## Set some parameters for the page
#pragma section-numbers 2
#pragma keywords HATP, hatp, htn planning, hatpconsole, hatptester
#pragma description HATP's install page



= How to install HATP's core =

||<bgcolor="#FFAD56"> This page only list the old way to install hatponboard. ||

This page describe how to install the main modules of HATP. To install the other modules please refer to their respective page ([[HATP#modules|list here]]).

To produce HTN plans, HATP needs its core (called HATPOnboard) which in turn needs a library (called hatponboard-lib). To send plan requests to HATP and receive its answers the communication module is needed (called msgconnector).

This page uses the common way to give commands, the [[#appendix|Appendix section]] summarises it.

||<bgcolor="#EEEEFF"> <<TableOfContents(3)>>||

{i} '''A quick setup guide (working with robotpkg) can be found [[HATP/run#quick_setup|here]].'''

== Dependencies ==

HATP has external dependencies on:
 * CMake
 * boost
 * pthread (or equivalent)
 * Antlr 2.7.7
 * (optionnaly) Doxygen

Those can be found on most package managers, alternatively they can be installed using '''robotpkg'''.

HATPOnboard, the core, depends on some HATP's main modules, namely:
 * hatponboard-lib
 * msgconnector

In order to install HATP's core it is important to first install those modules.





== Prepare the main modules ==

There are three different ways to install HATP's main modules. The first uses [[http://robotpkg.openrobots.org/install.html|robotpkg]] and is recommended since it makes everything easier.
The second allows to install from archive (.tar.gz). And the last, from git repository, is for those who want to modify/improve it.




=== Using robotpkg (recommended) ===

`robotpkg` is a set of build and packaging tools, inspired by [[http://pkgsrc.se/|pkgsrc]], designed to build and install [[http://www.openrobots.org/wiki/OpenRobotsFrontPage|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) HATP's main modules are in robotpkg/wip: see [[http://robotpkg.openrobots.org/robotpkg-wip.html]].

==== Install hatponboard-lib ====
{{{
cd <robotpkg>/wip/hatponboard-lib
make update
}}}

==== Install msgconnector ====
'''This module is automatically installed if you install hatponboard-lib using robotpkg'''

The module responsilbe for communication, msgconnector, offers some bridges to other middleware:
 * print-bridge : a simple text viewer (receiver)
 * openprs bridge: to communicate with the supervisor SHARY (needs mp-oprs, boost, [[HATP/libhatp|libhatp]])
 * oro bridge: to communicate with the ontology server ORO (needs liboro, boost)
 * yarp bridge: to communicate with a YARP module (needs yarp libs) [not tested]

To install one of those bridge alongside msgconnector, edit the file <openrobots>/etc/robotpkg.conf as follow.

{{{
PKG_OPTIONS.msgconnector+= <options>
}}}
The available options are `yarp`, `liboro`, `openprs` and `print-bridge`. The separator to specify several options is space ' '.

{{{
cd <robotpkg>/wip/msgconnector
make update
}}}



=== From archive ===

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

==== Install hatponboard-lib ====
The archive is available at : [[http://www.openrobots.org/distfiles/hatponboard-lib/hatponboard-lib-LAST.tar.gz]]

{{{
tar -xzf hatponboard-lib-LAST.tar.gz
cd hatponboard-<version_number>
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`''

==== Install msgconnector ====
The archive is available at : [[http://www.openrobots.org/distfiles/msgconnector/msgconnector-LAST.tar.gz]]

To use one of the aforementioned bridge you must give it as option to CMake :

 * `-DCOMPILE_BRIDGE_PRINT=ON` to compile the print bridge
 * `-DCOMPILE_BRIDGE_OPENPRS=ON` to compile the openprs bridge
 * `-DCOMPILE_BRIDGE_ORO=ON` to compile the oro bridge
 * `-DCOMPILE_BRIDGE_YARP=ON` to compile the yarp bridge

{{{
tar -xzf msgconnector-LAST.tar.gz
cd msgconnector-<version_number>
mkdir build
cd build
cmake .. [-DCMAKE_INSTALL_PREFIX=<some/install/path>] [<bridge_options>]
make
make install
}}}
''N.B. You may need root privileges to do `make install` if you did not use the `-DCMAKE_INSTALL_PREFIX`''




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

==== Install hatponboard-lib ====
{{{
git clone git://git.openrobots.org/robots/hatp/hatponboard-lib
cd hatponboard-lib
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`''

==== Install msgconnector ====

For the options about the msgconnector's bridges please see above.

{{{
git clone git://git.openrobots.org/robots/hatp/msgconnector
cd msgconnector
mkdir build
cd build
cmake .. [-DCMAKE_INSTALL_PREFIX=<some/install/path>] [<bridge_options>]
make
make install
}}}
''N.B. You may need root privileges to do `make install` if you did not use the `-DCMAKE_INSTALL_PREFIX`''







== Install HATPOnboard ==

Once both msgconnector and hatponboard-lib are installed it is possible to install the core, HATPOnboard.

{{{
git clone git://git.openrobots.org/robots/hatp/hatponboard
cd hatponboard
mkdir generated
mkdir build
cd build
cmake .. [-DCMAKE_MODULE_PATH=<install/prefix>]
or
cmake .. [-DmsgconnectorROOT=<path/to/msgconnector/root>] [-Dhatponboarb-libROOT=<path/to/hatponboard-lib/root>]
}}}
If msgconnector and hatponboard-lib have been using robotpkg, you can then use the variable : `-DCMAKE_MODULE_PATH` and set it to the folder '''`${ROBOTPKG_BASE}/share/cmake/Modules`'''.

The -DmsgconnectorROOT (resp. -Dhatponboard-libROOT) specifies the folder where CMake can find the files (header files and libraries) for msgconnector (resp. hatponboard-lib). It can be the Openrobots install directory (environment variable : `${ROBOTPKG_BASE}`).

{i} It is advised to install the two GUI tools: [[HATP/hatpconsole]] and [[HATP/hatptester]].

To finish to set the environment, set the environment variable `HATP_BASE`. Can be done in your `~/.bashrc` or by hand:
{{{
export HATP_BASE="<path/to/hatp>/hatponboard"
}}}

Once everything is setup up you should try to compile a domain to verify that your installation is correct. There are two options, (1) fully automatic using the `parse` script, (2) fully manual run. To run automatically, simply use:
{{{
./parse
}}}
and provide a domain and cost file when prompted.

To manually parse a domain you have to call:
{{{
cd <hatponboard>
mkdir generated
hatpparser <domain_file> <cost_file> generated/
cd build
make [-j]
}}}


== Appendix ==
<<Anchor(appendix)>>

The commands use the following rules:

 * things in `[ ]` are options you can use
 * things in `< >` must be replaced by the value that suits your configuration

For instance:

{{{
ls [-R] <some/path>
}}}
means you have to call either:

{{{
ls /home/username/
}}}
or

{{{
ls -R /home/username/
}}}