Update repositories for SmartMDSD Toolchain v3.11

This update requires the SmartMDSD Toolchain version 3.11

CommBasicObjects/bin/CommBasicObjects.parameters

@@ -57,4 +57,33 @@ ParameterSetRepository CommBasicObjects {
 		}
 	}
 
+	ParameterSet VisualizationParams {
+		Trigger SHOW_BASE1 {}
+		Trigger STOP_BASE1 {}
+
+		Trigger SHOW_LASER1 {}
+		Trigger STOP_LASER1 {}
+
+		Trigger SHOW_LASER2 {}
+		Trigger STOP_LASER2 {}
+
+		Trigger SHOW_LASER3 {}
+		Trigger STOP_LASER3 {}
+
+		Trigger SHOW_IR1 {}
+		Trigger STOP_IR1 {}
+
+		Trigger SHOW_MAP1 {}
+		Trigger STOP_MAP1 {}
+
+		Trigger SHOW_RGB1 {}
+		Trigger STOP_RGB1 {}
+
+		Trigger SHOW_RGBD1 {}
+		Trigger STOP_RGBD1 {}
+
+		Trigger SHOW_DEPTHIMAGE1 {}
+		Trigger STOP_DEPTHIMAGE1 {}
+	}
+
 }

CommBasicObjects/bin/CommBasicObjects.services

@@ -52,9 +52,7 @@ ServiceDefRepository CommBasicObjects version 1.0
 	// Dennis 31 Oct. 2018
 	/*ForkingServiceDefinition BasePositionUpdateService {
 		PushPattern<DataType=CommBasicObjects.CommBasePositionUpdate>
-	}*/
-
-
+	}*/	
 
 	RequestAnswerServiceDefinition BaseStateQueryService {
 		QueryPattern <
@@ -79,15 +77,6 @@ ServiceDefRepository CommBasicObjects version 1.0
 		ParameterPattern < EmptyDefaultParameterSet >
 	}
 
-	CoordinationServiceDefinition BaseCoordinationService {
-		StatePattern < lifecycle ComponentLifecycle with CommBasicObjects.BasicModes >
-		ParameterPattern < CommBasicObjects.BaseParams >
-		CommunicationServiceUsage baseState uses BaseStateQueryService
-		//OptionalCoordinationService bumperEvent references 
-		//OptionalCoordinationService batteryEvent references 
-
-	}
-
 	ForkingServiceDefinition IMUData {
 		PushPattern<DataType=CommBasicObjects.CommIMUData>
 	}
@@ -100,6 +89,14 @@ ServiceDefRepository CommBasicObjects version 1.0
 		>
 	}
 
+	ForkingServiceDefinition BatteryEventService{
+		EventPattern <
+			ActivationType = 	CommBasicObjects.CommBatteryParameter
+			EventStateType = 	CommBasicObjects.CommBatteryState
+			EventType = 		CommBasicObjects.CommBatteryEvent
+		>
+	}
+
 
 	ForkingServiceDefinition LaserSafetyEventService {
 		EventPattern < 
@@ -169,4 +166,18 @@ ServiceDefRepository CommBasicObjects version 1.0
 		SendPattern < DataType = CommBasicObjects.CommSkillMsg>
 	}
 
-}
+	CoordinationServiceDefinition LaserFromRGBDCoordinationService{
+		ParameterPattern < EmptyDefaultParameterSet >
+		StatePattern < lifecycle ComponentLifecycle with CommBasicObjects.LaserGenModes>
+	}
+
+	CoordinationServiceDefinition VisualizationCoordinationService {
+		ParameterPattern <CommBasicObjects.VisualizationParams>
+		StatePattern < lifecycle ComponentLifecycle >
+	}
+
+	ForkingServiceDefinition UltrasonicService {
+		PushPattern<DataType=CommBasicObjects.CommMobileUltrasonicScan>
+	}
+
+}

