.

src/hos_cosgi_core/include/hos_cosgi_core/hos/cosgi/celix.h

@@ -9,4 +9,9 @@
 extern "C" {
 	#include "celix/framework.h"
 	#include "celix/linked_list_iterator.h"
+	#include "celix/bundle_activator.h"
+	#include "celix/bundle_context.h"
+	#include "celix/service_listener.h"
+	#include "celix/service_reference.h"
+	#include "celix/constants.h"
 }

src/hos_cosgi_core/include/hos_cosgi_core/hos/cosgi/service/core/CoreService.h

@@ -22,6 +22,11 @@ namespace core {
 
 
 
+enum class CoreServiceEventType : int {
+	STARTUP_FINISHED = 1,
+	SHUTDOWN = 2
+};
+
 /**
  * Base class for events emitted by the CoreService.
  */
@@ -29,12 +34,10 @@ class CoreServiceEvent {
 public:
 	typedef std::chrono::system_clock::time_point timestamp_t;
 
-	enum class EventType : int { STARTUP_FINISHED = 1, SHUTDOWN = 2 };
-
-	const EventType eventType;
+	CoreServiceEventType eventType;
 	const timestamp_t timestamp;
 
-	CoreServiceEvent(EventType type, const timestamp_t timestamp = std::chrono::system_clock::now())
+	CoreServiceEvent(CoreServiceEventType type, const timestamp_t timestamp = std::chrono::system_clock::now())
 		: eventType(type), timestamp(timestamp) {}
 };
 
@@ -48,7 +51,7 @@ public:
 class StartupFinishedEvent
 	: public CoreServiceEvent {
 public:
-	StartupFinishedEvent() : CoreServiceEvent(EventType::STARTUP_FINISHED) {}
+	StartupFinishedEvent() : CoreServiceEvent(CoreServiceEventType::STARTUP_FINISHED) {}
 };
 
 
@@ -61,7 +64,7 @@ public:
 class ShutdownEvent
 	: public CoreServiceEvent {
 public:
-	ShutdownEvent() : CoreServiceEvent(EventType::SHUTDOWN) {}
+	ShutdownEvent() : CoreServiceEvent(CoreServiceEventType::SHUTDOWN) {}
 };
 
 

src/hos_cosgi_core/src/hos/cosgi/service/core/CoreServiceImpl.cpp

@@ -22,7 +22,9 @@ template<> const int implementation::ServiceInfo<CoreServiceImpl>::minor = 0;
 
 
 CoreServiceImpl::CoreServiceImpl(ros::NodeHandle& publicNodeHandle, ros::NodeHandle& privateNodeHandle)
-	: publicNodeHandle(publicNodeHandle), privateNodeHandle(privateNodeHandle) {}
+	: publicNodeHandle(publicNodeHandle), privateNodeHandle(privateNodeHandle) {
+	schemaLoader.reset(new utils::SchemaLoader());
+}
 
 
 

src/hos_cosgi_core/src/hos/cosgi/service/core/CoreServiceImpl.h

@@ -33,43 +33,20 @@ private:
 
 public:
 
-	/**
-	 * Constructor.
-	 */
 	CoreServiceImpl(ros::NodeHandle& publicNodeHandle, ros::NodeHandle& privateNodeHandle);
 
-	////////////////////////////////////////////////////////////
-	////////////// Public Service Implementations //////////////
-	////////////////////////////////////////////////////////////
+	/* Public Service Implementations */
 
-	/**
-	 * Returns a reference to a node handle with public namespace.
-	 *
-	 * \return public node handle
-	 */
 	virtual ros::NodeHandle& getPublicNodeHandle() override {
 		return publicNodeHandle;
 	}
 
-	/**
-	 * Returns a reference to a node handle with private namespace.
-	 *
-	 * \return private node handle
-	 */
 	virtual ros::NodeHandle& getPrivateNodeHandle() override {
 		return privateNodeHandle;
 	}
 
-	/**
-	 * Request an application shutdown
-	 */
 	virtual void requestShutdown() override;
 
-	/**
-	 * Returns a reference to the schema loader.
-	 *
-	 * \return schema loader.
-	 */
 	virtual utils::SchemaLoader& getSchemaLoader() override {
 		return *schemaLoader;
 	}

src/hos_cosgi_core/src/launcher.cpp

@@ -9,7 +9,7 @@
 // Boost
 #include <boost/format.hpp>
 // ROS
-#include "ros/ros.h"
+#include <ros/ros.h>
 // APR
 #include <apr_general.h>
 #include <apr_strings.h>

src/hos_cosgi_devicerepository/include/hos_cosgi_devicerepository/hos/cosgi/service/devicerepository/DeviceRepositoryService.h

@@ -1,5 +1,6 @@
-#ifndef _HOS_DEVICEREPOSITORY_SERVICE_H_
-#define _HOS_DEVICEREPOSITORY_SERVICE_H_
+
+#pragma once
+
 
 
 #include <hos/cosgi/service/Interface.h>
@@ -26,6 +27,22 @@ using namespace libvariant;
 
 
 
+/*
+ * Device event type.
+ *
+ * DeviceRepositoryService emits DEVICE_ADDED, DEVICE_REMOVED.
+ * Device emits STATUS_UPDATE_RECEIVED, COMMAND_RECEIVED, STATE_CHANGED, DEVICE_REMOVED.
+ **/
+enum class DeviceEventType : int {
+	DEVICE_ADDED = 1,
+	DEVICE_REMOVED = 2,
+	STATUS_UPDATE_RECEIVED = 3,
+	COMMAND_RECEIVED = 4,
+	STATE_CHANGED = 5
+};
+
+
+
 /**
  * Base class for device events.
  */
@@ -33,20 +50,15 @@ class DeviceEvent {
 public:
 	typedef std::chrono::system_clock::time_point timestamp_t;
 
-	enum class EventType : int {
-		DEVICE_ADDED = 1,
-		DEVICE_REMOVED = 2,
-		STATUS_UPDATE_RECEIVED = 3,
-		COMMAND_RECEIVED = 4,
-		STATE_CHANGED = 5
-	};
+	DeviceEventType eventType;
+
 
 	Device* const device;
-	const timestamp_t timestamp;
-	const EventType eventType;
 
-	DeviceEvent(Device* device, const EventType& type, const timestamp_t& timestamp)
-		: device(device), timestamp(timestamp), eventType(type) {}
+	const timestamp_t timestamp;
+
+	DeviceEvent(Device* device, const DeviceEventType& type, const timestamp_t& timestamp)
+		: eventType(type), device(device), timestamp(timestamp) {}
 };
 
 
@@ -58,7 +70,7 @@ class DeviceAddedEvent
 	: public DeviceEvent {
 public:
 	DeviceAddedEvent(Device* device, const timestamp_t& timestamp)
-		: DeviceEvent(device, DeviceEvent::EventType::DEVICE_ADDED, timestamp) {}
+		: DeviceEvent(device,DeviceEventType::DEVICE_ADDED, timestamp) {}
 };
 
 
@@ -70,7 +82,7 @@ class DeviceRemovedEvent
 	: public DeviceEvent {
 public:
 	DeviceRemovedEvent(Device* device, const timestamp_t& timestamp)
-		: DeviceEvent(device, DeviceEvent::EventType::DEVICE_REMOVED, timestamp) {}
+		: DeviceEvent(device, DeviceEventType::DEVICE_REMOVED, timestamp) {}
 };
 
 
@@ -84,7 +96,7 @@ public:
 	const Variant statusMsg;
 
 	DeviceStatusMsgEvent(Device* device, const Variant& statusMsg, const timestamp_t& timestamp)
-		: DeviceEvent(device, DeviceEvent::EventType::STATUS_UPDATE_RECEIVED, timestamp), statusMsg(statusMsg) {}
+		: DeviceEvent(device, DeviceEventType::STATUS_UPDATE_RECEIVED, timestamp), statusMsg(statusMsg) {}
 };
 
 
@@ -98,7 +110,7 @@ public:
 	const Variant cmdMsg;
 
 	DeviceCmdMsgEvent(Device* device, const Variant& cmdMsg, const timestamp_t& timestamp)
-		: DeviceEvent(device, DeviceEvent::EventType::COMMAND_RECEIVED, timestamp), cmdMsg(cmdMsg) {}
+		: DeviceEvent(device, DeviceEventType::COMMAND_RECEIVED, timestamp), cmdMsg(cmdMsg) {}
 };
 
 
@@ -112,33 +124,89 @@ public:
 	const Variant statusMsg;
 
 	DeviceStateChangeEvent(Device* device, const Variant& statusMsg, const timestamp_t& timestamp)
-		: DeviceEvent(device, DeviceEvent::EventType::STATE_CHANGED, timestamp), statusMsg(statusMsg) {}
+		: DeviceEvent(device, DeviceEventType::STATE_CHANGED, timestamp), statusMsg(statusMsg) {}
 };
 
 
 
 /**
  * Public COSGI interface of an device object.
+ *
+ * It offers following functionality:
+ *  - Get device informations.
+ *  - Events indicating device state changes.
+ *  - Send commands to the device.
  */
 class Device
-	: public virtual interface::ObservableObject<DeviceEvent::EventType, DeviceEvent> {
+	: public virtual interface::ObservableObject<DeviceEventType, DeviceEvent> {
 
 public:
 
 	typedef std::chrono::system_clock::time_point timestamp_t;
 
+	/**
+	 * Returns the device identifier.
+	 *
+	 * \return unique device identifier.
+	 */
 	virtual const std::string& getDeviceID() noexcept = 0;
+
+	/**
+	 * Returns the device type.
+	 *
+	 * \return device type.
+	 */
 	virtual const std::string& getDeviceType() noexcept = 0;
 
+	/**
+	 * Returns the ROS topic the device uses for commands.
+	 *
+	 * \return command topic.
+	 */
 	virtual const std::string& getCmdTopic() noexcept = 0;
+
+	/**
+	 * Returns the ROS topic the device uses for status updates.
+	 *
+	 * \return status updates topic.
+	 */
 	virtual const std::string& getStatusTopic() noexcept = 0;
 
+	/**
+	 * Returns the current state of the device.
+	 *
+	 * \return current state.
+	 */
 	virtual const Variant& getCurrentState() noexcept = 0;
+
+	/**
+	 * Returns the timestamp of the current state.
+	 *
+	 * \return timestamp.
+	 */
 	virtual const timestamp_t& getCurrentStateTimestamp() noexcept = 0;
 
+	/**
+	 * Returns the last state of the device.
+	 *
+	 * \return last state.
+	 */
 	virtual const Variant& getLastState() noexcept = 0;
+
+	/**
+	 * Returns the timestamp of the last state.
+	 *
+	 * \return timestamp.
+	 */
 	virtual const timestamp_t& getLastStateTimestamp() noexcept = 0;
 
+	/**
+	 * Sends a command to the device.
+	 *
+	 * May return exceptions derived from std::exception.
+	 *
+	 * \param[in] cmd command.
+	 */
 	virtual void sendCommand(const Variant& cmd) = 0;
 
 };
@@ -146,18 +214,49 @@ public:
 
 
 /**
- * Public COSGI interface of the device repository service
- **/
+ * Public COSGI interface of the device repository service.
+ *
+ * It offers following functionality:
+ *  - Retrieve devices.
+ *  - Events indicating new/removed devices.
+ */
 class DeviceRepositoryService
-	: public virtual interface::ObservableService<DeviceEvent::EventType, DeviceEvent>  {
+	: public virtual interface::ObservableService<DeviceEventType, DeviceEvent>  {
 
 public:
 
+	/**
+	 * The service name.
+	 */
 	static constexpr const char* SERVICE_NAME = "hos_devicerepository_service";
 
+	/**
+	 * Retrieves the device with the given identifier.
+	 *
+	 * \param[in] device_id device identifier.
+	 * \return device pointer, or expired pointer when no device was found.
+	 */
 	virtual std::weak_ptr<Device> getDevice(const std::string& device_id) noexcept = 0;
+
+	/**
+	 * Returns all known devices.
+	 *
+	 * \return vector of device pointers.
+	 */
 	virtual std::vector<std::weak_ptr<Device>> getDevices() noexcept = 0;
+
+	/**
+	 * Returns the number of known devices.
+	 *
+	 * \return device count.
+	 */
 	virtual size_t deviceCount() noexcept = 0;
+
+	/**
+	 * Returns the device ids of known devices.
+	 *
+	 * \return vector of device pointers.
+	 */
 	virtual std::vector<std::string> getDeviceIDs() noexcept = 0;
 
