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CMakeLists.txt
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cmake_minimum_required (VERSION 3.8)
project(pplanner)
if (NOT CMAKE_BUILD_TYPE)
message(STATUS "No build type selected, default to Release")
set (CMAKE_BUILD_TYPE "Release")
endif ()
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bin)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/lib)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/lib)
set(CMAKE_CXX_FLAGS "-pthread -Wall")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3")
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O3 -g3")
enable_testing()
set(Boost_USE_STATIC_LIBS ON)
set(Boost_USE_MULTITHREADED OFF)
set(Boost_USE_STATIC_RUNTIME OFF)
find_package (Boost 1.63.0 COMPONENTS program_options system)
set(GTEST_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/googletest/googletest/)
include_directories(./src
./lib/bliss
${Boost_INCLUDE_DIRS}
${GTEST_ROOT}/include)
link_directories(./lib/bliss ${GTEST_ROOT})
add_subdirectory(src)
add_subdirectory(${GTEST_ROOT})
find_package(MPI)
find_package(CUDA 8.0)
# MPI planner
if (MPI_CXX_FOUND)
add_executable(mpi_planner
./src/mpi_planner.cc
./src/mpi_search_factory.cc
./src/mpi_search/hddehc.cc
./src/mpi_search/hdgbfs.cc
./src/mpi_search/hdgbfs1.cc
./src/mpi_search/symmetry_breaking_hdgbfs.cc
./src/successor_generator.cc
./src/postprocess/action_elimination.cc
./src/utils/file_utils.cc)
target_include_directories(mpi_planner PRIVATE ${MPI_CXX_INCLUDE_PATH})
target_compile_options(mpi_planner PRIVATE
${MPI_CXX_COMPILE_FLAGS} "-Wall" "-O3" "-DNDEBG")
target_link_libraries(mpi_planner
search
evaluators
landmark
ff
search_graph
dominance
sas_plus
bliss
${Boost_PROGRAM_OPTIONS_LIBRARY}
${MPI_CXX_LIBRARIES}
${MPI_CXX_LINK_FLAGS})
endif ()
# CUDA planner
if (CUDA_FOUND)
set(CUDA_SEPARABLE_COMPILATION ON)
set(CUDA_PROPAGATE_HOST_FLAGS ON)
set(CUDA_NVCC_FLAGS "-std=c++14" "-arch=compute_61" "-code=sm_61")
string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPER)
if (CMAKE_BUILD_TYPE_UPPER STREQUAL "RELEASE")
set(CUDA_NVCC_FLAGS_RELEASE -O3;-DNDEBG)
elseif (CMAKE_BUILD_TYPE_UPPER STREQUAL "RELWITHDEBINFO")
set(CUDA_NVCC_FLAGS_RELWITHDEBINFO -O3;-lineinfo;-Xcompiler;-rdynamic)
elseif (CMAKE_BUILD_TYPE_UPPER STREQUAL "DEBUG")
set(CUDA_NVCC_FLAGS_DEBUG -O3;-g;-G)
endIf ()
cuda_add_executable(cuda_planner
./src/cuda_planner.cu
./src/cuda_sas_plus.cu
./src/cuda_successor_generator.cu
./src/cuda_search_graph.cu
./src/cuda_search_factory.cu
./src/cuda_common/cuda_random.cu
./src/cuda_search/cuda_bmrw.cu
./src/cuda_search/cuda_bmrw_gbfs.cu
./src/cuda_search/cuda_bmrw_gbfs_share.cu
./src/cuda_search/cuda_hetro_gbfs.cu
./src/cuda_search/cuda_hdgbfs.cu
./src/cuda_search/cuda_gbfs_kernel.cu
./src/cuda_search/cuda_random_walk.cu
./src/cuda_landmark/cuda_landmark_graph.cu
./src/cuda_landmark/cuda_landmark_count_base.cu
./src/cuda_hash/cuda_zobrist_hash.cu
./src/successor_generator.cc
./src/postprocess/action_elimination.cc
./src/utils/file_utils.cc)
target_link_libraries(cuda_planner
search
evaluators
landmark
ff
search_graph
sas_plus
${Boost_PROGRAM_OPTIONS_LIBRARY})
cuda_add_executable(time_cuda_prefix_sum
./tests/cuda_common/time_cuda_prefix_sum.cu
./src/cuda_common/cuda_prefix_sum.cu)
cuda_add_executable(test_cuda_prefix_sum
./tests/cuda_common/test_cuda_prefix_sum.cu
./src/cuda_common/cuda_prefix_sum.cu)
add_test(NAME CudaPrefixSumTest COMMAND test_cuda_prefix_sum)
cuda_add_executable(test_cuda_sas_plus
./tests/test_cuda_sas_plus.cu ./src/cuda_sas_plus.cu)
add_test(NAME CudaSASPlusTest COMMAND test_cuda_sas_plus)
target_link_libraries(test_cuda_sas_plus sas_plus)
cuda_add_executable(test_cuda_successor_generator
./tests/test_cuda_successor_generator.cu