CommBasicObjects/bin/CommBasicObjects.types

@@ -63,6 +63,7 @@ CommObjectsRepository CommBasicObjects version 1.0.0 {
 		baseVelocity: CommBaseVelocity
 		baseOdomVelocity: CommBaseVelocity
 		batteryState: CommBatteryLevel
+		baseBumperState : CommBumperState
 	}
 	CommObject CommBasePose {
 		covInvalid: Boolean
@@ -107,6 +108,17 @@ CommObjectsRepository CommBasicObjects version 1.0.0 {
 		ROBOT_TURRET_COMPONENT
 	}
 
+
+	CommObject CommBumperState {
+		bumperState : BumperStateType = BUMPER_NOT_SUPPORTED
+	}
+
+	Enumeration BumperStateType {
+		BUMPER_NOT_SUPPORTED
+		BUMPER_NOT_PRESSED
+		BUMPER_PRESSED
+	}
+
 	Enumeration BumperEventType {
 		BUMPER_UNKNOWN
 		BUMPER_NOT_PRESSED

CommBasicObjects/coordination/src-gen/DefaultCoordinationService/CMakeLists.txt

@@ -19,7 +19,7 @@ PROJECT(DefaultCoordinationService)
 
 # find SmartSoft package
 #FIND_SMARTSOFT(3.0)
-FIND_PACKAGE(AceSmartSoft PATHS $ENV{SMART_ROOT_ACE}/build)
+FIND_PACKAGE(AceSmartSoft PATHS $ENV{SMART_ROOT_ACE}/modules)
 
 # these are the regular includes (add your own includes, if needed)
 INCLUDE_DIRECTORIES(

CommBasicObjects/coordination/src-gen/DefaultCoordinationService/DefaultCoordinationServiceCore.cc

@@ -4,6 +4,8 @@
 #include <cstring>
 #include <cstdlib>
 
+#include <smartNumericCorrelationId.h>
+
  void DefaultCoordinationServiceCore::addNewModuleInstance(const std::string& name){
  	std::cout<<"addNewModuleInstance name:"<<name<<std::endl;
 	DefaultCoordinationService mi;

CommBasicObjects/coordination/src-gen/KBCoordinationService/CMakeLists.txt

@@ -19,7 +19,7 @@ PROJECT(KBCoordinationService)
 
 # find SmartSoft package
 #FIND_SMARTSOFT(3.0)
-FIND_PACKAGE(AceSmartSoft PATHS $ENV{SMART_ROOT_ACE}/build)
+FIND_PACKAGE(AceSmartSoft PATHS $ENV{SMART_ROOT_ACE}/modules)
 
 # these are the regular includes (add your own includes, if needed)
 INCLUDE_DIRECTORIES(

CommBasicObjects/coordination/src-gen/KBCoordinationService/KBCoordinationService.hh

@@ -28,9 +28,9 @@ public:
 
 	//variables, ports, handlers
 	//param, state, wiring is dealt with the single master
-	Smart::IEventClientPattern<CommBasicObjects::CommKBEventParam, CommBasicObjects::CommKBEventResult, SmartACE::EventId> *kBCoordinationServicekbEventClient;
+	Smart::IEventClientPattern<CommBasicObjects::CommKBEventParam, CommBasicObjects::CommKBEventResult> *kBCoordinationServicekbEventClient;
 	KBCoordinationServiceKbEventEventHandlerCore *kBCoordinationServicekbEventEventHandlerCore;
-	Smart::IQueryClientPattern<CommBasicObjects::CommKBRequest, CommBasicObjects::CommKBResponse, SmartACE::QueryId> *kBCoordinationServicekbQueryClient;
+	Smart::IQueryClientPattern<CommBasicObjects::CommKBRequest, CommBasicObjects::CommKBResponse> *kBCoordinationServicekbQueryClient;
 	KBCoordinationServiceKbQueryQueryHandler *kBCoordinationServicekbQueryQueryHandler;
  };
 #endif /* KBCOORDINATIONSERVICE_H_ */

CommBasicObjects/coordination/src-gen/KBCoordinationService/KBCoordinationServiceCore.cc

