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/home/pauldt/projects/IDEA/IDEA-ALL/IDEA-DEV/Core/ReactivePlanner/Includes/ReactivePlannerImpl.hh

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// -*- Mode: C++ -*-
//      CVS: $Id: ReactivePlannerImpl.hh,v 1.22 2005/12/30 22:15:40 rijsman Exp $
//      Tag: $name$
//     Info: $CVSROOT/COPYRIGHT
#ifndef REACTIVEPLANNER_IMPLEMENTATION_HEADER_
#define REACTIVEPLANNER_IMPLEMENTATION_HEADER_

#include "DefaultReactor.hh"
#include "FreeStrategies.hh"
#include "PslContainers.hh"
#include "StatusTypes.hh"
#include "Utilities.hh"


namespace IDEA
{
  class AgentTimingService;
  class Planner;
  class PlannerImpl;
  class PslDatabase;
  class PslTimeline;
  class PslToken;

  class ReactivePlannerImpl:
    public DefaultReactor
  {
    friend class ReactivePlanner;
  public:
    ReactivePlannerImpl( const std::string& name,
                         const PslDatabase* database,
                         const AgentTimingService* ats,
                         const std::string& heuristicFile, 
                         bool readHeuristicsFile,
                         const std::string& noBranchFile,
                         bool readNoBranchFile );
    virtual ~ReactivePlannerImpl();
    const FreeStrategy& getFreeStrategy() const;
    void addRevocableAuthority( int authority );
    bool isRevocable( int authority ) const;
    int getAuthority();
    void setFreeGoalTokens();
    void stopReacting();
    virtual StatusType startReacting( const Time& time );
  protected:
    const IntSet& getRevocableAuthorities() const;
    const Planner* getPlanner() const;
    bool freeGoalTokens() const;
  private:
    void determineDisablement( const PslToken* token, const PslTokenList& tokens );
    StatusType attemptRecovery( const Time& time  );
    int initialize();
    virtual void getFutureTokens( const PslTimeline* timeline, 
                                  PslTokenList& tokensExecuting,
                                  PslTokenList& tokensInTheFuture ) const;

    virtual StatusType free( const PslToken* pslTok );
    virtual StatusType relax( const PslToken* pslTok );
    StatusType preProcessPlanning();
    StatusType postProcessPlanning();
    StatusType preProcessExecutingTokens( PslTokenList& tokens );
    StatusType postProcessExecutingTokens( PslTokenList& tokens );
    StatusType preProcessControllableToken( const PslToken* token );
    StatusType preProcessUncontrollableToken( const PslToken* token, const PslTokenList& controllableTokens  );
  private:
    IntSet m_RevocableAuthorities;
    Planner* m_Planner;

    FreeStrategy m_FreeStrategy;
    bool m_FreeGoalTokens;
    PslTokenList m_ExecutingTokens;
    bool m_StopPlanner;

    std::string m_HeuristicFile;
    bool m_ReadHeuristicsFile;
    std::string m_NoBranchFile;
    bool m_ReadNoBranchFile;

  };
}

#endif // REACTIVEPLANNER_IMPLEMENTATION_HEADER_

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