 };
@@ -169,6 +268,3 @@ public:
 } // namespace cosgi
 } // namespace hos
 
-
-
-#endif /* _HOS_DEVICEREPOSITORY_SERVICE_H_ */

src/hos_cosgi_devicerepository/src/BundleActivator.cpp

@@ -1,41 +1,42 @@
 
+// std
 #include <cstdlib>
-#include <cstdio>
-
+#include <string>
+#include <memory>
+// ROS
+#include <ros/ros.h>
+// APR
 #include <apr_general.h>
-
-#include "ros/ros.h"
-
-extern "C" {
-	#include "celix/bundle_activator.h"
-	#include "celix/bundle_context.h"
-}
-
+// Celix
+#include <hos/cosgi/celix.h>
+// CoreService
 #include <hos/cosgi/service/core/CoreService.h>
 #include "hos/cosgi/service/devicerepository/DeviceRepositoryServiceImpl.h"
 
-#include <iostream>
-#include <memory>
-
 
 using namespace hos::cosgi;
 using namespace hos::cosgi::service::devicerepository;
 
 
+
 struct UserData {
     	apr_pool_t* memoryPool = nullptr;
     	std::unique_ptr<DeviceRepositoryServiceImpl> serviceImpl;
     	service_registration_pt serviceReg = nullptr;
 };
 
+
+
 celix_status_t bundleActivator_create(bundle_context_pt context, void **userData) {
     celix_status_t status = CELIX_START_ERROR;
     apr_pool_t* memoryPool = nullptr;
+
 	// Create APR memory pool
 	apr_status_t astatus = apr_pool_create(&memoryPool, NULL);
 	if (astatus != APR_SUCCESS) {
 		ROS_ERROR("DeviceRepositoryService: Could not create APR memory pool (%i).", astatus);
 	} else {
+
 		// Create user data
 		UserData* myUserData = (UserData*)apr_palloc(memoryPool, sizeof(UserData));
 		if (myUserData != nullptr) {
@@ -47,20 +48,24 @@ celix_status_t bundleActivator_create(bundle_context_pt context, void **userData
 			ROS_ERROR("DeviceRepositoryService: Could not create user data struct");
 			apr_pool_destroy(memoryPool);
 		}
+
 	}
     return status;
 }
 
+
 celix_status_t bundleActivator_start(void * userData, bundle_context_pt context) {
     celix_status_t status = CELIX_SUCCESS;
 	if (userData != nullptr) {
 		UserData* myUserData = (UserData*)userData;
-		// Create hos-devicerepository-service
+
+		// Create device repository service
 		if (myUserData->serviceReg != nullptr) {
 			serviceRegistration_unregister(myUserData->serviceReg);
 		}
 		myUserData->serviceImpl.reset(new DeviceRepositoryServiceImpl());
-		// Get HOS Core Service
+
+		// Get core service
 		service_reference_pt ref = nullptr;
 		bundleContext_getServiceReference(context, (char*)service::core::CoreService::SERVICE_NAME, &ref);
 		service::core::CoreService* coreService = nullptr;
@@ -70,10 +75,12 @@ celix_status_t bundleActivator_start(void * userData, bundle_context_pt context)
 		} else {
 			myUserData->serviceImpl->setCoreService(coreService);
 		}
-		// Register hos-devicerepository-service
+
+		// Register device repository service
 		if (myUserData->serviceImpl->isInitialized()) {
 			bundleContext_registerService(context, (char*)DeviceRepositoryService::SERVICE_NAME, myUserData->serviceImpl.get(), nullptr, &myUserData->serviceReg);
 		}
+
 		ROS_INFO("DeviceRepositoryService: Bundle successfully started");
 	} else {
 		ROS_ERROR("DeviceRepositoryService: Could not start bundle, user data struct is null");
@@ -81,6 +88,7 @@ celix_status_t bundleActivator_start(void * userData, bundle_context_pt context)
     return status;
 }
 
+
 celix_status_t bundleActivator_stop(void * userData, bundle_context_pt context) {
     celix_status_t status = CELIX_ILLEGAL_STATE;
 	if (userData != nullptr) {
@@ -100,6 +108,7 @@ celix_status_t bundleActivator_stop(void * userData, bundle_context_pt context)
     return status;
 }
 
+
 celix_status_t bundleActivator_destroy(void * userData, bundle_context_pt context) {
     celix_status_t status = CELIX_ILLEGAL_STATE;
     if (userData != nullptr) {
@@ -116,3 +125,4 @@ celix_status_t bundleActivator_destroy(void * userData, bundle_context_pt contex
 	}
     return status;
 }
+

src/hos_cosgi_devicerepository/src/hos/cosgi/service/devicerepository/DeviceRepositoryServiceImpl.cpp

@@ -1,12 +1,5 @@
-/*
- * hos_itemrepository_service_impl.cpp
- *
- *  Created on: 05.04.2015
- *      Author: matzman
- */
 
 #include "DeviceRepositoryServiceImpl.h"
-
 #include <hos/cosgi/service/core/CoreService.h>
 #include <ros/ros.h>
 #include <exception>
@@ -15,51 +8,65 @@
 
 
 
-
+// Service Namespace
 namespace hos {
 namespace cosgi {
 namespace service {
 namespace devicerepository {
 
 
+
+// Service information
 template<> const char* implementation::ServiceInfo<DeviceRepositoryServiceImpl>::name = service::devicerepository::DeviceRepositoryService::SERVICE_NAME;
 template<> const int implementation::ServiceInfo<DeviceRepositoryServiceImpl>::major = 1;
 template<> const int implementation::ServiceInfo<DeviceRepositoryServiceImpl>::minor = 0;
 
 
-bool DeviceImpl::handleStatusMsg(const Variant& msg, const timestamp_t& stamp) {
+
+bool DeviceImpl::handleStatusMsg(const Variant& msg, const timestamp_t& stamp) noexcept {
 	std::lock_guard<std::recursive_mutex> lock(objMutex);
-	Variant tmp = currentState.Copy();
-	tmp.Merge(msg);
+
 	bool stateChanged = false;
-	if (tmp != currentState) { // state has changed
-		lastState = currentState.Copy();
-		lastStamp = currentStamp;
-		currentState = std::move(tmp);
+	Variant newstate = currentState.Copy();
+	newstate.Merge(msg);
+
+	if (newstate != currentState) {
+		lastState = std::move(currentState);
+		lastStamp = std::move(currentStamp);
+		currentState = std::move(newstate);
 		currentStamp = stamp;
 		stateChanged = true;
 	}
+
 	DeviceStatusMsgEvent event(this, msg, stamp);
-	notifyObservers(DeviceEvent::EventType::STATUS_UPDATE_RECEIVED, &event);
+	notifyObservers(DeviceEventType::STATUS_UPDATE_RECEIVED, &event);
+
 	if (stateChanged){
 		DeviceStateChangeEvent event(this, msg, stamp);
-		notifyObservers(DeviceEvent::EventType::STATE_CHANGED, &event);
+		notifyObservers(DeviceEventType::STATE_CHANGED, &event);
 	}
+
 	return stateChanged;
 }
 
-void DeviceImpl::handleCommandMsg(const Variant& msg, const timestamp_t& stamp) {
+
+void DeviceImpl::handleCommandMsg(const Variant& msg, const timestamp_t& stamp) noexcept {
 	std::lock_guard<std::recursive_mutex> lock(objMutex);
 	DeviceCmdMsgEvent event(this, msg, stamp);
-	notifyObservers(DeviceEvent::EventType::COMMAND_RECEIVED, &event);
+	notifyObservers(DeviceEventType::COMMAND_RECEIVED, &event);
 }
 
+
 void DeviceImpl::sendCommand(const Variant& cmd) {
 	std::lock_guard<std::recursive_mutex> lock(objMutex);
 	parent->sendDeviceCommand(this, cmd);
 }
 
-void DeviceRepositoryServiceImpl::setCoreService(service::core::CoreService* coreService) {
+
+
+
+
+void DeviceRepositoryServiceImpl::setCoreService(service::core::CoreService* coreService) noexcept {
 	if (coreService && !this->coreService) {
 		this->coreService = coreService;
 		this->nodehandle = &coreService->getPrivateNodeHandle();
@@ -70,11 +77,15 @@ void DeviceRepositoryServiceImpl::setCoreService(service::core::CoreService* cor
 	}
 }
 
-void DeviceRepositoryServiceImpl::init() {
+
+void DeviceRepositoryServiceImpl::init() noexcept {
+	// Get public parameters
 	nodehandle->getParam("device_repository_prefix", deviceRepositoryPrefix);
 	nodehandle->getParam("hos_status_topic", hosStatusTopic);
 	XmlRpc::XmlRpcValue rawValue;
 	nodehandle->getParam(deviceRepositoryPrefix, rawValue);
+
+	// create devices
 	if (rawValue.getType() == XmlRpc::XmlRpcValue::TypeStruct) {
 		for (auto dev : rawValue) {
 			std::string devname = dev.first;
@@ -87,11 +98,13 @@ void DeviceRepositoryServiceImpl::init() {
 			}
 		}
 	}
+
 	hosStatusSub = nodehandle->subscribe(hosStatusTopic, 1000, &DeviceRepositoryServiceImpl::hosStatusMsgCallback, this);
 	initialized = true;
 	ROS_INFO_STREAM("DeviceRepositoryService: Initialized and Ready.");
 }
 
+
 void DeviceRepositoryServiceImpl::addDevice(const std::string& name) {
 	std::stringstream ss;
 	ss << deviceRepositoryPrefix << "/" << name;
@@ -100,28 +113,37 @@ void DeviceRepositoryServiceImpl::addDevice(const std::string& name) {
 	addDevice(name, rawValue);
 }
 
+
 void DeviceRepositoryServiceImpl::addDevice(const std::string& name, XmlRpc::XmlRpcValue& rawValue) {
 	std::lock_guard<std::recursive_mutex> lock(serviceMutex);
 	std::string type, statusTopic, cmdTopic;
+
+	// device type
 	XmlRpc::XmlRpcValue& typeRaw = rawValue["type"];
 	if (typeRaw.getType() != XmlRpc::XmlRpcValue::TypeString) {
 		throw std::runtime_error("type is not a string.");
 	}
-	 type = static_cast<std::string>(typeRaw);
+	type = static_cast<std::string>(typeRaw);
+
+	// device status topic
 	XmlRpc::XmlRpcValue& statusTopicRaw = rawValue["status_topic"];
 	if (statusTopicRaw.getType() != XmlRpc::XmlRpcValue::TypeString) {
 		throw std::runtime_error("statusTopic is not a string.");
 	}
 	statusTopic = static_cast<std::string>(statusTopicRaw);
+
+	// device command topic
 	XmlRpc::XmlRpcValue& cmdTopicRaw = rawValue["cmd_topic"];
 	if (cmdTopicRaw.getType() != XmlRpc::XmlRpcValue::TypeString) {
 		throw std::runtime_error("cmdTopic is not a string.");
 	}
 	cmdTopic = static_cast<std::string>(cmdTopicRaw);
+
+	// create device
 	std::shared_ptr<DeviceImpl> dev = std::make_shared<DeviceImpl>(this, name, type, statusTopic, cmdTopic);
 	devices.insert({name, dev});
 
-	// status topic
+	// status topic subscriber
 	auto& entry = subscripedTopics[dev->getStatusTopic()];
 	if (entry.first <= 0) {
 		entry.second = nodehandle->subscribe(dev->getStatusTopic(), 1000, &DeviceRepositoryServiceImpl::statusMsgCallback, this);
@@ -130,7 +152,7 @@ void DeviceRepositoryServiceImpl::addDevice(const std::string& name, XmlRpc::Xml
 		subscripedTopics[dev->getStatusTopic()] = entry;
 	}
 
