Created first working mockup for the multiverse plugin

knowrob_connector/CMakeLists.txt

@@ -5,74 +5,26 @@ project(KnowRobConnector)
 set(KNOWROB_CONNECTOR knowrob_connector)
 set(CMAKE_CXX_STANDARD 17)
 
-# Construct Boost Python component name based on Python version
-set(Boost_Python_VERSION "python${Python_VERSION_MAJOR}${Python_VERSION_MINOR}")
-set(Boost_Python_COMPONENT "Boost::${Boost_Python_VERSION}")
-message(STATUS "Using Boost Python component: ${Boost_Python_COMPONENT}")
-
-# Set Boost configurations
-set(Boost_USE_STATIC_LIBS OFF) # Use shared libraries by default
-set(Boost_USE_MULTITHREADED ON)
-set(Boost_USE_STATIC_RUNTIME OFF)
-
-# Find Boost and Boost.Python
-find_package(Boost 1.50 REQUIRED COMPONENTS program_options serialization ${Boost_Python_VERSION})
-
-if(NOT Boost_FOUND)
-    message(FATAL_ERROR "Boost not found!")
-endif()
-
-# Explicitly set Boost.Python library path if necessary
-set(Boost_PYTHON_LIBRARY /usr/lib/x86_64-linux-gnu/libboost_python38.so)
-message(STATUS "Boost Python Library: ${Boost_PYTHON_LIBRARY}")
-
-INCLUDE(FindPkgConfig)
-
-pkg_check_modules(SWIPL REQUIRED swipl)
-pkg_check_modules(MONGOC REQUIRED libmongoc-1.0)
-pkg_check_modules(RAPTOR REQUIRED raptor2)
-pkg_check_modules(REDLAND REQUIRED redland)
-find_package(Python COMPONENTS Interpreter)
-find_package(spdlog REQUIRED)
-
-set(KNOWROB_LIBRARIES
-    ${SWIPL_LIBRARIES}
-    ${MONGOC_LIBRARIES}
-    ${RAPTOR_LIBRARIES}
-    ${REDLAND_LIBRARIES}
-    ${Python_LIBRARIES}
-    spdlog::spdlog
-)
-
 function(build_knowrob_connector)
     add_library(${KNOWROB_CONNECTOR} SHARED ${CMAKE_CURRENT_SOURCE_DIR}/src/knowrob_connector.cpp)
-
-    target_include_directories(${KNOWROB_CONNECTOR} PRIVATE
-        /usr/include/python3.8
+    target_include_directories(${KNOWROB_CONNECTOR} PRIVATE 
+        ${CMAKE_CURRENT_SOURCE_DIR}/multiverse_client/include
+        ${CMAKE_CURRENT_SOURCE_DIR}/knowrob/include
+    )
+    target_link_directories(${KNOWROB_CONNECTOR} PRIVATE 
         ${CMAKE_CURRENT_SOURCE_DIR}/multiverse_client/include
         ${CMAKE_CURRENT_SOURCE_DIR}/knowrob/include
-        ${CMAKE_CURRENT_SOURCE_DIR}/knowrob/src/integration/python
-        ${SWIPL_INCLUDE_DIRS}
-        ${MONGOC_INCLUDE_DIRS}
-        ${RAPTOR_INCLUDE_DIRS}
-        ${REDLAND_INCLUDE_DIRS}
-        ${Python_INCLUDE_DIRS}
-        ${EIGEN3_INCLUDE_DIR}
-        ${Boost_INCLUDE_DIRS}
     )
 
     if(UNIX)
-        target_link_libraries(${KNOWROB_CONNECTOR} PRIVATE
+        target_link_libraries(${KNOWROB_CONNECTOR} PRIVATE 
             ${CMAKE_CURRENT_SOURCE_DIR}/lib/libmultiverse_client_json.so
             ${CMAKE_CURRENT_SOURCE_DIR}/lib/libknowrob.so
-            ${Boost_LIBRARIES} # Ensure all Boost libraries are linked
-            ${Boost_PYTHON_LIBRARY} # Explicitly link Boost.Python
         )
-
-        install(TARGETS ${KNOWROB_CONNECTOR} DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/lib)
-        install(FILES ${CMAKE_CURRENT_BINARY_DIR}/libknowrob_connector.so DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/lib RENAME knowrob.so)
+        install(TARGETS ${KNOWROB_CONNECTOR} DESTINATION 
+            ${CMAKE_CURRENT_SOURCE_DIR}/lib
+        )
     elseif(WIN32)
-        # Windows-specific linking (if needed)
         # target_link_libraries(${MULTIVERSE_CLIENT_JSON} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/lib/libmultiverse_client_json.dll)
         # install(TARGETS ${MULTIVERSE_CLIENT_JSON} DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/lib)
     endif()

knowrob_connector/README.md

@@ -5,10 +5,5 @@
 To run this package in Python run
 
 ```bash
-> python3
-Python 3.8.10 (default, Mar 11 2025, 17:45:31) 
-[GCC 9.4.0] on linux
-Type "help", "copyright", "credits" or "license" for more information.
->>> from knowrob import *
->>> 
+> python3 scripts/multiverse_reasoner_test.py 
 ```