Merge branch 'feature/solution_simulation'

# Conflicts:
#	src/CMakeLists.txt
#	test/CMakeLists.txt

.ci/deb_blacklist.yml

@@ -1,3 +1,6 @@
 ---
+- base/cmake
 - knowledge_reasoning/owlapi
 - knowledge_reasoning/moreorg
+- tools/graph_analysis
+- tools/gecode

.ci/prepare-docker.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+
+apt update
+apt upgrade -y
+
+export DEBIAN_FRONTEND=noninteractive
+apt install -y ruby ruby-dev wget tzdata locales g++ autotools-dev make cmake sudo git python3 pkg-config vim
+
+echo "Europe/Berlin" > /etc/timezone
+dpkg-reconfigure -f noninteractive tzdata
+
+export LANGUAGE=de_DE.UTF-8
+export LANG=de_DE.UTF-8
+export LC_ALL=de_DE.UTF-8
+
+locale-gen de_DE.UTF-8
+dpkg-reconfigure locales
+
+useradd -ms /bin/bash docker
+echo "docker ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
+
+git config --global user.email "[email protected]"
+git config --global user.name "Rock CI"

.clang-format

@@ -0,0 +1,137 @@
+---
+Language:        Cpp
+# BasedOnStyle:  LLVM
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Right
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: MultiLine
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  true
+  AfterClass:      true
+  AfterControlStatement: true
+  AfterEnum:       false
+  AfterFunction:   true
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     true
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Custom
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Preserve
+IncludeCategories:
+  - Regex:           '^"(llvm|llvm-c|clang|clang-c)/'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^(<|"(gtest|gmock|isl|json)/)'
+    Priority:        3
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        1
+    SortPriority:    0
+IncludeIsMainRegex: '(Test)?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: false
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+PointerAlignment: Left
+ReflowComments:  true
+SortIncludes:    true
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        Latest
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseCRLF:         false
+UseTab:          Never
+...
+

.github/workflows/test.yml

@@ -2,18 +2,41 @@ name: test
 on: [push]
 jobs:
   unittests:
-    runs-on: ubuntu-18.04
+    strategy:
+      matrix:
+        os: ["ubuntu:20.04", "ubuntu:22.04"]
+        package: ["planning/templ"]
+        seed_config: [".ci/autoproj-config.yml"]
+    runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
 
-      - name: Branch name
-        shell: bash
-        run: echo "##[set-output name=branch;]$(echo ${GITHUB_REF#refs/heads/})"
-        id: current_branch
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          repository: 2maz/rock-github-workflow
+          path: rock-github-workflow
+          ref: test
+
+      - name: Apply package / branch specific overrides
+        run:
+          if [ -d .ci/overrides.d/ ]; then
+             echo "Copying overrides from .ci/"
+             cp -R .ci/overrides.d/* rock-github-workflow/docker/overrides.d/;
+          fi
+
+      - name: Build
+        run: docker build -t rock/${{ matrix.os }} -f rock-github-workflow/docker/Dockerfile .
+                --build-arg PKG_NAME=${{ matrix.package }}
+                --build-arg PKG_BRANCH=${{ github.ref_name }}
+                --build-arg BASE_IMAGE=${{ matrix.os }}
+                --build-arg SEED_CONFIG=${{ matrix.seed_config }}
+                --build-arg BUILDCONF_URL=https://github.com/2maz/templ-buildconf
+                --build-arg BUILDCONF_BRANCH=test
 
-      - name: Build 18.04
-        run: docker build -t 2maz/templ -f Dockerfile . --build-arg PKG_BRANCH=${{ steps.current_branch.outputs.branch }}
+      - name: Test
+        run: docker run rock/${{ matrix.os }}
+                /bin/bash -c
+                  "source /home/docker/rock_test/env.sh; BOOST_TEST_CATCH_SYSTEM_ERRORS=\"no\" /home/docker/rock_test/${{ matrix.package }}/build/test/templ-test --run_test='!solution_simulation*' --log_level=all"
 
-      - name: Test-on-ubuntu:18.04
-        run: docker run 2maz/templ /bin/bash -c "source /home/docker/rock_test/env.sh; cd /home/docker/rock_test/planning/templ; ./build/test/templ-test --log_level=all"

