rule_learner_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _rule_learner_alg_h_
#define _rule_learner_alg_h_

#include <iri_rule_learner/RuleLearnerConfig.h>
#include "mutex.h"

//include rule_learner_alg main library
#include <rules.h>
#include <predicates.h>
#include <symbols.h>
#include <transitions.h>

#include <estirabot_msgs/DirtyArea.h>
#include <estirabot_msgs/PointsDistanceMsg.h>

class RuleLearnerAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    
    // dyanmic parameters
    int learning_m_;
    std::string rules_path_, updated_rules_path_, debugging_rules_path_, pasula_rules_path_;
    std::string transitions_path_, backup_transitions_path_, restore_transitions_path_;
    
    Symbol last_action_;
    std::string last_state_;
    bool needs_learning_;

    TransitionList transitions_, new_transitions_;
    RuleSet rules_;
    
    

  public:
    typedef iri_rule_learner::RuleLearnerConfig Config;

    Config config_;

    RuleLearnerAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all rule_learner_alg interface methods to retrieve and set
    // the driver parameters

    ~RuleLearnerAlgorithm(void);
    
    bool add_state(std::string state);
    
    bool add_action(std::string action_name, std::vector<uint> params);
    
    void add_execution(std::string state);
    
    std::vector<std::string> actions_needing_pasula_learning();
    
    std::vector<int> update_with_pasula_rules(std::vector<std::string> actions, TransitionList transitions);
    
    inline TransitionList get_transitions() { return transitions_; }
    
    TransitionList get_transitions_with_actions(std::vector<std::string> actions);
    
    void write_transitions(TransitionList transitions);
    
    void reset_new_transitions();
    
};

#endif