/* *  Copyright 2002-2005, Mersad Team, Allameh Helli High School (NODET). * *  This program is free software, you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation. * *  This program is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *  GNU Library General Public License for more details. * *  This file is created by: Arash Rahimi, Sassan Haradji * *  Released on Monday 1 August 2005, 10 Mordad 1384 by Mersad RoboCup Team. *  For more information please read README file.*/#include <Plan.h>#include <Logger.h>#include <cstdarg>#include <cassert>#define PLAN_LOG_LEVEL 0using namespace std;Plan::Plan(std::string name, const WorldModel *wm, Form &form,		const Library &library): library(library), form(form), subPlans(),		threshold(THRESHOLD), wm(wm), name(name), planLogLevel(PLAN_LOG_LEVEL){}Plan::~Plan(){}void Plan::decide() {	while(!subPlans.empty())	{		Plan *plan = subPlans.top();		if (!tryPlan(plan))		{	    	subPlans.pop();			delete plan;		}	}}bool Plan::tryPlan(Plan *plan, double threshold){	if (!plan->isFinished() && plan->successRate() >= threshold)	{		if (planLogLevel >= 1)			LOG << plan->name << " Plan" << " With " << plan->successRate()					<< " Now Run." << endl;		plan->decide();		return true;	}	if (planLogLevel >= 1)	{		if (plan->isFinished())			LOG << plan->name << " Plan" << " is Finished" << endl;		if (plan->successRate() < threshold)			LOG << plan->name << " Plan" << " With " << plan->successRate()					<< " Failed." << endl;	}	return false;}bool Plan::startPlan(Plan *plan, double threshold) {	subPlans.push(plan);	bool returnValue = tryPlan(plan, threshold);	subPlans.pop();	delete plan;	return returnValue;}Plan* Plan::bestPlan(vector<Plan *> &plans, bool deletePlans){	LOG << "bestPlan Run" << endl;	LOG << "WARNING : this function (bestPlan by vector) is incomplete" << endl;	assert(plans.capacity() >= 1);	Plan * bestPlan = NULL;	double bestSuccessRate = 0;		for (unsigned i = 0; i < plans.capacity(); i++)	{		LOG << "Plan " << plans[i]->name << " has " << plans[i]->successRate()				<< " successRate" << endl;		if (plans[i])			if (plans[i]->successRate() > bestSuccessRate || bestPlan == NULL)			{				if (deletePlans) delete bestPlan;				bestPlan = plans[i];				bestSuccessRate = plans[i]->successRate();			}			else				if (deletePlans) delete plans[i];	}			LOG << "bestPlan finished : Plan " << bestPlan->name << " with "			<< bestPlan->successRate() << " successRate" << endl;		return bestPlan;}Plan* Plan::bestPlan(int num, bool deletePlans, ...){	LOG << "bestPlan Run" << endl;	assert(num >= 1);  va_list planList;  va_start(planList, deletePlans);		Plan * bestPlan = NULL, * tempPlan;	double bestSuccessRate = 0;		for (int i = 0; i < num; i++)	{		tempPlan = va_arg(planList, Plan*);		if (!tempPlan) continue;		LOG << "Plan " << tempPlan->name << " Has " << tempPlan->successRate()				<< " successRate" << endl;		if (tempPlan->successRate() > bestSuccessRate || bestPlan == NULL)		{			if (deletePlans) if (bestPlan != NULL) delete bestPlan;			bestPlan = tempPlan;			bestSuccessRate = bestPlan->successRate();		}		else			if (deletePlans) delete tempPlan;	}		va_end(planList);	LOG << "bestPlan finished : Plan " << bestPlan->name << " with "			<< bestPlan->successRate() << " successRate" << endl;		return bestPlan;}void Plan::resetPlans(){	while(!subPlans.empty())	{		delete subPlans.top();		subPlans.pop();	}}double Plan::getThreshold() {    return threshold;}void Plan::setThreshold(double t){    threshold = t;}bool Plan::isFinished(){	return true;}double Plan::successRate(){	return 0;}std::string Plan::getName(){	return name;}void Plan::setName(std::string n){	name = n;}Plan* Plan::bestPlan(vector<Plan *> &plans, vector<float> addedSuccessRates,		bool deletePlans){	Plan* bestPlan = NULL;	double bestSuccessRate = 0;	for (unsigned i = 0; i < plans.size(); i++)	{		float tmpPlanSuccessRate = plans[i]->successRate();		LOG << "Plan " << plans[i]->getName() << " has "				<< tmpPlanSuccessRate + addedSuccessRates[i] << " successRate"				<< "(" << tmpPlanSuccessRate << " real successRate, "				<< addedSuccessRates[i] << " added successRate)"				<< endl;		if (tmpPlanSuccessRate + addedSuccessRates[i] >				bestSuccessRate)		{			bestPlan = plans[i];			bestSuccessRate = tmpPlanSuccessRate + addedSuccessRates[i];		}	}		for (vector<Plan*>::iterator i = plans.begin(); i != plans.end();)	{		Plan* j = *i;		i++;		if (bestPlan != j && deletePlans)			delete j;	}	return bestPlan;}