.gitignore

@@ -1,2 +1,6 @@
 build/
 *.sw?
+scripts/output/
+scripts/__pycache__
+scripts/analyse/__pycache__
+scripts/analyse/output

CITATION.cff

@@ -0,0 +1,25 @@
+ff-version: 1.2.0
+message: "If you use this software, please cite it as below."
+authors:
+  - family-names: Roehr
+    given-names: Thomas M.
+    orcid: https://orcid.org/0000-0002-7715-7052
+title: "Active Exploitation of Redundancies in Reconfigurable Multirobot Systems"
+version: 1.0.0
+doi: 10.1109/TRO.2021.3118284
+date-released: 2021-11-01
+preferred-citation:
+  type: article
+  authors:
+  - family-names: Roehr
+    given-names: Thomas M.
+    orcid: https://orcid.org/0000-0002-7715-7052
+  doi: 10.1109/TRO.2021.3118284
+  journal: "IEEE Transactions on Robotics"
+  month: 11
+  start: 180 # First page number
+  end: 196 # Last page number
+  title: "Active Exploitation of Redundancies in Reconfigurable Multirobot Systems"
+  issue: 1
+  volume: 38
+  year: 2022

CMakeLists.txt

@@ -1,18 +1,17 @@
 # CMakeLists.txt has to be located in the project folder and cmake has to be
 # executed from 'project/build' with 'cmake ../'.
-cmake_minimum_required(VERSION 3.9)
+cmake_minimum_required(VERSION 3.10)
 project(templ
     VERSION 0.1
     DESCRIPTION "TemPl - Planning for Reconfigurable Multi-Robot Systems"
 )
 set(CMAKE_COMPILE_EXPORT_COMMANDS on)
-set(ROCK_TEST_ENABLED on)
 find_package(Rock)
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 add_definitions(-Wall) # -Wpedantic)
-add_definitions(-DACCEPT_USE_OF_DEPRECATED_PROJ_API_H=1)
+set(CMAKE_BUILD_TYPE Release)
 
 if(COVERAGE)
     if(CMAKE_BUILD_TYPE MATCHES Debug)
@@ -34,5 +33,7 @@ if(COVERAGE)
 endif()
 
 rock_init()
-rock_find_qt4()
+rock_feature(NOCURDIR)
+rock_find_qt4(OPTIONAL QtCore QtGui QtXml QtSvg)
+rock_find_qt5(OPTIONAL Core Gui Xml Widgets PrintSupport Svg)
 rock_standard_layout()

Dockerfile

@@ -1,4 +1,4 @@
-FROM ubuntu:18.04
+FROM ubuntu:20.04
 
 MAINTAINER 2maz "https://github.com/2maz"
 
@@ -8,6 +8,12 @@ MAINTAINER 2maz "https://github.com/2maz"
 
 ENV PKG_NAME="planning/templ"
 
+# Github repos
+ENV PKG_PROJECT="rock-planning"
+ENV PKG_BUILDCONF="planning-templ-buildconf"
+# Default buildconf branch
+ENV PKG_BUILDCONF_BRANCH=main
+
 # Optional arguments
 ARG PKG_BRANCH="main"
 ENV PKG_BRANCH=${PKG_BRANCH}
@@ -16,14 +22,8 @@ ARG PKG_PULL_REQUEST="false"
 ENV PKG_PULL_REQUEST=${PKG_PULL_REQUEST}
 ## END ARGUMENTS
 
-RUN apt update
-RUN apt upgrade -y
-RUN export DEBIAN_FRONTEND=noninteractive; apt install -y ruby ruby-dev wget tzdata locales g++ autotools-dev make cmake sudo git python3 pkg-config
-RUN echo "Europe/Berlin" > /etc/timezone; dpkg-reconfigure -f noninteractive tzdata
-RUN export LANGUAGE=de_DE.UTF-8; export LANG=de_DE.UTF-8; export LC_ALL=de_DE.UTF-8; locale-gen de_DE.UTF-8; DEBIAN_FRONTEND=noninteractive dpkg-reconfigure locales
-
-RUN useradd -ms /bin/bash docker
-RUN echo "docker ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
+COPY .ci/prepare-docker.sh prepare-docker.sh
+RUN ./prepare-docker.sh
 