-	// cmd topic
+	// cmd topic subscriber
 	auto& entry2 = subscripedTopics[dev->getCmdTopic()];
 	if (entry2.first <= 0) {
 		entry2.second = nodehandle->subscribe(dev->getCmdTopic(), 1000, &DeviceRepositoryServiceImpl::cmdMsgCallback, this);
@@ -139,7 +161,7 @@ void DeviceRepositoryServiceImpl::addDevice(const std::string& name, XmlRpc::Xml
 		subscripedTopics[dev->getCmdTopic()] = entry2;
 	}
 
-	// cmd publisher
+	// cmd topic publisher
 	auto& entry3 = publishedTopics[dev->getCmdTopic()];
 	if (entry3.first <= 0) {
 		entry3.second = nodehandle->advertise<hos_core_msgs::DeviceCommand>(dev->getCmdTopic(), 1000);
@@ -148,13 +170,9 @@ void DeviceRepositoryServiceImpl::addDevice(const std::string& name, XmlRpc::Xml
 		publishedTopics[dev->getCmdTopic()] = entry3;
 	}
 
-
-	entry2.first= entry2.first + 1;
-	subscripedTopics[dev->getCmdTopic()] = entry2;
-
 	// send device added event
 	DeviceAddedEvent event(dev.get(), std::chrono::system_clock::now());
-	notifyObservers(DeviceEvent::EventType::DEVICE_ADDED, &event);
+	notifyObservers(DeviceEventType::DEVICE_ADDED, &event);
 }
 
 
@@ -163,8 +181,8 @@ void DeviceRepositoryServiceImpl::removeDevice(const std::string& name) {
 	auto dev = devices.find(name);
 	if (dev != devices.end()) {
 		DeviceRemovedEvent event(dev->second.get(), std::chrono::system_clock::now());
-		notifyObservers(DeviceEvent::EventType::DEVICE_REMOVED, &event);
-		dev->second->notifyObservers(DeviceEvent::EventType::DEVICE_REMOVED, &event);
+		notifyObservers(DeviceEventType::DEVICE_REMOVED, &event);
+		dev->second->notifyObservers(DeviceEventType::DEVICE_REMOVED, &event);
 		devices.erase(name);
 	}
 }
@@ -178,6 +196,7 @@ std::weak_ptr<Device> DeviceRepositoryServiceImpl::getDevice(const std::string&
 	}
 }
 
+
 std::vector<std::weak_ptr<Device>> DeviceRepositoryServiceImpl::getDevices() noexcept {
 	std::lock_guard<std::recursive_mutex> lock(serviceMutex);
 	std::vector<std::weak_ptr<Device>> retval;
@@ -188,11 +207,6 @@ std::vector<std::weak_ptr<Device>> DeviceRepositoryServiceImpl::getDevices() noe
 }
 
 
-size_t DeviceRepositoryServiceImpl::deviceCount() noexcept {
-	return devices.size();
-}
-
-
 std::vector<std::string> DeviceRepositoryServiceImpl::getDeviceIDs() noexcept {
 	std::lock_guard<std::recursive_mutex> lock(serviceMutex);
 	std::vector<std::string> retval;
@@ -203,90 +217,117 @@ std::vector<std::string> DeviceRepositoryServiceImpl::getDeviceIDs() noexcept {
 }
 
 
-void DeviceRepositoryServiceImpl::statusMsgCallback(const hos_core_msgs::DeviceStatusUpdate::ConstPtr& msg) {
+void DeviceRepositoryServiceImpl::statusMsgCallback(const hos_core_msgs::DeviceStatusUpdate::ConstPtr& msg) noexcept {
 	std::lock_guard<std::recursive_mutex> lock(serviceMutex);
-	std::cout << "HOSDeviceRepositoryServiceImpl::statusMsgCallback" << std::endl;
-	Variant s = coreService->getSchemaLoader().GetSchema(std::string("hos:schema://").append(msg->device_type).append("/status"));
-	Variant m = Deserialize(msg->msg_body, SERIALIZE_JSON);
-	SchemaResult sr = SchemaValidate(s, m, &coreService->getSchemaLoader());
-	if (!sr.Error()) {
-		auto dev = devices.find(msg->device_id);
-		if (dev != devices.end()) {
-			auto stamp = std::chrono::system_clock::now();
-			bool stateChanged = dev->second->handleStatusMsg(m, stamp);
-			DeviceStatusMsgEvent event(dev->second.get(), m, stamp);
-			notifyObservers(DeviceEvent::EventType::STATUS_UPDATE_RECEIVED, &event);
-			if (stateChanged) {
-				DeviceStateChangeEvent event(dev->second.get(), m, stamp);
-				notifyObservers(DeviceEvent::EventType::STATE_CHANGED, &event);
+
+	try {
+		// Verify message using appropriate json schema.
+		auto schemaUrl = (boost::format("hos:schema://%1%/status") % msg->device_type).str();
+		Variant s = coreService->getSchemaLoader().GetSchema(schemaUrl);
+		Variant m = Deserialize(msg->msg_body, SERIALIZE_JSON);
+		SchemaResult sr = SchemaValidate(s, m, &coreService->getSchemaLoader());
+		if (!sr.Error()) {
+
+			// Get recipient and pass on message
+			auto dev = devices.find(msg->device_id);
+			if (dev != devices.end()) {
+				auto stamp = std::chrono::system_clock::now();
+				dev->second->handleStatusMsg(m, stamp);
 			}
+
+		} else  {
+			ROS_ERROR_STREAM("Could not validate status message: " << sr.PrettyPrintMessage());
 		}
-	} else  {
-		ROS_ERROR_STREAM("Could not validate status message: " << sr.PrettyPrintMessage());
+	} catch (std::exception& e) {
+		ROS_ERROR_STREAM("Exception while handling device status message: " << e.what());
 	}
 }
 
-void DeviceRepositoryServiceImpl::cmdMsgCallback(const hos_core_msgs::DeviceCommand::ConstPtr& msg) {
+
+void DeviceRepositoryServiceImpl::cmdMsgCallback(const hos_core_msgs::DeviceCommand::ConstPtr& msg) noexcept {
 	std::lock_guard<std::recursive_mutex> lock(serviceMutex);
-	std::cout << "HOSDeviceRepositoryServiceImpl::cmdMsgCallback" << std::endl;
-	Variant s = coreService->getSchemaLoader().GetSchema(std::string("hos:schema://").append(msg->device_type).append("/command"));
-	Variant m = Deserialize(msg->msg_body, SERIALIZE_JSON);
-	auto test = msg->stamp;
-	SchemaResult sr = SchemaValidate(s, m, &coreService->getSchemaLoader());
-	if (!sr.Error()) {
-		auto dev = devices.find(msg->device_id);
-		if (dev != devices.end()) {
-			auto stamp = std::chrono::system_clock::now();
-			dev->second->handleCommandMsg(m, stamp);
-			DeviceCmdMsgEvent event(dev->second.get(), m, stamp);
-			notifyObservers(DeviceEvent::EventType::STATUS_UPDATE_RECEIVED, &event);
+
+	try {
+		// Verify message using appropriate json schema.
+		auto schemaUrl = (boost::format("hos:schema://%1%/command") % msg->device_type).str();
+		Variant s = coreService->getSchemaLoader().GetSchema(schemaUrl);
+		Variant m = Deserialize(msg->msg_body, SERIALIZE_JSON);
+		auto test = msg->stamp;
+		SchemaResult sr = SchemaValidate(s, m, &coreService->getSchemaLoader());
+		if (!sr.Error()) {
+
+			// Get recipient and pass on message
+			auto dev = devices.find(msg->device_id);
+			if (dev != devices.end()) {
+				auto stamp = std::chrono::system_clock::now();
+				dev->second->handleCommandMsg(m, stamp);
+			}
+
+		} else  {
+			ROS_ERROR_STREAM("Could not validate command message: " << sr.PrettyPrintMessage());
 		}
-	} else  {
-		ROS_ERROR_STREAM("Could not validate command message: " << sr.PrettyPrintMessage());
+	} catch (std::exception& e) {
+		ROS_ERROR_STREAM("Exception while handling device command message: " << e.what());
 	}
 }
 
-void DeviceRepositoryServiceImpl::hosStatusMsgCallback(const hos_core_msgs::HosStatusUpdate::ConstPtr& msg) {
+
+void DeviceRepositoryServiceImpl::hosStatusMsgCallback(const hos_core_msgs::HosStatusUpdate::ConstPtr& msg) noexcept {
 	std::lock_guard<std::recursive_mutex> lock(serviceMutex);
-	std::cout << "HOSDeviceRepositoryServiceImpl::hosStatusMsgCallback" << std::endl;
-	Variant s = coreService->getSchemaLoader().GetSchema(std::string("hos:schema://core/msgs/hosstatusupdate"));
-	Variant m = Deserialize(msg->msg_body, SERIALIZE_JSON);
-	SchemaResult sr = SchemaValidate(s, m, &coreService->getSchemaLoader());
-	if (!sr.Error()) {
-		if (m.Contains("devices")) {
-			auto d = m["devices"];
-			if (d.Contains("added") && d["added"].IsList()) {
-				for (auto dev : d["added"].AsList()) {
-					if (dev.IsString()) {
-						std::string devname = dev.AsString();
-						if (devices.find(devname) == devices.end()) {
-							addDevice(devname);
+
+	try {
+		// Verify message using appropriate json schema.
+		Variant s = coreService->getSchemaLoader().GetSchema(std::string("hos:schema://core/msgs/hosstatusupdate"));
+		Variant m = Deserialize(msg->msg_body, SERIALIZE_JSON);
+		SchemaResult sr = SchemaValidate(s, m, &coreService->getSchemaLoader());
+		if (!sr.Error()) {
+
+			// we are only interested in the device part.
+			if (m.Contains("devices")) {
+				auto d = m["devices"];
+				// devices added
+				if (d.Contains("added") && d["added"].IsList()) {
+					for (auto dev : d["added"].AsList()) {
+						if (dev.IsString()) {
+							std::string devname = dev.AsString();
+							if (devices.find(devname) == devices.end()) {
+								addDevice(devname);
+							}
 						}
 					}
 				}
-			}
-			if (d.Contains("removed") && d["removed"].IsList()) {
-				for (auto dev : d["removed"].AsList()) {
-					if (dev.IsString()) {
-						std::string devname = dev.AsString();
-						if (devices.find(devname) != devices.end()) {
-							removeDevice(devname);
+				// devices removed
+				if (d.Contains("removed") && d["removed"].IsList()) {
+					for (auto dev : d["removed"].AsList()) {
+						if (dev.IsString()) {
+							std::string devname = dev.AsString();
+							if (devices.find(devname) != devices.end()) {
+								removeDevice(devname);
+							}
 						}
 					}
 				}
 			}
+
+		} else  {
+			ROS_ERROR_STREAM("Could not validate hos status message: " << sr.PrettyPrintMessage());
 		}
-	} else  {
-		ROS_ERROR_STREAM("Could not validate hos status message: " << sr.PrettyPrintMessage());
+	} catch (std::exception& e) {
+		ROS_ERROR_STREAM("Exception while handling hos status message: " << e.what());
 	}
 }
 
 
-void DeviceRepositoryServiceImpl::sendDeviceCommand(Device* device, const Variant& cmd) {
+void DeviceRepositoryServiceImpl::sendDeviceCommand(DeviceImpl* device, const Variant& cmd) {
+	std::lock_guard<std::recursive_mutex> lock(serviceMutex);
+
+	// Verify message using appropriate json schema.
 	auto schemaUrl = (boost::format("hos:schema://%1%/command") % device->getDeviceType()).str();
 	Variant s = coreService->getSchemaLoader().GetSchema(schemaUrl);
 	SchemaResult sr = SchemaValidate(s, cmd, &coreService->getSchemaLoader());
 	if (!sr.Error()) {
+
+		// Retrieve appropriate publisher and send message
 		auto entry = publishedTopics[device->getCmdTopic()];
 		if (entry.first > 0) {
 			hos_core_msgs::DeviceCommand command;
@@ -296,11 +337,14 @@ void DeviceRepositoryServiceImpl::sendDeviceCommand(Device* device, const Varian
 			command.msg_body = Serialize(cmd, SERIALIZE_JSON);
 			command.stamp = ros::Time::now();
 			entry.second.publish(command);
+
 		} else {
-			ROS_ERROR_STREAM("Could not find device command publisher for topic " << device->getCmdTopic());
+			auto msg = (boost::format("Could not find device command publisher for topic %1%") % device->getCmdTopic()).str();
+			throw std::runtime_error(msg);
 		}
 	} else  {
-		ROS_ERROR_STREAM("Could not validate device command: " << sr.PrettyPrintMessage());
+		auto msg = (boost::format("Could not validate device command: %1%") % sr.PrettyPrintMessage()).str();
+		throw std::runtime_error(msg);
 	}
 }
 

src/hos_cosgi_devicerepository/src/hos/cosgi/service/devicerepository/DeviceRepositoryServiceImpl.h