@@ -4,6 +4,8 @@
 #include <cstring>
 #include <cstdlib>
 
+#include <smartNumericCorrelationId.h>
+
  void KBCoordinationServiceCore::addNewModuleInstance(const std::string& name){
  	std::cout<<"addNewModuleInstance name:"<<name<<std::endl;
 	KBCoordinationService mi;
@@ -123,7 +125,7 @@ std::string KBCoordinationServiceCore::switchCi(const std::string& ciInstanceNam
 			if(strcasecmp(service.c_str(), "kbEvent-activate") == 0 )
 			{
 				Smart::StatusCode status;
-				SmartACE::EventId id;
+				Smart::EventIdPtr id = nullptr;
 				char *input  = (char *)NULL;
 				char *pointer = (char *)NULL;
 				char *param1  = (char *)NULL;
@@ -205,7 +207,8 @@ std::string KBCoordinationServiceCore::switchCi(const std::string& ciInstanceNam
 				std::string str(param1);
 				// remove " "
 				str = str.substr(1, str.length()-2);
-				int id = atoi( param1 );
+				// TODO: <alex> this seems to be quite a hack, as ID is not always an int and will not work with other middlewares as ACE
+				Smart::EventIdPtr id = std::make_shared<Smart::NumericCorrelationId>(atoi( param1 ));
 
 				status = iter->second.kBCoordinationServicekbEventClient->deactivate(id);
 				outString.str("");

CommBasicObjects/coordination/src-gen/KBCoordinationService/KBCoordinationServiceKbEventEventHandlerCore.cc

@@ -3,13 +3,13 @@
 #include <cstdio>
 #include <iostream>
 
-KBCoordinationServiceKbEventEventHandlerCore::KBCoordinationServiceKbEventEventHandlerCore(Smart::IEventClientPattern<CommBasicObjects::CommKBEventParam, CommBasicObjects::CommKBEventResult, SmartACE::EventId> *client, std::string ciInstanceName)
-: Smart::IEventHandler<CommBasicObjects::CommKBEventResult,SmartACE::EventId>(client)
+KBCoordinationServiceKbEventEventHandlerCore::KBCoordinationServiceKbEventEventHandlerCore(Smart::IEventClientPattern<CommBasicObjects::CommKBEventParam, CommBasicObjects::CommKBEventResult> *client, std::string ciInstanceName)
+: Smart::IEventHandler<CommBasicObjects::CommKBEventResult>(client)
 {
 	this->ciInstanceName = ciInstanceName;
 }
 
-void KBCoordinationServiceKbEventEventHandlerCore::handleEvent(const SmartACE::EventId &id, const CommBasicObjects::CommKBEventResult &r) {
+void KBCoordinationServiceKbEventEventHandlerCore::handleEvent(const Smart::EventIdPtr &id, const CommBasicObjects::CommKBEventResult &r) {
 	std::cout<<"Event CORE Called!"<<std::endl;
 	std::string resultString;
 	resultString = userHandler.handleEvent(r);

CommBasicObjects/coordination/src-gen/KBCoordinationService/KBCoordinationServiceKbEventEventHandlerCore.hh

@@ -7,11 +7,11 @@
 #include "CommBasicObjects/CommKBEventParam.hh"
 #include "KBCoordinationServiceKbEventEventHandler.hh"
 
-class KBCoordinationServiceKbEventEventHandlerCore : public Smart::IEventHandler<CommBasicObjects::CommKBEventResult, SmartACE::EventId>
+class KBCoordinationServiceKbEventEventHandlerCore : public Smart::IEventHandler<CommBasicObjects::CommKBEventResult>
 {
 public:
-	KBCoordinationServiceKbEventEventHandlerCore(Smart::IEventClientPattern<CommBasicObjects::CommKBEventParam, CommBasicObjects::CommKBEventResult, SmartACE::EventId> *client, std::string moduleInstanceName);
-	virtual void handleEvent(const SmartACE::EventId &id, const CommBasicObjects::CommKBEventResult &r) override;
+	KBCoordinationServiceKbEventEventHandlerCore(Smart::IEventClientPattern<CommBasicObjects::CommKBEventParam, CommBasicObjects::CommKBEventResult> *client, std::string moduleInstanceName);
+	virtual void handleEvent(const Smart::EventIdPtr &id, const CommBasicObjects::CommKBEventResult &r) override;
 	CommBasicObjects::CommKBEventParam activateEventParam(const std::string& parameterString);
 private:
 	KBCoordinationServiceKbEventEventHandler userHandler;