./src/cuda_successor_generator.cu
./src/cuda_sas_plus.cu
./src/successor_generator.cc
./src/cuda_common/cuda_random.cu)
add_test(
NAME CudaSuccessorGeneratorTest COMMAND test_cuda_successor_generator)
target_link_libraries(test_cuda_successor_generator sas_plus)
endif()
# sequential planner
add_executable(planner
./src/planner.cc
./src/successor_generator.cc
./src/postprocess/action_elimination.cc
./src/utils/file_utils.cc)
target_link_libraries(planner
search
evaluators
landmark
ff
search_graph
dominance
sas_plus
bliss
jemalloc
${Boost_PROGRAM_OPTIONS_LIBRARY})
# execute relaxed graphplan from SAS+
add_executable(sas_relaxed_graphplan
./tests/heuristics/sas_relaxed_graphplan.cc
./src/heuristics/hn_rpg.cc
./src/heuristics/rpg.cc
./src/heuristics/relaxed_sas_plus.cc
./src/utils/file_utils.cc)
target_link_libraries(sas_relaxed_graphplan
sas_plus ${Boost_PROGRAM_OPTIONS_LIBRARY})
# SAS+ parser
add_executable(sas_parser ./tests/sas_parser.cc ./src/utils/file_utils.cc)
target_link_libraries(sas_parser sas_plus)
# dump DTGs (Domain Transision Graphs) from SAS+
add_executable(sas_dtg
./tests/sas_dtg.cc ./src/dtg.cc ./src/utils/file_utils.cc)
target_link_libraries(sas_dtg sas_plus)
# detect landmarks from SAS+
add_executable(sas_landmark_detection
./tests/landmark/sas_landmark_detection.cc ./src/utils/file_utils.cc)
target_link_libraries(sas_landmark_detection landmark ff sas_plus)
# dump LTSs (Labeled Transition Systems) from SAS+
add_executable(sas_lts ./tests/sas_lts.cc ./src/utils/file_utils.cc)
target_link_libraries(sas_lts dominance sas_plus)
# dump LDSs (Labeled Dominance Systems) from SAS+
add_executable(sas_lds ./tests/sas_lds.cc ./src/utils/file_utils.cc)
target_link_libraries(sas_lds dominance sas_plus)
# dump QDF (Quantitive Dominance Function) from SAS+
add_executable(sas_qdf ./tests/sas_qdf.cc ./src/utils/file_utils.cc)
target_link_libraries(sas_qdf dominance sas_plus)
# dump Abstract Graph from SAS+
add_executable(sas_abstract_graph
./tests/sas_abstract_graph.cc
./src/dtg.cc
./src/utils/file_utils.cc
./src/utils/lexical_order.cc
./src/sas_plus/abstract_graph.cc)
target_link_libraries(sas_abstract_graph sas_plus)
# test codes
add_executable(test_partial_state
./tests/sas_plus/test_partial_state.cc ./src/sas_plus/partial_state.cc)
target_link_libraries(test_partial_state gtest gtest_main pthread)
add_test(NAME PartialStateTest COMMAND test_partial_state)
add_executable(test_partial_state_vector
./tests/sas_plus/test_partial_state_vector.cc
./src/sas_plus/partial_state_vector.cc)
target_link_libraries(test_partial_state_vector gtest gtest_main pthread)
add_test(NAME PartialStateVectorTest COMMAND test_partial_state_vector)
add_executable(test_effect_vector
./tests/sas_plus/test_effect_vector.cc
./src//sas_plus/effect_vector.cc
./src//sas_plus/partial_state_vector.cc)
target_link_libraries(test_effect_vector gtest gtest_main pthread)
add_test(NAME EffectVectorTest COMMAND test_effect_vector)
add_executable(test_facts
./tests/sas_plus/test_facts.cc ./src/sas_plus/facts.cc)
target_link_libraries(test_facts gtest gtest_main pthread)
add_test(NAME FactsTest COMMAND test_facts)
add_executable(test_mutex_groups
./tests/sas_plus/test_mutex_groups.cc ./src/sas_plus/mutex_groups.cc)
target_link_libraries(test_mutex_groups gtest gtest_main pthread)
add_test(NAME MutexGroupsTest COMMAND test_mutex_groups)
add_executable(test_sas_plus ./tests/test_sas_plus.cc)
target_link_libraries(test_sas_plus sas_plus gtest gtest_main pthread)
add_test(NAME SASPlusTest COMMAND test_sas_plus)
add_executable(test_successor_generator
./tests/test_successor_generator.cc ./src/successor_generator.cc)
target_link_libraries(test_successor_generator
sas_plus gtest gtest_main pthread)
add_executable(test_zobrist_hash
./tests/hash/test_zobrist_hash.cc