@@ -1,27 +1,25 @@
-/*
- * hos_itemrepository_service_impl.h
- *
- *  Created on: 05.04.2015
- *      Author: matzman
- */
 
-#ifndef SRC_HOS_COSGI_SERVICE_DEVICEREPOSITORY_DEVICEREPOSITORY_SERVICEIMPL_H_
-#define SRC_HOS_COSGI_SERVICE_DEVICEREPOSITORY_DEVICEREPOSITORY_SERVICEIMPL_H_
+#pragma once
 
-#include <Variant/Variant.h>
+
+#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+// hos includes
+#include <hos/cosgi/service/core/CoreService.h>
+#include <hos/cosgi/service/Implementation.h>
+#include <hos_core_msgs/DeviceCommand.h>
+#include <hos_core_msgs/DeviceStatusUpdate.h>
+#include <hos_core_msgs/HosStatusUpdate.h>
 #include <hos/utils/SchemaLoader.h>
+// libvariant includes
+#include <Variant/Variant.h>
+// ROS includes
+#include <ros/ros.h>
+// std includes
 #include <mutex>
 #include <map>
 #include <set>
 #include <memory>
 #include <functional>
-#include <hos_core_msgs/DeviceCommand.h>
-#include <hos_core_msgs/DeviceStatusUpdate.h>
-#include <hos_core_msgs/HosStatusUpdate.h>
-#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
-#include <hos/cosgi/service/core/CoreService.h>
-#include <hos/cosgi/service/Implementation.h>
-#include <ros/ros.h>
 
 
 using namespace libvariant;
@@ -29,10 +27,15 @@ using namespace libvariant;
 
 
 namespace std {
+/**
+ * Specialization of std::hash for DeviceEventType.
+ *
+ * Required by std::map.
+ */
 template <>
-class hash <hos::cosgi::service::devicerepository::DeviceEvent::EventType>{
+class hash <hos::cosgi::service::devicerepository::DeviceEventType>{
 public :
-	size_t operator()(const hos::cosgi::service::devicerepository::DeviceEvent::EventType& x) const {
+	size_t operator()(const hos::cosgi::service::devicerepository::DeviceEventType& x) const {
 		return static_cast<size_t>(x);
 	}
 };
@@ -52,22 +55,26 @@ class DeviceRepositoryServiceImpl;
 
 
 /**
- * Device implementation
+ * Implementation of Device.
  **/
 class DeviceImpl
 	: public virtual Device,
-	  public virtual implementation::ObservableObject<DeviceEvent::EventType, DeviceEvent> {
+	  public virtual implementation::ObservableObject<DeviceEventType, DeviceEvent> {
 
 private:
 
 	DeviceRepositoryServiceImpl* parent;
 	std::recursive_mutex objMutex;
+
 	std::string deviceID;
 	std::string deviceType;
+
 	std::string statusTopic;
 	std::string cmdTopic;
+
 	Variant currentState;
 	timestamp_t currentStamp;
+
 	Variant lastState;
 	timestamp_t lastStamp;
 
@@ -77,26 +84,46 @@ public:
 				const std::string& deviceType,
 				const std::string& statusTopic,
 				const std::string& cmdTopic )
-		: parent(parent), deviceID(deviceID), deviceType(deviceType), statusTopic(statusTopic), cmdTopic(cmdTopic) {}
+		: parent(parent), deviceID(deviceID), deviceType(deviceType),
+		  statusTopic(statusTopic), cmdTopic(cmdTopic) {}
+
 
 	/* Public Service Implementations */
 
-	virtual const std::string& getDeviceID() noexcept override { return deviceID; }
-	virtual const std::string& getDeviceType() noexcept override { return deviceType; }
-	virtual const std::string& getCmdTopic() noexcept override { return cmdTopic; }
-	virtual const std::string& getStatusTopic() noexcept override { return statusTopic; }
+	virtual const std::string& getDeviceID() noexcept override {
+		return deviceID;
+	}
+	virtual const std::string& getDeviceType() noexcept override {
+		return deviceType;
+	}
+	virtual const std::string& getCmdTopic() noexcept override {
+		return cmdTopic;
+	}
+	virtual const std::string& getStatusTopic() noexcept override {
+		return statusTopic;
+	}
 
-	virtual const Variant& getCurrentState() noexcept override { return currentState; }
-	virtual const timestamp_t& getCurrentStateTimestamp() noexcept override { return currentStamp; }
-	virtual const Variant& getLastState() noexcept override { return lastState; }
-	virtual const timestamp_t& getLastStateTimestamp() noexcept override { return lastStamp; }
+	virtual const Variant& getCurrentState() noexcept override {
+		return currentState;
+	}
+	virtual const timestamp_t& getCurrentStateTimestamp() noexcept override {
+		return currentStamp;
+	}
+	virtual const Variant& getLastState() noexcept override {
+		return lastState;
+	}
+	virtual const timestamp_t& getLastStateTimestamp() noexcept override {
+		return lastStamp;
+	}
 
 	virtual void sendCommand(const Variant& cmd) override;
 
-	/* Internal Stuff */
 
-	bool handleStatusMsg(const Variant& msg, const timestamp_t& stamp);
-	void handleCommandMsg(const Variant& msg, const timestamp_t& stamp);
+	/* Internal */
+
+	bool handleStatusMsg(const Variant& msg, const timestamp_t& stamp) noexcept;
+
+	void handleCommandMsg(const Variant& msg, const timestamp_t& stamp) noexcept;
 };
 
 
@@ -107,9 +134,12 @@ public:
  **/
 class DeviceRepositoryServiceImpl
 	: public virtual DeviceRepositoryService,
-	  public virtual implementation::ObservableService<DeviceRepositoryServiceImpl, DeviceEvent::EventType, DeviceEvent> {
+	  public virtual implementation::ObservableService<DeviceRepositoryServiceImpl, DeviceEventType, DeviceEvent> {
 
 private:
+	typedef std::map<std::string, std::shared_ptr<DeviceImpl>> devicesMap_t;
+	typedef std::map<std::string, std::pair<int, ros::Subscriber>> subscripedTopicMap_t;
+	typedef std::map<std::string, std::pair<int, ros::Publisher>> publishedTopicMap_t;
 
 	std::recursive_mutex serviceMutex;
 
@@ -119,52 +149,68 @@ private:
 	std::string deviceRepositoryPrefix = "/hos/devices/repository";
 	std::string hosStatusTopic = "/hos/status/updates";
 
-	typedef std::map<std::string, std::shared_ptr<DeviceImpl>> devicesMap_t;
 	devicesMap_t devices;
-	typedef std::map<std::string, std::pair<int, ros::Subscriber>> subscripedTopicMap_t;
-	typedef std::map<std::string, std::pair<int, ros::Publisher>> publishedTopicMap_t;
+
 	subscripedTopicMap_t subscripedTopics;
 	publishedTopicMap_t publishedTopics;
-	long msgSeqNumber = 0;
 	ros::Subscriber hosStatusSub;
+	long msgSeqNumber = 0;
 
 	bool initialized = false;
 
-	void init();
+	void init() noexcept;
 
 	void addDevice(const std::string& name);
+
 	void addDevice(const std::string& name, XmlRpc::XmlRpcValue& rawValue);
+
 	void removeDevice(const std::string& name);
 
 public:
 	/* Initialization */
 
-	void setCoreService(service::core::CoreService* coreService);
+	void setCoreService(service::core::CoreService* coreService) noexcept;
+
 
 	/* Public Service Implementations */
 
 	virtual std::weak_ptr<Device> getDevice(const std::string& device_id) noexcept override;
+
 	virtual std::vector<std::weak_ptr<Device>> getDevices() noexcept override;
-	virtual size_t deviceCount() noexcept override;
+
+	virtual size_t deviceCount() noexcept override {
+		return devices.size();
+	}
+
 	virtual std::vector<std::string> getDeviceIDs() noexcept override;
 
+
 	/* Message Callbacks */
 
-	void statusMsgCallback(const hos_core_msgs::DeviceStatusUpdate::ConstPtr& msg);
-	void cmdMsgCallback(const hos_core_msgs::DeviceCommand::ConstPtr& msg);
-	void hosStatusMsgCallback(const hos_core_msgs::HosStatusUpdate::ConstPtr& msg);
+	/** ROS subscriber callback for device status messages. */
+	void statusMsgCallback(const hos_core_msgs::DeviceStatusUpdate::ConstPtr& msg) noexcept;
 
-	/* Internal Stuff */
+	/** ROS subscriber callback for device command messages. */
+	void cmdMsgCallback(const hos_core_msgs::DeviceCommand::ConstPtr& msg) noexcept;
+
+	/** ROS subscriber callback for hos status messages. */
+	void hosStatusMsgCallback(const hos_core_msgs::HosStatusUpdate::ConstPtr& msg) noexcept;
+
+
+	/* Internal */
+
+	bool isInitialized() noexcept {
+		return initialized;
+	}
+
+	void sendDeviceCommand(DeviceImpl* device, const Variant& cmd);
 
-	bool isInitialized() noexcept { return initialized; }
-	void sendDeviceCommand(Device* device, const Variant& cmd);
 };
 
 
+
 } // namespace devicerepository
 } // namespace service
 } // namespace cosgi
 } // namespace hos
 
-
-#endif /* SRC_HOS_COSGI_SERVICE_DEVICEREPOSITORY_DEVICEREPOSITORY_SERVICEIMPL_H_ */

src/hos_cosgi_ruleengine/CMakeLists.txt

@@ -120,11 +120,14 @@ set(BUNDLE_NAME "hos_ruleengine")
 
 bundle(hos_cosgi_ruleengine
 	SOURCES 
-	${PROJECT_SOURCE_DIR}/src/bundle_activator
-	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/ruleengine_serviceimpl
-	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rule/RulePackage
-	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rule/Rule
-	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rule/RuleConditionImpl
+	${PROJECT_SOURCE_DIR}/src/BundleActivator
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/RuleEngineServiceImpl
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rules/RulePackageImpl
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rules/RuleImpl
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rules/conditions/RuleConditionImpl
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rules/conditions/LogicalOrCondition
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rules/conditions/LogicalAndCondition
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rules/conditions/DeviceMsgCondition
 )
 target_link_libraries(hos_cosgi_ruleengine
 	${catkin_LIBRARIES}

src/hos_cosgi_ruleengine/include/hos_cosgi_ruleengine/hos/cosgi/service/ruleengine/RuleEngineService.h

@@ -0,0 +1,104 @@
+
+#pragma once
+
+
+
+#include <hos/cosgi/service/Interface.h>
+#include <string>
+#include <vector>
+#include <memory>
+
+
+// forward declarations
+namespace libvariant { class Variant; }
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+
+
+// forward declarations
+namespace rules {
+class RulePackage;
+class Rule;
+namespace conditions { class RuleCondition; }
+}
+
+
+
+/**
+ * Public abstract COSGI interface of a rule condition factory.
+ */
+class RuleConditionFactory
+	: public virtual interface::Object {
+
+public:
+
+	/**
+	 * Creates and returns a condition from the given json config.
+	 *
+	 * \param[in] parent parent rule
+	 * \param[in] json config
+	 * \return new rule condition
+	 */
+	virtual std::shared_ptr<rules::conditions::RuleCondition> createCondition(rules::Rule* parent, const libvariant::Variant& raw) = 0;
+
+};
+
+
+
+/**
+ * Public COSGI interface of the rule engine service.
+ */
+class RuleEngineService
+	: public virtual interface::Service  {
+
+public:
+
+	/**
+	 * The service name.
+	 */
+	static constexpr const char* SERVICE_NAME = "hos_ruleengine_service";
+
+	/**
+	 * Returns the rulepackage with the given name.
+	 *
+	 * \param[in] name name
+	 * \return weak reference to rule package (an expired reference is returned if the wanted rule package does not exists).
+	 */
+	virtual std::weak_ptr<rules::RulePackage> getRulePackage(const std::string& name) noexcept = 0;
+
+	/**
+	 * Returns a vector containing all known rulepackages.
+	 *
+	 * \return vector of weak references.
+	 */
+	virtual std::vector<std::weak_ptr<rules::RulePackage>> getRulePackages() noexcept = 0;
+
+
+	/**
+	 * Returns the number of known rule packages.
+	 *
+	 * \return rule package count.
+	 */
+	virtual size_t getRulePackageCount() noexcept = 0;
+
+	/**
+	 * Registers a rule condition factory under the given type identifier.
+	 *
+	 * \param[in] type condition type identifier.
+	 * \param[in] factory rule condition factory.
+	 */
+	virtual void registerRuleConditionFactory(const std::string& type, std::shared_ptr<RuleConditionFactory> factory) noexcept = 0;
+};
+
+
+
+} // namespace ruleengine
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+
+

src/hos_cosgi_ruleengine/include/hos_cosgi_ruleengine/hos/cosgi/service/ruleengine/rule/Rule.h