CommBasicObjects/coordination/src-gen/LaserFromRGBDCoordinationService/CMakeLists.txt

@@ -19,7 +19,7 @@ PROJECT(LaserFromRGBDCoordinationService)
 
 # find SmartSoft package
 #FIND_SMARTSOFT(3.0)
-FIND_PACKAGE(AceSmartSoft PATHS $ENV{SMART_ROOT_ACE}/build)
+FIND_PACKAGE(AceSmartSoft PATHS $ENV{SMART_ROOT_ACE}/modules)
 
 # these are the regular includes (add your own includes, if needed)
 INCLUDE_DIRECTORIES(

CommBasicObjects/coordination/src-gen/LaserFromRGBDCoordinationService/LaserFromRGBDCoordinationServiceCore.cc

@@ -4,6 +4,8 @@
 #include <cstring>
 #include <cstdlib>
 
+#include <smartNumericCorrelationId.h>
+
  void LaserFromRGBDCoordinationServiceCore::addNewModuleInstance(const std::string& name){
  	std::cout<<"addNewModuleInstance name:"<<name<<std::endl;
 	LaserFromRGBDCoordinationService mi;

CommBasicObjects/coordination/src-gen/VisualizationCoordinationService/CMakeLists.txt

@@ -19,7 +19,7 @@ PROJECT(VisualizationCoordinationService)
 
 # find SmartSoft package
 #FIND_SMARTSOFT(3.0)
-FIND_PACKAGE(AceSmartSoft PATHS $ENV{SMART_ROOT_ACE}/build)
+FIND_PACKAGE(AceSmartSoft PATHS $ENV{SMART_ROOT_ACE}/modules)
 
 # these are the regular includes (add your own includes, if needed)
 INCLUDE_DIRECTORIES(

CommBasicObjects/coordination/src-gen/VisualizationCoordinationService/VisualizationCoordinationServiceCore.cc

@@ -4,6 +4,8 @@
 #include <cstring>
 #include <cstdlib>
 
+#include <smartNumericCorrelationId.h>
+
  void VisualizationCoordinationServiceCore::addNewModuleInstance(const std::string& name){
  	std::cout<<"addNewModuleInstance name:"<<name<<std::endl;
 	VisualizationCoordinationService mi;

CommBasicObjects/coordination/src-gen/info.txt

@@ -14,4 +14,4 @@
 // running the code generator.
 //--------------------------------------------------------------------------
 
-// Generated with SmartMDSD Toolchain Version 3.9.0.201904101330
+// Generated with SmartMDSD Toolchain Version 3.11.0.201911291144

CommBasicObjects/model/CommBasicObjects.domainModelsDatasheet

@@ -1,5 +1,8 @@
 DomainModelsDatasheet CommBasicObjects {
-	baseURI : "http://www.servicerobotik-ulm.de"
-	shortDescription: "The generic domain models shared by many other domains"
-	license : spdx ( "LGPL-3.0-or-later" )
+	BaseURI "http://www.servicerobotik-ulm.de"
+	ShortDescription "The generic domain models shared by many other domains"
+	DatasheetProperty SpdxLicense {
+		value "LGPL-3.0-or-later"
+		semanticID "https://spdx.org/licenses/LGPL-3.0-or-later.html"
+	}
 }