 USER docker
 WORKDIR /home/docker
@@ -40,17 +40,19 @@ RUN wget https://raw.githubusercontent.com/rock-core/autoproj/master/bin/autopro
 
 RUN mkdir -p /home/docker/rock_test
 WORKDIR /home/docker/rock_test
+
 # Use the existing seed configuration
 COPY --chown=docker .ci/autoproj-config.yml seed-config.yml
+
 ENV AUTOPROJ_BOOTSTRAP_IGNORE_NONEMPTY_DIR 1
 ENV AUTOPROJ_NONINTERACTIVE 1
-RUN ruby /home/docker/autoproj_bootstrap git https://github.com/2maz/templ-buildconf.git branch=main --seed-config=seed-config.yml
+RUN if git ls-remote --heads https://github.com/${PKG_PROJECT}/${PKG_BUILDCONF}.git | grep "${PKG_BRANCH}" > /dev/null; then export PKG_BUILDCONF_BRANCH="${PKG_BRANCH}"; fi; ruby /home/docker/autoproj_bootstrap git https://github.com/$PKG_PROJECT/$PKG_BUILDCONF.git branch=${PKG_BUILDCONF_BRANCH} --seed-config=seed-config.yml
 RUN sed -i "s#rock\.core#knowledge_reasoning/moreorg\n    - ${PKG_NAME}#g" autoproj/manifest
-RUN sed -i "s#testing#${PKG_BRANCH}#g" autoproj/overrides.yml
+RUN sed -zi "s#planning/templ:\n\(\s\+\)branch:[^\n]\+#planning/templ:\n\1branch: ${PKG_BRANCH}#g" autoproj/overrides.yml
 COPY --chown=docker .ci/deb_blacklist.yml autoproj/deb_blacklist.yml
 
-# Activate testing
+### Activate testing
 RUN /bin/bash -c "source env.sh; autoproj test enable ${PKG_NAME}"
-## Update
+#### Update
 RUN /bin/bash -c "source env.sh; autoproj update; autoproj osdeps"
 RUN /bin/bash -c "source env.sh; autoproj osdeps; amake"

README.md

@@ -17,9 +17,9 @@ to deal with the XML format),
 and a mission generator to automatically generate simple as well as complex test missions.
 
 ## Installation
-Please use autoproj to bootstrap and include the package-set
-[rock](https://github.com/rock-planning/planning-templ) in your manifest.
-Afterwards you can install TemPl via:
+Please use autoproj to bootstrap clone and include this package as
+[planning/templ](https://github.com/rock-planning/planning-templ) in your manifest.
+Afterwards you can build and install TemPl via:
 ```
     amake planning/templ
 ```
@@ -96,7 +96,7 @@ TemPl:
 ```
 
 ### Templ GUI
-The graphical user interface templ-gui allows you to load solutions, so that you can
+The graphical user interface templ-gui-qt5 allows you to load solutions, so that you can
 inspect them and achieve a better understanding of the solutions.
 The graphical interface will also permit the creation of missions via the
 MissionEditor.
@@ -328,19 +328,21 @@ All new features need to be accompanied by a corresponding unit test.
 If you use TemPl for a scientific publication, please cite the following paper:
 
 ```bibtex
-@article{Roehr:2018:IBERAMIA,
+@article{Roehr_Active_Exploitation_of_2022,
 author = {Roehr, Thomas M.},
-doi = {10.4114/intartif.vol21iss62pp25-39},
-journal = {Inteligencia Artificial, Revista Iberoamericana de Inteligencia Artificial},
-mendeley-groups = {all},
-number = {62},
-pages = {25--39},
-title = {{A Constraint-based Mission Planning Approach for Reconfigurable Multi-Robot Systems}},
-volume = {21},
-year = {2018}
+doi = {10.1109/TRO.2021.3118284},
+journal = {IEEE Transactions on Robotics},
+month = nov,
+number = {1},
+pages = {180--196},
+title = {{Active Exploitation of Redundancies in Reconfigurable Multirobot Systems}},
+volume = {38},
+year = {2022}
 }
 ```
 
 # Copyright
 
+Copyright (c) 2022- Thomas M. Roehr and Contributors, Simula Research Laboratory
+
 Copyright (c) 2015-2021 Thomas M. Roehr, DFKI GmbH Robotics Innovation Center