@@ -1,94 +0,0 @@
-/*
- * Rule.h
- *
- *  Created on: 29.04.2015
- *      Author: matzman
- */
-
-#ifndef SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULE_H_
-#define SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULE_H_
-
-
-#include <string>
-#include <memory>
-#include <vector>
-#include <Variant/Variant.h>
-#include "RuleCondition.h"
-
-
-// Forward declarations
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace devicerepository {
-class Device;
-class DeviceEvent;
-class DeviceRepositoryService;
-}
-namespace ruleengine {
-namespace rule {
-class RulePackage;
-}
-}
-namespace scripting {
-class ScriptingService;
-class GlobalScriptContext;
-class Script;
-}
-}
-}
-namespace utils {
-class SchemaLoader;
-}
-}
-
-
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace ruleengine {
-namespace rule {
-
-using namespace ::libvariant;
-
-class Rule {
-private:
-	std::shared_ptr<scripting::Script> script;
-	std::shared_ptr<scripting::Script> exitScript;
-	std::shared_ptr<RuleCondition> condition;
-	bool enabled = false;
-	bool currentState = false;
-
-public:
-	RulePackage* const parent;
-	const std::string name;
-
-	Rule(RulePackage* parent, const std::string name);
-	static std::shared_ptr<Rule> createRule(RulePackage* parent, const std::string name, Variant raw);
-
-	bool getCurrentState() { return currentState; }
-	bool evaluate();
-	void execute(Variant lContext = Variant());
-	void executeExitScript(Variant lContext = Variant());
-
-	bool isEnabled() { return enabled; }
-	void enable();
-	void disable();
-
-	void conditionStateChanged(bool newState, RuleCondition::Category category, Variant lcontext = Variant());
-
-	std::shared_ptr<RuleCondition> createRuleCondition(Variant raw);
-
-	utils::SchemaLoader* getHOSSchemaLoader();
-	devicerepository::DeviceRepositoryService* getDeviceRepository();
-};
-
-
-} /* namespace rule */
-} /* namespace ruleengine */
-} /* namespace service */
-} /* namespace cosgi */
-} /* namespace hos */
-
-
-#endif /* SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULE_H_ */

src/hos_cosgi_ruleengine/include/hos_cosgi_ruleengine/hos/cosgi/service/ruleengine/rule/RuleCondition.h

@@ -1,105 +0,0 @@
-/*
- * RuleCondition.h
- *
- *  Created on: 29.04.2015
- *      Author: matzman
- */
-
-#ifndef SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULECONDITION_H_
-#define SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULECONDITION_H_
-
-#include <memory>
-#include <vector>
-#include <Variant/Variant.h>
-
-
-
-
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace ruleengine {
-namespace rule {
-
-class Rule;
-class RuleCompositeCondition;
-
-using namespace ::libvariant;
-
-
-class RuleCondition {
-public:
-	enum class Category : int { Event, State, Mixed };
-
-protected:
-	bool currentState = false;
-	Category category;
-	RuleCompositeCondition* compositeParent = nullptr;
-	bool enabled = false;
-
-	void notifyStateChangeToParent(bool newState, Category category, Variant lcontext = Variant());
-
-public:
-	Rule* const parent;
-	const std::string type;
-
-	RuleCondition(Rule* parent, Category category, const std::string type) :
-			parent(parent), category(category), type(type) {}
-	virtual ~RuleCondition() {}
-	void setCompositeParent(RuleCompositeCondition* compositeParent) {
-		this->compositeParent = compositeParent;
-	}
-
-	virtual Category getCategory() { return category; }
-
-	bool getCurrentState() { return currentState; }
-	virtual bool evaluate() { return currentState; }
-
-	bool isEnabled() { return enabled; }
-	virtual void enable() { enabled = true; }
-	virtual void disable() { enabled = false; }
-};
-
-
-class RuleCompositeCondition : public RuleCondition {
-protected:
-	std::vector<std::shared_ptr<RuleCondition>> children;
-public:
-	RuleCompositeCondition(Rule* parent, Category category, std::string type) :
-			RuleCondition(parent, category, type) {}
-
-	virtual void childStateChanged(RuleCondition* child, bool newState, Category category, Variant lcontext = Variant()) = 0;
-
-	virtual void addChild(std::shared_ptr<RuleCondition> child) {
-		if (child) {
-			child->setCompositeParent(this);
-			children.push_back(child);
-		}
-	};
-
-	virtual void enable() {
-		if (!enabled) {
-			for (auto c : children) {
-				c->enable();
-			}
-			enabled = true;
-		}
-	}
-	virtual void disable() {
-		if (enabled) {
-			for (auto c : children) {
-				c->disable();
-			}
-			enabled = false;
-		}
-	}
-};
-
-
-} /* namespace rule */
-} /* namespace ruleengine */
-} /* namespace service */
-} /* namespace cosgi */
-} /* namespace hos */
-
-#endif /* SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULECONDITION_H_ */

src/hos_cosgi_ruleengine/include/hos_cosgi_ruleengine/hos/cosgi/service/ruleengine/ruleengine_service.h

@@ -1,49 +0,0 @@
-/*
- * hos_ruleengine_service.h
- *
- *  Created on: 26.04.2015
- *      Author: matzman
- */
-
-#ifndef INCLUDE_HOS_COSGI_RULEENGINE_HOS_COSGI_SERVICE_RULEENGINE_RULEENGINE_SERVICE_H_
-#define INCLUDE_HOS_COSGI_RULEENGINE_HOS_COSGI_SERVICE_RULEENGINE_RULEENGINE_SERVICE_H_
-
-
-#include <hos/cosgi/service/Interface.h>
-#include <memory>
-#include <Variant/Variant.h>
-
-
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace ruleengine {
-
-namespace rule {
-class RuleCondition;
-class Rule;
-}
-
-class RuleConditionFactory : public virtual interface::Object {
-public:
-	virtual std::shared_ptr<rule::RuleCondition> createCondition(rule::Rule* parent, ::libvariant::Variant raw) = 0;
-};
-
-
-class RuleEngineService : public virtual interface::Service  {
-public:
-	static constexpr const char* SERVICE_NAME = "hos_ruleengine_service";
-
-	virtual void registerRuleConditionFactory(std::string type, std::shared_ptr<RuleConditionFactory> factory) = 0;
-};
-
-
-} // namespace ruleengine
-} // namespace service
-} // namespace cosgi
-} // namespace hos
-
-
-
-
-#endif /* INCLUDE_HOS_COSGI_RULEENGINE_HOS_COSGI_SERVICE_RULEENGINE_RULEENGINE_SERVICE_H_ */

src/hos_cosgi_ruleengine/include/hos_cosgi_ruleengine/hos/cosgi/service/ruleengine/rules/Rule.h

@@ -0,0 +1,145 @@
+
+#pragma once
+
+
+#include <hos/cosgi/service/Interface.h>
+#include <Variant/Variant.h>
+
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+
+
+// forward declarations
+namespace devicerepository { class DeviceRepositoryService; }
+
+
+// main namespace
+namespace ruleengine {
+namespace rules {
+
+
+// Forward declarations
+namespace conditions {
+class RuleCondition;
+enum class ConditionTriggerType : int;
+}
+class RulePackage;
+
+
+
+/**
+ * Public COSGI interface of a rule.
+ */
+class Rule
+	: public virtual interface::Object {
+
+public:
+
+	/**
+	 * Returns a reference to the parent rule package.
+	 *
+	 * \return rule package.
+	 */
+	virtual RulePackage* getParent() noexcept = 0;
+
+
+	/**
+	 * Returns the name of the rule.
+	 *
+	 * \return name.
+	 */
+	virtual const std::string& getName() noexcept = 0;
+
+	/**
+	 * Returns whether the rule is currently active.
+	 *
+	 * Only conditions of trigger type "state" can activate a rule.
+	 *
+	 * \return whether rule is active.
+	 */
+	virtual bool isActive() noexcept = 0;
+
+	/**
+	 * Evaluates the conditions of the rule and may execute associated scripts.
+	 *
+	 * Only active conditions of trigger type "state" can return true here.
+	 *
+	 * May return exceptions derived from std::exception.
+	 *
+	 * \return evaluation result.
+	 */
+	virtual bool evaluate() = 0;
+
+	/**
+	 * Executes the associated script.
+	 *
+	 * May return exceptions derived from std::exception.
+	 *
+	 * \param[in] local context.
+	 */
+	virtual void executeScript(const libvariant::Variant& lContext = libvariant::Variant()) = 0;
+
+	/**
+	 * Executes the associated exit script.
+	 *
+	 * May return exceptions derived from std::exception.
+	 *
+	 * \param[in] local context.
+	 */
+	virtual void executeExitScript(const libvariant::Variant& lContext = libvariant::Variant()) = 0;
+
+	/**
+	 * Returns whether this rule is enabled.
+	 *
+	 * \return enabled
+	 */
+	virtual bool isEnabled() noexcept = 0;
+
+	/**
+	 * Enable/Disable this rule package.
+	 *
+	 * \param[in] enabled.
+	 */
+	virtual void setEnabled(bool enabled) noexcept = 0;
+
+
+	/* Interface for third-party conditions. */
+
+	/**
+	 * Creates and returns a new condition based on the given json config.
+	 *
+	 * \param[in] json config.
+	 * \return new rule condition.
+	 */
+	virtual std::shared_ptr<conditions::RuleCondition> createRuleCondition(const libvariant::Variant& raw) = 0;
+
+	/**
+	 * Indicates that one of the conditions of the rule changed state.
+	 *
+	 * \param[in] newState new state.
+	 * \param[in] trigger trigger type.
+	 * \param[in] lcontext local context that should be passed to script.
+	 */
+	virtual void conditionStateChanged(bool newState, const conditions::ConditionTriggerType& trigger,
+				const libvariant::Variant& lcontext = libvariant::Variant()) noexcept = 0;
+
+	/**
+	 *  Returns a reference to the device repository service.
+	 *
+	 *  \return device repository service.
+	 */
+	virtual devicerepository::DeviceRepositoryService* getDeviceRepository() noexcept = 0;
+
+};
+
+
+
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_ruleengine/include/hos_cosgi_ruleengine/hos/cosgi/service/ruleengine/rules/RulePackage.h

