fix submodules

MiRON-project · Feb 11, 2020 · 820a533 · 820a533
1 parent 2a4e62a
commit 820a533
Show file tree

Hide file tree

Showing 13 changed files with 81 additions and 54 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8)
+
+project(MOOD2Be)
+
+#############################################################
+
+get_filename_component(MOOD2Be ${CMAKE_CURRENT_SOURCE_DIR} DIRECTORY)
+set(EXECUTOR_PATH "${CMAKE_CURRENT_SOURCE_DIR}/Executor")
+add_subdirectory(${EXECUTOR_PATH})
diff --git a/Executor/CMakeLists.txt b/Executor/CMakeLists.txt
@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 2.8)
+
+project(Executor)
+
+#############################################################
+
+get_filename_component(MOOD2Be ${CMAKE_CURRENT_SOURCE_DIR} DIRECTORY)
+set(BEHAVIOR_TREE_PATH "${MOOD2Be}/BehaviorTree.CPP")
+set(BEHAVIOR_TREE_INCLUDE_PATH "${BEHAVIOR_TREE_PATH}/include")
+set(BEHAVIOR_TREE_BUILD "${CMAKE_CURRENT_BINARY_DIR}/BehaviorTree.CPP")
+
+find_package(Git QUIET)
+if(GIT_FOUND AND EXISTS "${MOOD2Be}/.git")
+    option(GIT_SUBMODULE "Check submodules during build" ON)
+    if(GIT_SUBMODULE)
+        message(STATUS "Submodule update")
+        execute_process(COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive
+                        WORKING_DIRECTORY ${MOOD2Be}
+                        RESULT_VARIABLE GIT_SUBMOD_RESULT)
+        if(NOT GIT_SUBMOD_RESULT EQUAL "0")
+            message(FATAL_ERROR "git submodule update --init failed with ${GIT_SUBMOD_RESULT}, please checkout submodules")
+        endif()
+    endif()
+endif()
+
+if(NOT EXISTS "${BEHAVIOR_TREE_INCLUDE_PATH}")
+    message(FATAL_ERROR "The submodules were not downloaded.")
+endif()
+
+add_subdirectory(${BEHAVIOR_TREE_PATH} ${BEHAVIOR_TREE_BUILD})
+include_directories(${BEHAVIOR_TREE_PATH}/include)
+
+include_directories( ./include )
+
+if(NOT CMAKE_VERSION VERSION_LESS 3.1)
+    set(CMAKE_CXX_STANDARD 11)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+else()
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+endif()
+
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CONFIG_PATH}")
+
+find_package(ZMQ REQUIRED)
+
+#############################################################
+
+
+add_executable(${PROJECT_NAME}
+    src/skill_interface.cpp
+    src/skill_parser.cpp
+    src/executor.cpp
+    )
+
+target_link_libraries(${PROJECT_NAME} behaviortree_cpp_v3 dl pthread zmq)
+
+add_executable( zmq_dummy_server zmq_server.cpp )
+target_link_libraries(zmq_dummy_server pthread zmq)
diff --git a/IntralogisticExecutor/cmake/FindZMQ.cmake → Executor/cmake/FindZMQ.cmake b/IntralogisticExecutor/cmake/FindZMQ.cmake → Executor/cmake/FindZMQ.cmake
diff --git a/...icExecutor/include/Intralogistic/args.hpp → Executor/include/Intralogistic/args.hpp b/...icExecutor/include/Intralogistic/args.hpp → Executor/include/Intralogistic/args.hpp
diff --git a/...icExecutor/include/Intralogistic/json.hpp → Executor/include/Intralogistic/json.hpp b/...icExecutor/include/Intralogistic/json.hpp → Executor/include/Intralogistic/json.hpp
diff --git a/...include/Intralogistic/skill_interface.hpp → ...include/Intralogistic/skill_interface.hpp b/...include/Intralogistic/skill_interface.hpp → ...include/Intralogistic/skill_interface.hpp
diff --git a/IntralogisticExecutor/src/executor.cpp → Executor/src/executor.cpp b/IntralogisticExecutor/src/executor.cpp → Executor/src/executor.cpp
diff --git a/...alogisticExecutor/src/skill_interface.cpp → Executor/src/skill_interface.cpp b/...alogisticExecutor/src/skill_interface.cpp → Executor/src/skill_interface.cpp
diff --git a/IntralogisticExecutor/src/skill_parser.cpp → Executor/src/skill_parser.cpp b/IntralogisticExecutor/src/skill_parser.cpp → Executor/src/skill_parser.cpp
diff --git a/IntralogisticExecutor/zmq_server.cpp → Executor/zmq_server.cpp b/IntralogisticExecutor/zmq_server.cpp → Executor/zmq_server.cpp
diff --git a/IntralogisticExecutor/CMakeLists.txt b/IntralogisticExecutor/CMakeLists.txt
diff --git a/README.md b/README.md
@@ -2,6 +2,15 @@
 
 Temporary repository for MOOD2Be-related artifacts
 
+# Compilation instructions (Ubuntu Linux)
+`cd MOOD2Be`
+`mkdir build`
+`cmake ..`
+`make`
+
+Executable files are in: MOOD2Be/build/Executor
+
+
 # Get started with Groot
 
 

diff --git a/simplistic_test.xml b/simplistic_test.xml
@@ -1,16 +1,4 @@
-<root main_tree_to_execute="BehaviorTree">
-
-    <BehaviorTree ID="BehaviorTree">
-        <SequenceStar>
-            <moverobot_approach_region_purepursuit  location="1"/>
-            <moverobot_approach_region_purepursuit  location="2"/>
-        </SequenceStar>
-    </BehaviorTree>
-
-    <TreeNodesModel>
-        <Action ID="moverobot_approach_region_purepursuit"/>
-        <Action ID="moverobot_approach_region_purepursuit_xy"/>
-    </TreeNodesModel>
-
+<root>
+    <TreeNodesModel/>
 </root>