hatpconsole, the plan dispalyer

THis page presents hatpconsole, a module of HATP to display the plan found to a request.

1. Prepare dependencies

hatpconsole depends on:

• qt4
• boost: thread and regex
• libgvc (provided by the package libgraphviz-dev on most of common linux distributions)

• msgconnector (available in robotpkg, otherwise go to HATP/install page to see how to install it)

• libhatp (install procedure described below)

If you are not used to install via commands, see the short summary in this Appendix.

1.1. Prepare using robotpkg

If you want to use robotpkg, you can jump to section regarding robotpkg because libhatp is automatically installed if missing.

robotpkg is a set of build and packaging tools, inspired by pkgsrc, designed to build and install OpenRobots packages.

To get complete documentation on how-to use robotpkg please refer to: http://robotpkg.openrobots.org/install.html.

As of now (March 2014) libhatp isa work in progress in robotpkg/wip: see http://robotpkg.openrobots.org/robotpkg-wip.html.

> cd <robotpkg>/wip/libhatp
> make update

1.2. Prepare with archive packages

This method uses the tar.gz archive of the modules.

The archive is available at : http://www.openrobots.org/distfiles/libhatp/libhatp-LAST.tar.gz

> tar -xzf libhatp-LAST.tar.gz
> cd libhatp-<version>
> mkdir build
> cd build
> cmake .. [-DCMAKE_INSTALL_PREFIX=<some/install/path>]
> make
> make install

N.B. You may need root privileges to do make install if you did not use the -DCMAKE_INSTALL_PREFIX

1.3. Prepare from the Git repository

As last solution you can prefer to install libhatp from the Git repository to be up to date.

> git clone git://git.openrobots.org/robots/libhatp
> cd libhatp
> mkdir build
> cd build
> cmake .. [-DCMAKE_INSTALL_PREFIX=<some/install/path>]
> make
> make install

N.B. You may need root privileges to do make install if you did not use the -DCMAKE_INSTALL_PREFIX

2. Install hatpconsole

2.1. Using robotpkg

To install hatpconsole just do:

> cd <robotpkg>/wip/hatpconsole
> make update

All missing dependencies will either :

• be reported if there are system dependencies
• or automatically installed if they exist in robotpkg.

2.2. From archive package

Install hatpconsole with archive package

The archive is available at : http://www.openrobots.org/distfiles/hatpconsole/hatpconsole-LAST.tar.gz

> tar -xzf hatpconsole-LAST.tar.gz
> cd hatpconsole-<version>
> mkdir build
> cd build
> cmake .. [-DCMAKE_INSTALL_PREFIX=<some/install/path>] [-DCMAKE_MODULE_PATH=<install/prefix>] [-DmsgconnectorROOT=<msgconnector/root/directory>] [-DlibhatpROOT=<libhatp/directory>]
> make
> make install

N.B. You may need root privileges to do make install if you did not use the -DCMAKE_INSTALL_PREFIX

If you used robotpkg to install all HATP modules (libhatp and msgconnector), you can directly use -DCMAKE_MODULE_PATH and set it to ${ROBOTPKG_BASE}/share/cmake/Modules.

If the modules are in different folders then use separate variable. The -DmsgconnectorROOT (resp. -DlibhatpROOT) specifies the folder where CMake can find the files (header files and libraries) for msgconnector (resp. libhatp). It can be the Openrobots install directory (environment variable : ROBOTPKG_BASE).

2.3. From GIT

You might want to improve the hatpconsole then get it from GIT:

> git clone git://git.openrobots.org/robots/hatpconsole
> cd hatpconsole
> mkdir build
> cd build
> cmake .. [-DCMAKE_INSTALL_PREFIX=<some/install/path>] [-DCMAKE_MODULE_PATH=<install/prefix>] [-DmsgconnectorROOT=<msgconnector/root/directory>] [-DlibhatpROOT=<libhatp/directory>]
> make
> make install

N.B. You may need root privileges to do make install if you did not use the -DCMAKE_INSTALL_PREFIX

If you used robotpkg to install all HATP modules (libhatp and msgconnector), you can directly use -DCMAKE_MODULE_PATH and set it to ${ROBOTPKG_BASE}/share/cmake/Modules.

If the modules are in different folders then use separate variable. The -DmsgconnectorROOT (resp. -DlibhatpROOT) specifies the folder where CMake can find the files (header files and libraries) for msgconnector (resp. libhatp). It can be the Openrobots install directory (environment variable : ROBOTPKG_BASE).

3. Use hatpconsole

To start hatpconsole you need MsgServer (from msgconnector package) running. See how to start MsgServer.

Then you can call :

> hatpconsole [<server_address>] [<server_port>]

For instance the default call is:

> hatpconsole

N.B. The default value for the server address and port are respectively localhost and 5500.

hatpconsole looks like:

The left panel is dedicated to the ontology requests, it displays all the value from the ontology server.

The top-right panel, called "System messages" displays several informations from HATP. Like:

• Invalid requests
• The planning process to answer a plan request
• ...

Finally the bottom-right panel, "Plan result", is composed of three tabs:

• The "Plan" tab shows the text plan almost as it is sent to the program that did the request.
• The "Streams" tab displays all streams of the plan, affected to every agent of the system. Each colour represent a different agent.
• The "Tree" tab gives the tree decomposition of the plan.

The last two tabs use vectorial pictures but it is not (currently) possible to zoom in and out to get more details. To have a better view over the plan you can get its content from the folder where you are running the hatpconsole. There should be two files: planStreams.dat (or .svg) and planTree.dat (or .svg). The files are svg files (sometimes with .dat extension instead of .svg) so you can display them with viewer programs (for instance Inkscape).

4. License, Troubleshooting and Maintainer

HATP is distributed under 2-clause BSD license. (See here for details.)

The page to report problems or for pull request: Openrobots/hatpconsole.

Current maintainer(s):

• Raphaël Lallement: raphael.lallement [at] laas.fr, Website.