@@ -0,0 +1,127 @@
+
+#pragma once
+
+
+#include <hos/cosgi/service/Interface.h>
+#include <vector>
+#include <memory>
+#include <string>
+
+
+
+// Forward declarations
+namespace hos { namespace cosgi { namespace service {
+namespace scripting { class ScriptingService; }
+namespace scripting { class GlobalScriptContext; }
+} } }
+
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+
+
+// Forward declarations
+class RuleEngineService;
+
+
+// main namespace
+namespace rules {
+
+
+// Forward declarations
+class Rule;
+
+
+
+/**
+ * Public COSGI interface of a rule package.
+ */
+class RulePackage
+	: public virtual interface::Object {
+
+public:
+
+	/**
+	 * Returns a reference to the rule engine service.
+	 *
+	 * \return rule engine service.
+	 */
+	virtual service::ruleengine::RuleEngineService* getParent() noexcept = 0;
+
+	/**
+	 * Returns the name of the rule package.
+	 *
+	 * \return name.
+	 */
+	virtual const std::string& getName() noexcept = 0;
+
+	/**
+	 * Returns an identifier indicating the scripting language.
+	 *
+	 * \return scripting language identifier.
+	 */
+	virtual const std::string& getLanguage() noexcept = 0;
+
+	/**
+	 * Returns the rule with the given name.
+	 *
+	 * \param[in] name rule name.
+	 * \return weak reference to rule (expired reference in case of rule not found).
+	 */
+	virtual std::weak_ptr<Rule> getRule(const std::string& name) noexcept = 0;
+
+	/**
+	 * Returns all rules contained within the rule package
+	 *
+	 * \return vector of weak references.
+	 */
+	virtual std::vector<std::weak_ptr<Rule>> getRules() noexcept = 0;
+
+	/**
+	 * Returns the number of contained rules.
+	 *
+	 * \return rule count.
+	 */
+	virtual size_t getRuleCount() noexcept = 0;
+
+	/**
+	 * Returns whether this rule package is enabled.
+	 *
+	 * \return enabled
+	 */
+	virtual bool isEnabled() noexcept = 0;
+
+	/**
+	 * Enable/Disable this rule package.
+	 *
+	 * \param[in] enabled.
+	 */
+	virtual void setEnabled(bool enabled) noexcept = 0;
+
+	/**
+	 * Returns a reference to the associated scripting service.
+	 *
+	 * \return scripting service.
+	 */
+	virtual service::scripting::ScriptingService* getScriptingService() noexcept = 0;
+
+	/**
+	 * Returns a reference to the associated global script context.
+	 *
+	 * \return global script context.
+	 */
+	virtual std::weak_ptr<scripting::GlobalScriptContext> getGlobalScriptContext() noexcept = 0;
+
+};
+
+
+
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_ruleengine/include/hos_cosgi_ruleengine/hos/cosgi/service/ruleengine/rules/conditions/RuleCondition.h

@@ -0,0 +1,163 @@
+
+#pragma once
+
+
+#include <hos/cosgi/service/Interface.h>
+#include <memory>
+#include <vector>
+#include <Variant/Variant.h>
+
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+
+
+// forward declarations
+class Rule;
+
+
+// main namespace
+namespace conditions {
+
+
+// forward declarations
+class RuleCompositeCondition;
+
+
+
+/*
+ * Condition trigger type.
+ *
+ * Conditions can have two different trigger types:
+ *  - Event trigger: Conditions are triggered by events happening.
+ *  - State trigger: Condition are triggered by device state.
+ *
+ * "Both" indicates that an condition has both trigger types.
+ **/
+enum class ConditionTriggerType : int {
+	Event = 1,
+	State = 2,
+	Both = 3
+};
+
+
+
+/**
+ * Public COSGI interface of a rule condition.
+ */
+class RuleCondition
+	: public virtual interface::Object {
+
+public:
+
+	/**
+	 * Returns the type of the condition.
+	 *
+	 * \return condition type.
+	 */
+	virtual const std::string& getType() noexcept = 0;
+
+	/**
+	 * Returns the trigger type of the condition.
+	 *
+	 * \return trigger type.
+	 */
+	virtual ConditionTriggerType getTriggerType() noexcept = 0;
+
+	/**
+	 * Returns the current state of the condition.
+	 *
+	 * This function returns a cached value.
+	 *
+	 * \return current state.
+	 */
+	virtual bool getCurrentState() noexcept = 0;
+
+	/**
+	 * Evaluates the condition and returns the result.
+	 *
+	 * \return evaluation result.
+	 */
+	virtual bool evaluate() noexcept = 0;
+
+	/**
+	 * Returns a reference to the parent rule.
+	 *
+	 * \return parent rule.
+	 */
+	virtual rules::Rule* getParent() noexcept = 0;
+
+	/**
+	 * Returns whether this rule condition is enabled.
+	 *
+	 * \return enabled.
+	 */
+	virtual bool isEnabled() noexcept = 0;
+
+	/**
+	 * Enable/Disable this rule condition.
+	 *
+	 * \param[in] enabled.
+	 */
+	virtual void setEnabled(bool enabled) noexcept = 0;
+
+
+	/* Interface for third-party conditions. */
+
+	/**
+	 * Sets the composite condition this condition is contained within.
+	 *
+	 * \param[in] parent composite condition.
+	 */
+	virtual void setCompositeParent(RuleCompositeCondition* compositeParent) noexcept = 0;
+
+};
+
+
+
+/**
+ * Public COSGI interface of a composite condition.
+ */
+class RuleCompositeCondition
+	: public virtual RuleCondition {
+
+public:
+
+	/* Interface for third-party conditions. */
+
+	/**
+	 * Indicates that a contained condition has changed its state.
+	 *
+	 * \param[in] child condition whose state has changed.
+	 * \param[in] newState new state.
+	 * \param[in] trigger trigger type.
+	 * \param[in] lcontext local context that should be passed to the script.
+	 */
+	virtual void childStateChanged( RuleCondition* child,
+									bool newState,
+									ConditionTriggerType trigger,
+									const libvariant::Variant& lcontext = libvariant::Variant() ) noexcept = 0;
+
+
+	/**
+	 * Adds a new condition.
+	 *
+	 * \param[in] child child condition.
+	 */
+	virtual void addChild(std::shared_ptr<RuleCondition> child) = 0;
+
+};
+
+
+
+} /* namespace conditions */
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_ruleengine/include/hos_cosgi_ruleengine/hos/cosgi/service/ruleengine/rules/conditions/RuleConditionImpl.h

@@ -0,0 +1,123 @@
+
+#pragma once
+
+
+#include "RuleCondition.h"
+
+
+
+// main namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+namespace conditions {
+
+
+
+/**
+ * Base class for condition implementations.
+ */
+class RuleConditionImpl
+	: public virtual RuleCondition {
+
+protected:
+
+	rules::Rule* parent;
+	ConditionTriggerType triggerType;
+	std::string type;
+
+	bool currentState = false;
+	RuleCompositeCondition* compositeParent = nullptr;
+	bool enabled = false;
+
+	void notifyStateChangeToParent(bool newState, ConditionTriggerType category, const libvariant::Variant& lcontext = libvariant::Variant());
+
+public:
+
+	RuleConditionImpl(rules::Rule* parent, ConditionTriggerType triggerType, const std::string& type) :
+			parent(parent), triggerType(triggerType), type(type) {}
+
+	virtual rules::Rule* getParent() noexcept override {
+		return parent;
+	}
+
+	virtual void setCompositeParent(RuleCompositeCondition* compositeParent) noexcept override {
+		this->compositeParent = compositeParent;
+	}
+
+	virtual const std::string& getType() noexcept override {
+		return type;
+	}
+
+	virtual ConditionTriggerType getTriggerType() noexcept override {
+		return triggerType;
+	}
+
+	virtual bool getCurrentState() noexcept override {
+		return currentState;
+	}
+
+	virtual bool evaluate() noexcept override {
+		return currentState;
+	}
+
+	virtual bool isEnabled() noexcept override {
+		return enabled;
+	}
+
+	virtual void setEnabled(bool enabled) noexcept override {
+		this->enabled;
+	}
+
+};
+
+
+
+/**
+ * Base class for composite condition implementations.
+ */
+class RuleCompositeConditionImpl
+		: public virtual RuleCompositeCondition,
+		  public RuleConditionImpl {
+
+protected:
+	std::vector<std::shared_ptr<RuleCondition>> children;
+
+public:
+
+	RuleCompositeConditionImpl(Rule* parent, ConditionTriggerType category, std::string type) :
+			RuleConditionImpl(parent, category, type) {}
+
+	virtual void childStateChanged( RuleCondition* child,
+									bool newState,
+									ConditionTriggerType category,
+									const libvariant::Variant& lcontext = libvariant::Variant() ) noexcept override = 0;
+
+	virtual void addChild(std::shared_ptr<RuleCondition> child) override {
+		if (child) {
+			child->setCompositeParent(this);
+			children.push_back(child);
+		}
+	};
+
+	virtual void setEnabled(bool enabled) noexcept override {
+		if (this->enabled != enabled) {
+			for (auto c : children) {
+				c->setEnabled(enabled);
+			}
+			this->enabled = enabled;
+		}
+	}
+};
+
+
+
+} /* namespace conditions */
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_ruleengine/src/BundleActivator.cpp

@@ -21,7 +21,7 @@ extern "C" {
 }
 
 #include <hos/cosgi/service/core/CoreService.h>
-#include "hos/cosgi/service/ruleengine/ruleengine_serviceimpl.h"
+#include "hos/cosgi/service/ruleengine/RuleEngineServiceImpl.h"
 #include <memory>
 #include <mutex>
 

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/RuleEngineServiceImpl.cpp

@@ -5,7 +5,6 @@
  *      Author: matzman
  */
 
-#include "ruleengine_serviceimpl.h"
 #include <ros/ros.h>
 #include <exception>
 #include <iostream>
@@ -16,8 +15,12 @@
 #include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
 #include <Variant/Variant.h>
 
-#include "rule/RulePackage.h"
-#include "rule/RuleConditionImpl.h"
+#include "RuleEngineServiceImpl.h"
+
+#include "rules/conditions/LogicalAndCondition.h"
+#include "rules/conditions/LogicalOrCondition.h"
+#include "rules/conditions/DeviceMsgCondition.h"
+#include "rules/RulePackageImpl.h"
 
 
 namespace hos {
@@ -62,11 +65,11 @@ void RuleEngineServiceImpl::init() {
 	XmlRpc::XmlRpcValue rawValue;
 	nodehandle->getParam(ruleEnginePrefix, rawValue);
 	schemaLoader.reset(new utils::SchemaLoader());
-	registerRuleConditionFactory("logical_or", std::make_shared<rule::LogicalOrConditionFactory>());
-	registerRuleConditionFactory("logical_and", std::make_shared<rule::LogicalAndConditionFactory>());
-	registerRuleConditionFactory("devicestatusmsg", std::make_shared<rule::DeviceStatusMsgConditionFactory>());
-	registerRuleConditionFactory("devicecommandmsg", std::make_shared<rule::DeviceCommandMsgConditionFactory>());
-	registerRuleConditionFactory("devicestatechange", std::make_shared<rule::DeviceStateChangeConditionFactory>());
+	registerRuleConditionFactory("logical_or", std::make_shared<rules::conditions::LogicalOrConditionFactory>());
+	registerRuleConditionFactory("logical_and", std::make_shared<rules::conditions::LogicalAndConditionFactory>());
+	registerRuleConditionFactory("devicestatusmsg", std::make_shared<rules::conditions::DeviceStatusMsgConditionFactory>());
+	registerRuleConditionFactory("devicecommandmsg", std::make_shared<rules::conditions::DeviceCommandMsgConditionFactory>());
+	registerRuleConditionFactory("devicestatechange", std::make_shared<rules::conditions::DeviceStateChangeConditionFactory>());
 	if (rawValue.getType() == XmlRpc::XmlRpcValue::TypeStruct) {
 		for (auto pkg : rawValue) {
 			std::string pname = pkg.first;
@@ -96,11 +99,11 @@ void RuleEngineServiceImpl::addRulePkg(std::string name, std::string rawValue) {
 	Variant m = Deserialize(rawValue, SERIALIZE_JSON);
 	SchemaResult sr = SchemaValidate(s, m, schemaLoader.get());
 	if (!sr.Error()) {
-		std::shared_ptr<rule::RulePackage> pkg = rule::RulePackage::createRulePackage(this, name, m);
+		std::shared_ptr<rules::RulePackageImpl> pkg = rules::RulePackageImpl::createRulePackage(this, name, m);
 		if (pkg) {
 			if (pkg->getScriptingService()) {
 				rulePkgs.insert({name, pkg});
-				pkg->enable();
+				pkg->setEnabled(true);
 			} else {
 				noExecRulePkgs.insert({name, pkg});
 				std::cout << "No execution service found for rule package \"" << name << "\"" << std::endl;
@@ -142,17 +145,17 @@ scripting::ScriptingService* RuleEngineServiceImpl::getExecutionBackend(std::str
 }
 
