_problem->initial_state),&(pr.getValidator()));
State::addObserver(&pet);
if(LaTeX)
{
latex.LaTeXPlanReport(&(pr.getValidator()),the_plan);
}
else if(Verbose)
pr.getValidator().displayPlan();
bool showGraphs = false;
try {
if(pr.getValidator().execute())
{
if(LaTeX)
*report << "Plan executed successfully - checking goal\\\\\n";
else
if(!Silent) cout << "Plan executed successfully - checking goal\n";
if(pr.getValidator().checkGoal(current_analysis->the_problem->the_goal))
{
if(!(pr.getValidator().hasInvariantWarnings()))
{
rnk[pr.getValidator().finalValue()].push_back(name);
if(!Silent && !LaTeX) *report << "Plan valid\n";
if(LaTeX) *report << "\\\\\n";
if(!Silent && !LaTeX) *report << "Final value: " << pr.getValidator().finalValue() << "\n";
}
else
{
rnkInv[pr.getValidator().finalValue()].push_back(name);
if(!Silent && !LaTeX) *report << "Plan valid (subject to further invariant checks)\n";
if(LaTeX) *report << "\\\\\n";
if(!Silent && !LaTeX) *report << "Final value: " << pr.getValidator().finalValue();
};
if(Verbose)
{
pr.getValidator().reportViolations();
};
}
else
{
failed.push_back(name);
*report << "Goal not satisfied\n";
if(LaTeX) *report << "\\\\\n";
*report << "Plan invalid\n";
++errorCount;
};
}
else
{
failed.push_back(name);
++errorCount;
if(ContinueAnyway)
{
if(LaTeX) *report << "\nPlan failed to execute - checking goal\\\\\n";
else cout << "\nPlan failed to execute - checking goal\n";
if(!pr.getValidator().checkGoal(current_analysis->the_problem->the_goal)) *report << "\nGoal not satisfied\n";
}
else *report << "\nPlan failed to execute\n";
};
if(pr.getValidator().hasInvariantWarnings())
{
if(LaTeX)
*report << "\\\\\n\\\\\n";
else
cout << "\n\n";
*report << "This plan has the following further condition(s) to check:";
if(LaTeX)
*report << "\\\\\n\\\\\n";
else
cout << "\n\n";
pr.getValidator().displayInvariantWarnings();
};
if(pr.getValidator().graphsToShow()) showGraphs = true;
cout << pet;
}
catch(exception & e)
{
if(LaTeX)
{
*report << "\\error \\\\\n";
*report << "\\end{tabbing}\n";
*report << "Error occurred in validation attempt:\\\\\n " << e.what() << "\n";
}
else
cout << "Error occurred in validation attempt:\n " << e.what() << "\n";
queries.push_back(name);
};
//display error report and plan repair advice
if(giveAdvice && (Verbose || ErrorReport))
{
pr.firstPlanAdvice();
};
//display LaTeX graphs of PNEs
if(LaTeX && showGraphs)
{
latex.LaTeXGraphs(&(pr.getValidator()));
};
//display gantt chart of plan
if(LaTeX)
{
latex.LaTeXGantt(&(pr.getValidator()));
};
planNoTimedLits->clear(); delete planNoTimedLits;
delete the_plan;
};
if(!rnk.empty())
{
if(LaTeX)
{
*report << "\\section{Successful Plans}\n";
}
else
if(!Silent) cout << "\nSuccessful plans:";
if(current_analysis->the_problem->metric &&
current_analysis->the_problem->metric->opt == E_MINIMIZE)
{
if(LaTeX)
{
*report << "\\begin{tabbing}\n";
*report << "{\\bf Value} \\qquad \\= {\\bf Plan}\\\\[0.8ex]\n";
};
if(!Silent && !LaTeX) for_each(rnk.begin(),rnk.end(),showList());
if(LaTeX) *report << "\\end{tabbing}\n";
}
else
{
if(LaTeX)
{
*report << "\\begin{tabbing}\n";
*report << "{\\bf Value} \\qquad \\= {\\bf Plan}\\\\[0.8ex]\n";
};
if(!Silent && !LaTeX) for_each(rnk.rbegin(),rnk.rend(),showList());
if(LaTeX) *report << "\\end{tabbing}\n";
};
*report << "\n";
};
if(!rnkInv.empty())
{
if(LaTeX)
{
*report << "\\section{Successful Plans Subject To Further Checks}\n";
}
else
if(!Silent) cout << "\nSuccessful Plans Subject To Further Invariant Checks:";
if(current_analysis->the_problem->metric &&
current_analysis->the_problem->metric->opt == E_MINIMIZE)
{
if(LaTeX)
{
*report << "\\begin{tabbing}\n";
*report << "{\\bf Value} \\qquad \\= {\\bf Plan}\\\\[0.8ex]\n";
};
for_each(rnkInv.begin(),rnkInv.end(),showList());
if(LaTeX) *report << "\\end{tabbing}\n";
}
else
{
if(LaTeX)
{
*report << "\\begin{tabbing}\n";
*report << "{\\bf Value} \\qquad \\= {\\bf Plan}\\\\[0.8ex]\n";
};
for_each(rnkInv.rbegin(),rnkInv.rend(),showList());
if(LaTeX) *report << "\\end{tabbing}\n";
};
*report << "\n";
};
if(!failed.empty())
{
if(LaTeX)
{
*report << "\\section{Failed Plans}\n";
}
else
cout << "\n\nFailed plans:\n ";
if(LaTeX)
displayFailedLaTeXList(failed);
else
copy(failed.begin(),failed.end(),ostream_iterator<string>(cout," "));
*report << "\n";
};
if(!queries.empty())
{
if(LaTeX)
{
*report << "\\section{Queries (validator failed)}\n";
}
else
cout << "\n\nQueries (validator failed):\n ";
if(LaTeX)
displayFailedLaTeXList(queries);
else
copy(queries.begin(),queries.end(),ostream_iterator<string>(cout," "));
*report << "\n";
};
};
