1. First discussion <2017-05-12 五>

1. Linux 16.04 LTS

   Easy to use and configure environment, assuming apt as package manager

2. bison flex

   Required by makefile

   sudo apt-get install bison flex
       

3. swig

   Required by wrapping

   sudo apt-get install swig
       

4. make gcc python

   sudo apt install make gcc python-dev
       

Since errors are unavoidable, please add problems to the problems section below. Welcome to edit this document, add your thoughts on how we build and your vision on plantool (future section).

• Some reference

  SWIG and Python the solution provided here is simple, but problems could occur when files grow bigger SWIG basis A general idea of swig

• Adding planner swig interface file

  touch PLANNER.i
      

  Here PLANER.i is an interface file for swig to parse. Write what you want to wrap in this file. An example for wrapping main() is given below

  Adding functions for wrapping

  At present, only main() wrapped

  // PLANNER.i
  %module PLANNER
  
  %include <argcargv.i>
  
  %{
  #include "PLANNER.h" // The header where functions are declared
  %}
  
  %apply (int ARGC, char **ARGV) { (int argc, char *argv[]) }
  
  int oldmain( int argc, char *argv[] ); // The function we want to wrap
      

• Editing PLANNER.h(where swig interface wrap) and PLANNER.c(where the main() are defined)
  • Adding oldmain() declaration in PLANNER.h

    // Somewhere in PLANNER.h
    /**********************************************************/
    /* SWIG Wrapping*/
    int oldmain( int argc, char * argv[] );
            

  • Adding oldmain() in main.c and modified it to have the same source code as main()

    // PLANNER.c (Generally where main is located)
    int oldmain( int argc, char * argv[] ) {
       //  Source code of main() copied here
       //  ...
    }
    int main(int argc, char *argv[]) {
       return oldmain(argc, argv);
    }
            

• Modifying makefile(other solutions are provided by the reference links above, if there are successful usage or other solution, please add to this file)

  First edit makefile(slightly complicated)

  • Adding gcc -fPIC flag

  -fPIC
      

  • Adding INC_PYTHON to compile PLANNER_wrap.c (PLANNER_wrap.c would include headers from this path)

  INC_PYTHON = -I/usr/include/python2.7
      

  this directory may vary bewteen machines, so find yours and add -I/the/path/to/python2.x

  • Adding dynamic shared objects

  _PLANNER.so: $(OBJECTS) $(PDDL_PARSER_OBJ) PLANNER_wrap.o
  gcc -shared -o $@ $^
  
  PLANNER_wrap.o: PLANNER_wrap.c
  $(CC) -c $(INC_PYTHON) -fPIC $^
  
  PLANNER.py PLANNER_wrap.c: PLANNER.i
  swig -python PLANNER.i
      

  • Notes that:
    1. so(shared object) gernerally needs all object files compiled from source(.c)
    2. Should use “tab”
    3. $@ and $^ are special symbols what do the makefile symbols mean
    4. -fPIC would be required to be added as gcc flag to compile c in order to be used as shared objects
    5. This is usually a generally method, in practice it might vary. For example makefile using implict rules. In this case the classic error would be suggesting to recompile with -fPIC
• Use python import

  This is rather easy part

  import PLANNER
  # Using planner functions
      

• If there were any problems during wrapping, please do the honor to add to the below section

Note: this may be an easy one, you can try to call most of the functions defined in ff.h , if you want to call more functions in main.c , the easy one is by adding its declaration to ff.h, add function to ff.i(swig interface file), recompile with makefile just change replace string: PLANNER => ff

Note:(It is better to include a screenshot of bug reporting in directory called BUG_PIC in the same directory)

1. CSP: DIR = Neoclassical-Planning/CSP/gp_csp_ver1.1.2/ Successfully compile, but on importing in python errors occur undefined symbol: yywrap

Please spill out your ideas

1. To be added …

STAPLAN: http://www.cs.rochester.edu/users/faculty/kautz/satplan/index.htm

Blackbox: https://www.cs.rochester.edu/u/kautz/satplan/blackbox/

IPP: https://user.enterpriselab.ch/~takoehle/publications/ipp/ipp.html

HSP: http://planet.hud.ac.uk/repository/heuristic.html

FF: http://fai.cs.uni-saarland.de/hoffmann/ff.html

MIPS-XXL: http://sjabbar.com/mips-xxl-planner

MIPS-BDD: http://www.tzi.de/~edelkamp/mips/mips-bdd.html

AltAlt: http://rakaposhi.eas.asu.edu/altweb/altalt.html

SHOP: https://www.cs.umd.edu/projects/shop/

PYHOP: https://bitbucket.org/dananau/pyhop

LPG: http://lpg.unibs.it/lpg/

TLPLAN: http://www.cs.toronto.edu/tlplan/ http://planiart.usherbrooke.ca/tlplan/

CPT: http://www.cril.univ-artois.fr/~vidal/cpt.html

LAMA: https://github.com/rock-planning/planning-lama

SGPLAN: http://wah.cse.cuhk.edu.hk/wah/programs/SGPlan/

Graphplan: https://www.cs.cmu.edu/~avrim/graphplan.html

UCPOP: http://aiweb.cs.washington.edu/ai/ucpop.html

GP-CSP: http://rakaposhi.eas.asu.edu/gp-csp.html

NOLIN: http://www.aiai.ed.ac.uk/project/nonlin/

O-PLAN: http://www.aiai.ed.ac.uk/project/oplan/

UMCP: http://www.cs.umd.edu/projects/plus/umcp/