 
-void RuleEngineServiceImpl::registerRuleConditionFactory(std::string type, std::shared_ptr<RuleConditionFactory> factory) {
+void RuleEngineServiceImpl::registerRuleConditionFactory(const std::string& type, std::shared_ptr<RuleConditionFactory> factory) noexcept {
 	condFactories.insert({type, factory});
 }
 
 
-std::shared_ptr<rule::RulePackage> RuleEngineServiceImpl::getRulePackage(const std::string& name) {
-	std::shared_ptr<rule::RulePackage> retval;
+std::weak_ptr<rules::RulePackage> RuleEngineServiceImpl::getRulePackage(const std::string& name) noexcept {
+	std::weak_ptr<rules::RulePackage> retval;
 	try {
 		retval = rulePkgs.at(name);
 	} catch(...) {}
-	if (!retval) {
+	if (retval.expired()) {
 		try {
 			retval = noExecRulePkgs.at(name);
 		} catch(...) {}
@@ -160,6 +163,18 @@ std::shared_ptr<rule::RulePackage> RuleEngineServiceImpl::getRulePackage(const s
 	return retval;
 }
 
+
+std::vector<std::weak_ptr<rules::RulePackage>> RuleEngineServiceImpl::getRulePackages() noexcept {
+
+}
+
+
+size_t RuleEngineServiceImpl::getRulePackageCount() noexcept {
+
+}
+
+
+
 } // namespace ruleengine
 } // namespace service
 } // namespace cosgi

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/RuleEngineServiceImpl.h

@@ -1,12 +1,7 @@
-/*
- * hos_ruleengine_service_impl.h
- *
- *  Created on: 26.04.2015
- *      Author: matzman
- */
 
-#ifndef INCLUDE_HOS_COSGI_RULEENGINE_HOS_RULEENGINE_SERVICE_IMPL_H_
-#define INCLUDE_HOS_COSGI_RULEENGINE_HOS_RULEENGINE_SERVICE_IMPL_H_
+#pragma once
+
+
 
 #include <mutex>
 #include <map>
@@ -15,10 +10,10 @@
 #include <hos_core_msgs/DeviceStatusUpdate.h>
 #include <hos_core_msgs/HosStatusUpdate.h>
 #include <hos/utils/SchemaLoader.h>
-#include <hos/cosgi/service/ruleengine/ruleengine_service.h>
-#include <hos/cosgi/service/scripting/scripting_service.h>
 #include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
 #include <hos/cosgi/service/Implementation.h>
+#include <hos/cosgi/service/ruleengine/RuleEngineService.h>
+#include <hos/cosgi/service/scripting/ScriptingService.h>
 #include <ros/ros.h>
 #include <memory>
 #include <string>
@@ -45,18 +40,19 @@ namespace hos {
 namespace cosgi {
 namespace service {
 namespace ruleengine {
-namespace rule {
 
-class RulePackage;
+namespace rules {
+class RulePackageImpl;
 }
 
 
-class RuleEngineServiceImpl;
+
 class RuleEngineServiceImpl :
 		public virtual RuleEngineService,
 		public virtual implementation::Service<RuleEngineServiceImpl> {
+
 private:
-	typedef std::map<std::string, std::shared_ptr<rule::RulePackage>> rulePkgMap_t;
+	typedef std::map<std::string, std::shared_ptr<rules::RulePackageImpl>> rulePkgMap_t;
 	typedef std::map<std::string, scripting::ScriptingService*> execServiceMap_t;
 	typedef std::map<std::string, std::shared_ptr<RuleConditionFactory>> condFactoryMap_t;
 
@@ -82,39 +78,52 @@ private:
 	void init();
 
 public:
+
 	/* Initialization */
 
 	void setCoreService(service::core::CoreService* coreService);
+
 	void setRepoService(devicerepository::DeviceRepositoryService* repoService);
 
+
 	/* Public Service Implementations */
 
-	virtual void registerRuleConditionFactory(std::string type, std::shared_ptr<RuleConditionFactory> factory) override;
+	virtual void registerRuleConditionFactory(const std::string& type, std::shared_ptr<RuleConditionFactory> factory) noexcept override;
+
+	virtual std::weak_ptr<rules::RulePackage> getRulePackage(const std::string& name) noexcept override;
+
+	virtual std::vector<std::weak_ptr<rules::RulePackage>> getRulePackages() noexcept override;
+
+
+	virtual size_t getRulePackageCount() noexcept override;
+
 
 	/* Internal Stuff */
 
 	bool isInitialized() { return initialized; }
 
 	void addExecutionBackend(scripting::ScriptingService* service);
+
 	scripting::ScriptingService* getExecutionBackend(std::string language);
 
-	std::shared_ptr<RuleConditionFactory> getRuleConditionFactory(std::string type) { return condFactories[type]; }
+	std::shared_ptr<RuleConditionFactory> getRuleConditionFactory(std::string type) {
+		return condFactories[type];
+	}
 
-	utils::SchemaLoader* getHOSSchemaLoader() { return schemaLoader.get(); }
+	utils::SchemaLoader* getHOSSchemaLoader() {
+		return schemaLoader.get();
+	}
 
-	devicerepository::DeviceRepositoryService* getDeviceRepository() { return repoService; }
+	devicerepository::DeviceRepositoryService* getDeviceRepository() {
+		return repoService;
+	}
 
-	std::shared_ptr<rule::RulePackage> getRulePackage(const std::string& name);
 };
 
 
+
 } // namespace ruleengine
 } // namespace service
 } // namespace cosgi
 } // namespace hos
 