CommBasicObjects/opcua-backend/src-gen/CMakeLists.txt

@@ -0,0 +1,41 @@
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
+
+PROJECT("CommBasicObjectsOpcUa" VERSION 1.0)
+
+FIND_PACKAGE(Open62541Cpp QUIET)
+SET(SmartSoft_CD_API_DIR $ENV{SMART_ROOT_ACE}/modules)
+FIND_PACKAGE(SeRoNetSDK QUIET)
+
+IF(SeRoNetSDK_FOUND)
+	SET(CMAKE_CXX_STANDARD 14)
+
+	FILE(GLOB OPCUA_SRCS ${PROJECT_SOURCE_DIR}/${PROJECT_NAME}/*.cc)
+	FILE(GLOB OPCUA_HDRS ${PROJECT_SOURCE_DIR}/${PROJECT_NAME}/*.hh)
+
+	ADD_LIBRARY(${PROJECT_NAME} SHARED ${OPCUA_SRCS})
+	TARGET_LINK_LIBRARIES(${PROJECT_NAME} CommBasicObjects SeRoNetSDK::SeRoNetSDK)
+	TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC
+	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+	$<INSTALL_INTERFACE:include>
+	)
+
+	ADD_DEPENDENCIES(autoinstall ${PROJECT_NAME})
+
+	CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake @ONLY)
+	INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake DESTINATION modules)
+
+	IF(DEFINED ${PROJECT_NAME}_VERSION)
+		SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION} SOVERSION ${${PROJECT_NAME}_VERSION_MAJOR})
+		INCLUDE(CMakePackageConfigHelpers)
+		write_basic_package_version_file(${PROJECT_NAME}ConfigVersion.cmake COMPATIBILITY SameMajorVersion)
+		IF(EXISTS ${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake)
+			INSTALL(FILES ${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake DESTINATION modules)
+			SMART_TRACE_GENERATED_FILE(${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake)
+		ENDIF(EXISTS ${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake)
+	ENDIF(DEFINED ${PROJECT_NAME}_VERSION)
+
+	INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets DESTINATION lib)
+	EXPORT(EXPORT ${PROJECT_NAME}Targets)
+	INSTALL(EXPORT ${PROJECT_NAME}Targets DESTINATION modules)
+	INSTALL(FILES ${OPCUA_HDRS} DESTINATION include/${PROJECT_NAME})
+ENDIF(SeRoNetSDK_FOUND)

CommBasicObjects/opcua-backend/src-gen/CommBasicObjectsOpcUa/CommBasePoseOpcUa.cc

@@ -0,0 +1,46 @@
+#include "CommBasePoseOpcUa.hh"
+
+#define SERONET_NO_DEPRECATED
+#include <SeRoNetSDK/SeRoNet/CommunicationObjects/Description/ComplexType.hpp>
+#include <SeRoNetSDK/SeRoNet/CommunicationObjects/Description/ElementPrimitives.hpp>
+#include <SeRoNetSDK/SeRoNet/CommunicationObjects/Description/SelfDescriptionArray.hpp>
+#include <SeRoNetSDK/SeRoNet/CommunicationObjects/Description/ElementArray.hpp>
+
+#include "CommBasicObjectsOpcUa/CommPose3dOpcUa.hh"
+#include "CommBasicObjectsOpcUa/CommTimeStampOpcUa.hh"
+
+namespace SeRoNet {
+namespace CommunicationObjects {
+namespace Description {
+
+// serialization for CommBasicObjectsIDL::CommBasePose
+template <>
+IDescription::shp_t SelfDescription(CommBasicObjectsIDL::CommBasePose *obj, std::string name)
+{
+	auto ret = std::make_shared<SeRoNet::CommunicationObjects::Description::ComplexType>(name);
+	// add covInvalid
+	ret->add(
+		SelfDescription(&(obj->covInvalid), "CovInvalid")
+	);
+	// add covMatrix
+	ret->add(
+		SelfDescription(&(obj->covMatrix), "CovMatrix")
+	);
+	// add updateCount
+	ret->add(
+		SelfDescription(&(obj->updateCount), "UpdateCount")
+	);
+	// add pose3D
+	ret->add(
+		SelfDescription(&(obj->pose3D), "Pose3D")
+	);
+	// add timeStamp
+	ret->add(
+		SelfDescription(&(obj->timeStamp), "TimeStamp")
+	);
+	return ret;
+} // end SelfDescription
+
+} // end namespace Description
+} // end namespace CommunicationObjects
+} // end namespace SeRoNet