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switch to clips 6.4 from ros vendor #2

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switch to clips 6.4 from ros vendor #2

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e07b82d
remove locks as calls are assumed to occur from safe block
snoato May 17, 2023
43e88f1
update fact assertion scheme based on current implementation in fawkes
snoato May 17, 2023
8ef9705
precond_visitor: add missing include
TarikViehmann Jun 14, 2024
9a66917
project: switch to clips cmake vendor instead of clipsmm
TarikViehmann Aug 26, 2024
cea39ca
package: add package.xml for ros builds
TarikViehmann Aug 26, 2024
424be71
include: fix include for clips header due to fixed clips_vendor
TarikViehmann Aug 26, 2024
dd5a269
clips_pddl_parser: fix argument signature of UDF
TarikViehmann Sep 2, 2024
1788e94
package: use proper pkg-config name
TarikViehmann Sep 2, 2024
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24 changes: 12 additions & 12 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,31 +3,31 @@ cmake_minimum_required(VERSION 3.12)
project(
clips_pddl_parser
VERSION 0.9.0
DESCRIPTION "Parse PDDL domains from within CLIPS")
DESCRIPTION "Parse PDDL domains from within CLIPS")

include(GNUInstallDirs)

find_package(PddlParser REQUIRED)
find_package(spdlog REQUIRED)
include(FindPkgConfig)
pkg_check_modules(clipsmm REQUIRED IMPORTED_TARGET clipsmm-1.0)
find_package(clips_vendor REQUIRED)
find_package(clips REQUIRED)
add_library(clips_pddl_parser SHARED src/clips_pddl_parser.cpp src/precondition_visitor.cpp src/effect_visitor.cpp)
target_link_libraries(
clips_pddl_parser PddlParser::pddl_parser
PkgConfig::clipsmm spdlog::spdlog)
ClipsNS::libclips_ns spdlog::spdlog)
target_include_directories(
clips_pddl_parser PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
clips_pddl_parser PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/> $<INSTALL_INTERFACE:include/>)
target_compile_definitions(
clips_pddl_parser PRIVATE SHAREDIR="${CMAKE_INSTALL_FULL_DATADIR}/clips")
set_target_properties(clips_pddl_parser PROPERTIES SOVERSION
${PROJECT_VERSION_MAJOR})
${PROJECT_VERSION_MAJOR})
install(
TARGETS clips_pddl_parser
EXPORT ClipsPddlParserTargets
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})

install(DIRECTORY include/clips_pddl_parser
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

target_compile_features(clips_pddl_parser PRIVATE cxx_std_17)

Expand All @@ -46,13 +46,13 @@ install(
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/ClipsPddlParser)

install(FILES cmake/ClipsPddlParserConfig.cmake
${CMAKE_CURRENT_BINARY_DIR}/ClipsPddlParserConfigVersion.cmake
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/ClipsPddlParser)
${CMAKE_CURRENT_BINARY_DIR}/ClipsPddlParserConfigVersion.cmake
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/ClipsPddlParser)

set(PKG_CONFIG_REQUIRES "pddl_parser spdlog clipsmm-1.0")
set(PKG_CONFIG_REQUIRES "pddl_parser spdlog")

configure_file(clips_pddl_parser.pc.in
${CMAKE_CURRENT_BINARY_DIR}/clips_pddl_parser.pc @ONLY)
${CMAKE_CURRENT_BINARY_DIR}/clips_pddl_parser.pc @ONLY)

install(FILES ${CMAKE_CURRENT_BINARY_DIR}/clips_pddl_parser.pc
DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig)
4 changes: 2 additions & 2 deletions cmake/ClipsPddlParserConfig.cmake
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Expand Up @@ -2,6 +2,6 @@ include(CMakeFindDependencyMacro)
find_dependency(PddlParser)
find_dependency(Boost COMPONENTS system)
find_dependency(spdlog)
include(FindPkgConfig)
pkg_check_modules(clipsmm REQUIRED IMPORTED_TARGET clipsmm-1.0)
find_dependency(clips_vendor)
find_dependency(clips)
include("${CMAKE_CURRENT_LIST_DIR}/ClipsPddlParserTargets.cmake")
25 changes: 13 additions & 12 deletions include/clips_pddl_parser/clips_pddl_parser.h
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Expand Up @@ -37,29 +37,30 @@

#ifndef _CLIPS_PDDL_PARSER_H_
#define _CLIPS_PDDL_PARSER_H_

#include <clipsmm.h>
#include <map>
#include <clips_ns/clips.h>
#undef LHS // to avoid clash with boost
#undef RHS // to avoid clash with boost
#include <list>
#include <mutex>
#include <string>

namespace clips_pddl_parser {

class ClipsPddlParser
{
class ClipsPddlParser {
public:
ClipsPddlParser(CLIPS::Environment *env, std::mutex &env_mutex, bool load_clips_templates);
~ClipsPddlParser();
ClipsPddlParser(clips::Environment *env, std::mutex &env_mutex,
bool load_clips_templates);
~ClipsPddlParser();

private:
void setup_clips(bool load_clips_templates);
void parse_domain(std::string domain_file);
void setup_clips(bool load_clips_templates);
void parse_domain(std::string domain_file);

private:
CLIPS::Environment *clips_;
std::mutex & clips_mutex_;
clips::Environment *clips_;
std::mutex &clips_mutex_;

std::list<std::string> functions_;
std::list<std::string> functions_;
};

} // end namespace clips_pddl_parser
Expand Down
22 changes: 22 additions & 0 deletions package.xml
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@@ -0,0 +1,22 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>clips_pddl_parser</name>
<version>0.9.0</version>
<description>Wrapper to provide bindings for the pddl_parser</description>

<maintainer email="viehmann@kbsg.rwth-aachen.de">Tarik Viehmann</maintainer>

<license>GPLv2+ license</license>

<buildtool_depend>cmake</buildtool_depend>

<depend>pddl_parser</depend>
<depend>spdlog</depend>
<depend>clips_vendor</depend>
<depend>pkg-config</depend>

<export>
<build_type>cmake</build_type>
</export>
</package>
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