./src/hash/distribution_hash.cc
./src/hash/zobrist_hash.cc)
target_link_libraries(test_zobrist_hash sas_plus gtest gtest_main pthread)
add_test(NAME ZobristHashTest COMMAND test_zobrist_hash)
add_executable(test_pair_hash ./tests/hash/test_pair_hash.cc)
target_link_libraries(test_pair_hash gtest gtest_main pthread)
add_test(NAME PairHashTest COMMAND test_pair_hash)
add_executable(test_array_hash ./tests/hash/test_array_hash.cc)
target_link_libraries(test_array_hash gtest gtest_main pthread)
add_test(NAME ArrayHashTest COMMAND test_array_hash)
add_executable(test_state_packer
./tests/search_graph/test_state_packer.cc ./src/search_graph/state_packer.cc)
target_link_libraries(test_state_packer sas_plus gtest gtest_main pthread)
add_test(NAME StatePackerTest COMMAND test_state_packer)
add_executable(test_search_graph ./tests/test_search_graph.cc)
target_link_libraries(test_search_graph
sas_plus search_graph gtest gtest_main pthread)
add_test(NAME SearchGraphTest COMMAND test_search_graph)
add_executable(test_blind
./tests/heuristics/test_blind.cc
./src/heuristics/blind.cc
./src/evaluator.cc)
target_link_libraries(test_blind sas_plus gtest gtest_main pthread)
add_test(NAME BlindTest COMMAND test_blind)
add_executable(test_relaxed_sas_plus
./tests/heuristics/test_relaxed_sas_plus.cc
./src/heuristics/relaxed_sas_plus.cc)
target_link_libraries(test_relaxed_sas_plus sas_plus gtest gtest_main pthread)
add_test(NAME RelaxedSASPlusTest COMMAND test_relaxed_sas_plus)
add_executable(test_rpg_table
./tests/heuristics/test_rpg_table.cc
./src/heuristics/rpg.cc
./src/heuristics/rpg_table.cc
./src/heuristics/relaxed_sas_plus.cc)
target_link_libraries(test_rpg_table sas_plus gtest gtest_main pthread)
add_test(NAME RPGTableTest COMMAND test_rpg_table)
add_executable(test_additive
./tests/heuristics/test_additive.cc
./src/evaluator.cc
./src/heuristics/rpg.cc
./src/heuristics/rpg_table.cc
./src/heuristics/relaxed_sas_plus.cc)
target_link_libraries(test_additive sas_plus gtest gtest_main pthread)
add_test(NAME AdditiveTest COMMAND test_additive)
add_executable(test_ff_add
./tests/heuristics/test_ff_add.cc
./src/evaluator.cc
./src/heuristics/rpg.cc
./src/heuristics/rpg_table.cc
./src/heuristics/relaxed_sas_plus.cc)
target_link_libraries(test_ff_add sas_plus gtest gtest_main pthread)
add_test(NAME FFAddTest COMMAND test_ff_add)
add_executable(test_single_open_list
./tests/open_lists/test_single_open_list.cc
./src/heuristics/blind.cc
./src/evaluator.cc)
target_link_libraries(test_single_open_list
sas_plus search_graph gtest gtest_main pthread)
add_test(NAME SingleOpenListTest COMMAND test_single_open_list)
add_executable(test_preferred_open_list
./tests/open_lists/test_preferred_open_list.cc
./src/heuristics/blind.cc
./src/evaluator.cc)
target_link_libraries(test_preferred_open_list
sas_plus search_graph gtest gtest_main pthread)
add_test(NAME PreferredOpenListTest COMMAND test_preferred_open_list)
add_executable(test_landmark
./tests/landmark/test_landmark.cc ./src/landmark/landmark.cc)
target_link_libraries(test_landmark gtest gtest_main pthread)
add_test(NAME LandmarkTest COMMAND test_landmark)
add_executable(test_landmark_graph
./tests/landmark/test_landmark_graph.cc
./src/landmark/landmark_graph.cc
./src/landmark/landmark.cc)
target_link_libraries(test_landmark_graph sas_plus gtest gtest_main pthread)
add_test(NAME LandmarkGraphTest COMMAND test_landmark_graph)
add_executable(test_dtg tests/test_dtg.cc ./src/dtg.cc)
target_link_libraries(test_dtg sas_plus gtest gtest_main pthread)
add_test(NAME DTGTest COMMAND test_dtg)
add_executable(test_lts tests/dominance/test_lts.cc ./src/dominance/lts.cc)
target_link_libraries(test_lts sas_plus gtest gtest_main pthread)
add_test(NAME LTSTest COMMAND test_lts)