Transparent pddl

plansys2_core/CMakeLists.txt

@@ -19,16 +19,31 @@ set(dependencies
 
 include_directories(include)
 
+add_library(${PROJECT_NAME} SHARED
+  src/plansys2_core/Utils.cpp
+)
+
 install(DIRECTORY include/
   DESTINATION include/
 )
 
+install(TARGETS
+  ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  add_subdirectory(test)
 endif()
 
 ament_export_include_directories(include)
 ament_export_dependencies(${dependencies})
+ament_export_libraries(${PROJECT_NAME})
 
 ament_package()

plansys2_core/include/plansys2_core/Utils.hpp

@@ -0,0 +1,28 @@
+// Copyright 2019 Intelligent Robotics Lab
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef PLANSYS2_CORE__UTILS_HPP_
+#define PLANSYS2_CORE__UTILS_HPP_
+
+#include <string>
+#include <vector>
+
+namespace plansys2
+{
+
+std::vector<std::string> tokenize(const std::string & string, const std::string & delim);
+
+}  // namespace plansys2
+
+#endif  // PLANSYS2_CORE__UTILS_HPP_

plansys2_core/src/plansys2_core/Utils.cpp

@@ -0,0 +1,42 @@
+// Copyright 2019 Intelligent Robotics Lab
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <vector>
+
+#include "plansys2_core/Utils.hpp"
+
+namespace plansys2
+{
+
+std::vector<std::string> tokenize(const std::string & string, const std::string & delim)
+{
+  std::string::size_type lastPos = 0, pos = string.find_first_of(delim, lastPos);
+  std::vector<std::string> tokens;
+
+  while (lastPos != std::string::npos) {
+    if (pos != lastPos) {
+      tokens.push_back(string.substr(lastPos, pos - lastPos));
+    }
+    lastPos = pos;
+    if (lastPos == std::string::npos || lastPos + 1 == string.length()) {
+      break;
+    }
+    pos = string.find_first_of(delim, ++lastPos);
+  }
+
+  return tokens;
+}
+
+}  // namespace plansys2

plansys2_core/test/CMakeLists.txt

@@ -0,0 +1,2 @@
+ament_add_gtest(utils_test utils_test.cpp)
+target_link_libraries(utils_test ${PROJECT_NAME})

plansys2_core/test/utils_test.cpp

@@ -0,0 +1,49 @@
+// Copyright 2029 Intelligent Robotics Lab
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <vector>
+
+#include "gtest/gtest.h"
+#include "plansys2_core/Utils.hpp"
+
+
+TEST(domain_expert, functions)
+{
+  std::string st1("this is a message");
+  std::vector<std::string> est1 = {"this", "is", "a", "message"};
+  std::vector<std::string> est1b = {"this", "a", "message"};
+  auto res1 = plansys2::tokenize(st1, " ");
+
+  ASSERT_EQ(res1, est1);
+  ASSERT_NE(res1, est1b);
+
+  std::string st2("this:is:a:message");
+  std::vector<std::string> est2 = {"this", "is", "a", "message"};
+  auto res2 = plansys2::tokenize(st2, ":");
+
+  ASSERT_EQ(res2, est2);
+
+  std::string st3("this       is a     message");
+  std::vector<std::string> est3 = {"this", "is", "a", "message"};
+  auto res3 = plansys2::tokenize(st3, " ");
+
+  ASSERT_EQ(res3, est3);
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

plansys2_domain_expert/CMakeLists.txt

@@ -11,6 +11,7 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(plansys2_pddl_parser REQUIRED)
 find_package(plansys2_msgs REQUIRED)
+find_package(plansys2_core REQUIRED)
 
 set(CMAKE_CXX_STANDARD 17)
 
@@ -21,13 +22,15 @@ set(dependencies
     plansys2_pddl_parser
     ament_index_cpp
     plansys2_msgs
+    plansys2_core
 )
 
 include_directories(include)
 
 set(DOMAIN_EXPERT_SOURCES
   src/plansys2_domain_expert/DomainExpert.cpp
   src/plansys2_domain_expert/DomainExpertClient.cpp
+  src/plansys2_domain_expert/DomainReader.cpp
   src/plansys2_domain_expert/Types.cpp
   src/plansys2_domain_expert/DomainExpertNode.cpp
 )

plansys2_domain_expert/include/plansys2_domain_expert/DomainExpert.hpp

@@ -18,11 +18,13 @@
 #include <optional>
 #include <string>
 #include <vector>
+#include <memory>
 
 #include "plansys2_pddl_parser/Domain.h"
 
 #include "plansys2_domain_expert/DomainExpertInterface.hpp"
 #include "plansys2_domain_expert/Types.hpp"
+#include "plansys2_domain_expert/DomainReader.hpp"
 
 namespace plansys2
 {
@@ -112,7 +114,8 @@ class DomainExpert : public DomainExpertInterface
   std::string getDomain();
 
 private:
-  parser::pddl::Domain domain_;
+  std::shared_ptr<parser::pddl::Domain> domain_;
+  DomainReader domains_;
 };
 
 }  // namespace plansys2

plansys2_domain_expert/include/plansys2_domain_expert/DomainReader.hpp

@@ -0,0 +1,56 @@
+// Copyright 2020 Intelligent Robotics Lab
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef PLANSYS2_DOMAIN_EXPERT__DOMAINREADER_HPP_
+#define PLANSYS2_DOMAIN_EXPERT__DOMAINREADER_HPP_
+
+#include <string>
+#include <vector>
+
+namespace plansys2
+{
+
+struct Domain
+{
+  std::string requirements;
+  std::string types;
+  std::string predicates;
+  std::string functions;
+  std::vector<std::string> actions;
+};
+
+class DomainReader
+{
+public:
+  DomainReader();
+
+  void add_domain(const std::string & domain);
+  std::string get_joint_domain() const;
+
+protected:
+  int get_end_block(const std::string & domain, std::size_t init_pos);
+
+  std::string get_requirements(std::string & domain);
+  std::string get_types(const std::string & domain);
+  std::string get_predicates(const std::string & domain);
+  std::string get_functions(const std::string & domain);
+  std::vector<std::string> get_actions(const std::string & domain);
+
+private:
+  std::vector<Domain> domains_;
+};
+
+}  // namespace plansys2
+
+#endif  // PLANSYS2_DOMAIN_EXPERT__DOMAINREADER_HPP_

plansys2_domain_expert/package.xml

@@ -18,6 +18,7 @@
   <depend>ament_index_cpp</depend>
   <depend>plansys2_pddl_parser</depend>
   <depend>plansys2_msgs</depend>
+  <depend>plansys2_core</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>