-
-
-
-
-#endif /* INCLUDE_HOS_COSGI_RULEENGINE_HOS_RULEENGINE_SERVICE_IMPL_H_ */

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rule/RuleConditionImpl.cpp

@@ -1,432 +0,0 @@
-/*
- * RuleCondition.cpp
- *
- *  Created on: 29.04.2015
- *      Author: matzman
- */
-
-#include "RuleConditionImpl.h"
-#include <hos/cosgi/service/ruleengine/rule/Rule.h>
-#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
-#include <ros/ros.h>
-
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace ruleengine {
-namespace rule {
-
-
-std::shared_ptr<rule::RuleCondition> LogicalOrConditionFactory::createCondition(rule::Rule* parent, Variant raw) {
-	std::shared_ptr<rule::LogicalOrCondition> retval;
-	if (raw.HasPath("conditions") && raw["conditions"].IsList() && raw["conditions"].Size() > 0) {
-		retval = std::make_shared<rule::LogicalOrCondition>(parent);
-		for (auto c : raw["conditions"].AsList()) {
-			auto cond = parent->createRuleCondition(c);
-			if (cond) {
-				retval->addChild(cond);
-			} else {
-				throw std::runtime_error("Could not create condition.");
-			}
-		}
-	} else {
-		throw std::runtime_error("Malformed JSON: missing property condition or is not a list.");
-	}
-	return std::static_pointer_cast<rule::RuleCondition>(retval);
-}
-
-
-std::shared_ptr<rule::RuleCondition> LogicalAndConditionFactory::createCondition(rule::Rule* parent, Variant raw) {
-	std::shared_ptr<rule::LogicalAndCondition> retval;
-	if (raw.HasPath("conditions") && raw["conditions"].IsList() && raw["conditions"].Size() > 0) {
-		retval = std::make_shared<rule::LogicalAndCondition>(parent);
-		for (auto c : raw["conditions"].AsList()) {
-			auto cond = parent->createRuleCondition(c);
-			if (cond) {
-				retval->addChild(cond);
-			} else {
-				throw std::runtime_error("Could not create condition.");
-			}
-		}
-	} else {
-		throw std::runtime_error("Malformed JSON: missing property condition or is not a list.");
-	}
-	return std::static_pointer_cast<rule::RuleCondition>(retval);
-}
-
-
-
-void RuleCondition::notifyStateChangeToParent(bool newState, Category category, Variant lcontext) {
-	if (compositeParent) {
-		compositeParent->childStateChanged(this, newState, category, lcontext);
-	} else {
-		parent->conditionStateChanged(newState, category, lcontext);
-	}
-}
-
-
-void LogicalOrCondition::addChild(std::shared_ptr<RuleCondition> child) {
-	if (child->getCategory() == Category::Event) {
-		eventChildrenCount++;
-	} else if (child->getCategory() == Category::State) {
-		stateChildrenCount++;
-	} else {
-		mixedChildrenCount++;
-	}
-	if (mixedChildrenCount > 0 || (eventChildrenCount > 0 && stateChildrenCount > 0)) {
-		category = Category::Mixed;
-	} else if (eventChildrenCount > 0 && stateChildrenCount == 0) {
-		category = Category::Event;
-	} else {
-		category = Category::State;
-	}
-	RuleCompositeCondition::addChild(child);
-}
-
-
-void LogicalOrCondition::childStateChanged(RuleCondition* child, bool newState, Category category, Variant lcontext) {
-	if (newState && category == Category::Event && !currentState) {
-		notifyStateChangeToParent(true, category, lcontext);
-	} else if (category == Category::State) {
-		if (newState) {
-			trueChildrenCount++;
-			if (!currentState) {
-				currentState = true;
-				notifyStateChangeToParent(true, category, lcontext);
-			}
-		} else {
-			trueChildrenCount--;
-			if (currentState && trueChildrenCount <= 0) {
-				currentState = false;
-				notifyStateChangeToParent(false, category, lcontext);
-			}
-		}
-	}
-}
-
-
-bool LogicalOrCondition::evaluate() {
-	// Event conditions always evaluate to false
-	if (category == Category::Event) {
-		return false;
-	}
-	trueChildrenCount = 0;
-	for (auto c : children) {
-		if (c->evaluate()) {
-			trueChildrenCount++;
-		}
-	}
-	currentState = trueChildrenCount > 0;
-	return currentState;
-}
-
-
-
-void LogicalAndCondition::addChild(std::shared_ptr<RuleCondition> child) {
-	if (child->getCategory() == Category::Event) {
-		if (eventChildrenCount > 0) {
-			throw new std::runtime_error("Cannot have an and condition with more than two event conditions.");
-		}
-		eventChildrenCount++;
-	} else if (child->getCategory() == Category::State) {
-		stateChildrenCount++;
-	} else {
-		mixedChildrenCount++;
-	}
-	if (mixedChildrenCount > 0 || (eventChildrenCount > 0 && stateChildrenCount > 0)) {
-		category = Category::Mixed;
-	} else if (eventChildrenCount > 0 && stateChildrenCount == 0) {
-		category = Category::Event;
-	} else {
-		category = Category::State;
-	}
-	RuleCompositeCondition::addChild(child);
-}
-
-void LogicalAndCondition::childStateChanged(RuleCondition* child, bool newState, Category category, Variant lcontext) {
-	if (newState && category == Category::Event && !currentState && trueChildrenCount >= children.size()-1) {
-		notifyStateChangeToParent(true, category);
-	} else if (category == Category::State) {
-		if (newState) {
-			trueChildrenCount++;
-			if (!currentState && trueChildrenCount >= children.size()) {
-				currentState = true;
-				notifyStateChangeToParent(true, category, lcontext);
-			}
-		} else {
-			trueChildrenCount--;
-			if (currentState) {
-				currentState = false;
-				notifyStateChangeToParent(false, category, lcontext);
-			}
-		}
-	}
-}
-
-
-
-
-bool LogicalAndCondition::evaluate() {
-	// Event conditions always evaluate to false
-	if (category == Category::Event) {
-		return false;
-	}
-	trueChildrenCount = 0;
-	for (auto c : children) {
-		if (c->evaluate()) {
-			trueChildrenCount++;
-		}
-	}
-	currentState = trueChildrenCount == children.size();
-	return currentState;
-}
-
-
-
-void DeviceMsgCondition::notificationReceived(interface::Observer<devicerepository::DeviceEvent::EventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEvent::EventType& key, const devicerepository::DeviceEvent* e) noexcept {
-	switch (key) {
-		case devicerepository::DeviceEvent::EventType::DEVICE_ADDED:
-			if (!device && this->deviceID.compare(e->device->getDeviceID()) == 0) {
-				ROS_INFO_STREAM("Rule " << parent->name << ": Device " << deviceID << " appeared.");
-				device = e->device;
-				parent->getDeviceRepository()->deleteObserver(devicerepository::DeviceEvent::EventType::DEVICE_ADDED, this);
-				_registerAsListener();
-			}
-			break;
-		case devicerepository::DeviceEvent::EventType::DEVICE_REMOVED:
-			if (device && device->getDeviceID().compare(e->device->getDeviceID()) == 0) {
-				ROS_ERROR_STREAM("Rule " << parent->name << ": Device " << deviceID << " disappeared.");
-				device->deleteObserver(this);
-				device = nullptr;
-				parent->getDeviceRepository()->addObserver(devicerepository::DeviceEvent::EventType::DEVICE_ADDED, this);
-			}
-			break;
-		default:
-			break;
-	}
-}
-
-void DeviceMsgCondition::enable() {
-	auto repoService = parent->getDeviceRepository();
-	auto device = repoService->getDevice(deviceID);
-	if (!device.expired()) {
-		this->device = device.lock().get();
-		_registerAsListener();
-	} else {
-		ROS_ERROR_STREAM("Rule " << parent->name << ": Could not find device " << deviceID);
-		parent->getDeviceRepository()->addObserver(devicerepository::DeviceEvent::EventType::DEVICE_ADDED, this);
-	}
-}
-
-void DeviceMsgCondition::disable() {
-	if (device) {
-		device->deleteObserver(this);
-		device = nullptr;
-	}
-	parent->getDeviceRepository()->deleteObserver(this);
-}
-
-void DeviceMsgCondition::_registerAsListener() {
-	if (device) {
-		for (auto k : _listenerKeys)  {
-			device->addObserver(k, this);
-		}
-	}
-}
-
-
-
-
-std::shared_ptr<rule::RuleCondition> DeviceStatusMsgConditionFactory::createCondition(rule::Rule* parent, Variant raw) {
-	std::shared_ptr<rule::DeviceStatusMsgCondition> retval;
-	std::string deviceID;
-	if (raw.HasPath("deviceid") && raw["deviceid"].IsString()) {
-		deviceID = raw["deviceid"].AsString();
-	} else {
-		throw std::runtime_error("Malformed JSON: missing property deviceid or is not an string.");
-	}
-	std::string msgPointer;
-	if (raw.HasPath("msgpointer")) {
-		if (raw["msgpointer"].IsString()) {
-			msgPointer = raw["msgpointer"].AsString();
-		} else {
-			throw std::runtime_error("Malformed JSON: property msgpointer is not an string.");
-		}
-	}
-	Variant msgValue;
-	if (raw.HasPath("msgvalue")) {
-		msgValue = raw["msgvalue"];
-	}
-	retval = std::make_shared<rule::DeviceStatusMsgCondition>(parent, deviceID, msgPointer, msgValue);
-	return retval;
-}
-
-void DeviceStatusMsgCondition::notificationReceived(interface::Observer<devicerepository::DeviceEvent::EventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEvent::EventType& key, const devicerepository::DeviceEvent* e) noexcept {
-	switch (e->eventType) {
-		case devicerepository::DeviceEvent::EventType::STATUS_UPDATE_RECEIVED:
-			if (device && device == e->device) {
-				auto e2 = static_cast<const devicerepository::DeviceStatusMsgEvent*>(e);
-				bool notify = true;
-				Variant value;
-				if (msgPointer.empty()) {
-					value = e2->statusMsg;
-				} else if (e2->statusMsg.HasPath(msgPointer)) {
-					value = e2->statusMsg.GetPath(msgPointer);
-				} else {
-					notify = false;
-				}
-				if (notify && !msgValue.IsNull()) {
-					if (msgValue != value) {
-						notify = false;
-					}
-				}
-				if (notify) {
-					Variant lcontext;
-					lcontext["event_deviceid"] = Variant(e->device->getDeviceID());
-					lcontext["event_type"] = Variant("statusmsg");
-					lcontext["event_msg"] = e2->statusMsg;
-					notifyStateChangeToParent(true, Category::Event, lcontext);
-				}
-			}
-			break;
-		default:
-			DeviceMsgCondition::notificationReceived(o, key, e);
-			break;
-	}
-}
-
-
-std::shared_ptr<rule::RuleCondition> DeviceCommandMsgConditionFactory::createCondition(rule::Rule* parent, Variant raw) {
-	std::shared_ptr<rule::DeviceCommandMsgCondition> retval;
-	std::string deviceID;
-	if (raw.HasPath("deviceid") && raw["deviceid"].IsString()) {
-		deviceID = raw["deviceid"].AsString();
-	} else {
-		throw std::runtime_error("Malformed JSON: missing property deviceid or is not an string.");
-	}
-	std::string msgPointer;
-	if (raw.HasPath("msgpointer")) {
-		if (raw["msgpointer"].IsString()) {
-			msgPointer = raw["msgpointer"].AsString();
-		} else {
-			throw std::runtime_error("Malformed JSON: property msgpointer is not an string.");
-		}
-	}
-	Variant msgValue;
-	if (raw.HasPath("msgvalue")) {
-		msgValue = raw["msgvalue"];
-	}
-	retval = std::make_shared<rule::DeviceCommandMsgCondition>(parent, deviceID, msgPointer, msgValue);
-	return retval;
-}
-
-void DeviceCommandMsgCondition::notificationReceived(interface::Observer<devicerepository::DeviceEvent::EventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEvent::EventType& key, const devicerepository::DeviceEvent* e) noexcept {
-	switch (e->eventType) {
-		case devicerepository::DeviceEvent::EventType::COMMAND_RECEIVED:
-			if (device && device == e->device) {
-				auto e2 = static_cast<const devicerepository::DeviceCmdMsgEvent*>(e);
-				bool notify = true;
-				Variant value;
-				if (msgPointer.empty()) {
-					value = e2->cmdMsg;
-				} else if (e2->cmdMsg.HasPath(msgPointer)) {
-					value = e2->cmdMsg.GetPath(msgPointer);
-				} else {
-					notify = false;
-				}
-				if (notify && !msgValue.IsNull()) {
-					if (msgValue != value) {
-						notify = false;
-					}
-				}
-				if (notify) {
-					Variant lcontext;
-					lcontext["event_deviceid"] = Variant(e->device->getDeviceID());
-					lcontext["event_type"] = Variant("commandmsg");
-					lcontext["event_msg"] = e2->cmdMsg;
-					notifyStateChangeToParent(true, Category::Event, lcontext);
-				}
-			}
-			break;
-		default:
-			DeviceMsgCondition::notificationReceived(o, key, e);
-			break;
-	}
-}
-
-
-std::shared_ptr<rule::RuleCondition> DeviceStateChangeConditionFactory::createCondition(rule::Rule* parent, Variant raw) {
-	std::shared_ptr<rule::DeviceStateChangeCondition> retval;
-	std::string deviceID;
-	if (raw.HasPath("deviceid") && raw["deviceid"].IsString()) {
-		deviceID = raw["deviceid"].AsString();
-	} else {
-		throw std::runtime_error("Malformed JSON: missing property deviceid or is not an string.");
-	}
-	std::string statePointer;
-	if (raw.HasPath("msgpointer")) {
-		if (raw["msgpointer"].IsString()) {
-			statePointer = raw["msgpointer"].AsString();
-		} else {
-			throw std::runtime_error("Malformed JSON: property msgpointer is not an string.");
-		}
-	}
-	Variant fromValue;
-	if (raw.HasPath("fromvalue")) {
-		fromValue = raw["fromvalue"];
-	}
-	Variant toValue;
-	if (raw.HasPath("tovalue")) {
-		toValue = raw["tovalue"];
-	}
-	retval = std::make_shared<DeviceStateChangeCondition>(parent, deviceID, statePointer, fromValue, toValue);
-	return retval;
-}
-
-
-void DeviceStateChangeCondition::notificationReceived(interface::Observer<devicerepository::DeviceEvent::EventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEvent::EventType& key, const devicerepository::DeviceEvent* e) noexcept {
-	switch (e->eventType) {
-		case devicerepository::DeviceEvent::EventType::STATE_CHANGED:
-			if (device && device == e->device) {
-				auto e2 = static_cast<const devicerepository::DeviceStatusMsgEvent*>(e);
-				bool notify = true;
-				Variant current, last;
-				if (msgPointer.empty()) {
-					current = device->getCurrentState();
-					last = device->getLastState();
-				} else if (device->getCurrentState().HasPath(msgPointer) && device->getLastState().HasPath(msgPointer)) {
-					current = device->getCurrentState().GetPath(msgPointer);
-					last = device->getLastState().GetPath(msgPointer);
-				} else {
-					notify = false;
-				}
-				if (notify) {
-					if (current == last) {
-						notify = false;
-					} else if (!fromValue.IsNull() && fromValue != last) {
-						notify = false;
-					} else if (!msgValue.IsNull() && msgValue != current) {
-						notify = false;
-					}
-				}
-				if (notify) {
-					Variant lcontext;
-					lcontext["event_deviceid"] = Variant(e->device->getDeviceID());
-					lcontext["event_type"] = Variant("statechange");
-					lcontext["event_msg"] = e2->statusMsg;
-					notifyStateChangeToParent(true, Category::Event, lcontext);
-				}
-			}
-			break;
-		default:
-			DeviceMsgCondition::notificationReceived(o, key, e);
-			break;
-	}
-}
-
-
-} /* namespace rule */
-} /* namespace ruleengine */
-} /* namespace service */
-} /* namespace cosgi */
-} /* namespace hos */

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rule/RuleConditionImpl.h

@@ -1,142 +0,0 @@
-/*
- * RuleConditionImpl.h
- *
- *  Created on: 11.05.2015
- *      Author: matzman
- */
-
-#ifndef SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULECONDITIONIMPL_H_
-#define SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULECONDITIONIMPL_H_
-
-#include <hos/cosgi/service/ruleengine/rule/RuleCondition.h>
-#include <hos/cosgi/service/ruleengine/ruleengine_service.h>
-#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
-#include <set>
-
-
-// Service Namespace
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace ruleengine {
-namespace rule {
-
-using namespace ::libvariant;
-
-
-class LogicalOrCondition : public RuleCompositeCondition {
-protected:
-	unsigned eventChildrenCount = 0;
-	unsigned stateChildrenCount = 0;
-	unsigned mixedChildrenCount = 0;
-	unsigned trueChildrenCount = 0;
-public:
-	LogicalOrCondition(Rule* parent) :
-			RuleCompositeCondition(parent, Category::Mixed, "logical_or") {}
-
-	virtual void addChild(std::shared_ptr<RuleCondition> child) override;
-	virtual void childStateChanged(RuleCondition* child, bool newState, Category category, Variant lcontext = Variant()) override;
-	virtual bool evaluate() override;
-};
-
-class LogicalOrConditionFactory : public virtual RuleConditionFactory {
-public:
-	virtual std::shared_ptr<rule::RuleCondition> createCondition(rule::Rule* parent, ::libvariant::Variant raw) override;
-};
-
-
-class LogicalAndCondition : public RuleCompositeCondition {
-protected:
-	unsigned eventChildrenCount = 0;
-	unsigned stateChildrenCount = 0;
-	unsigned mixedChildrenCount = 0;
-	unsigned trueChildrenCount = 0;
-public:
-	LogicalAndCondition(Rule* parent) :
-			RuleCompositeCondition(parent, Category::Mixed, "logical_and") {}
-
-	virtual void addChild(std::shared_ptr<RuleCondition> child) override;
-	virtual void childStateChanged(RuleCondition* child, bool newState, Category category, Variant lcontext = Variant()) override;
-	virtual bool evaluate() override;
-};
-
-class LogicalAndConditionFactory : public virtual RuleConditionFactory {
-public:
-	virtual std::shared_ptr<rule::RuleCondition> createCondition(rule::Rule* parent, ::libvariant::Variant raw) override;
-};
-
-
-class DeviceMsgCondition : public RuleCondition, public virtual interface::Observer<devicerepository::DeviceEvent::EventType, devicerepository::DeviceEvent> {
-protected:
-	const std::string deviceID;
-	devicerepository::Device* device = nullptr;
-	const std::string msgPointer;
-	const Variant msgValue;
-	std::set<devicerepository::DeviceEvent::EventType> _listenerKeys;
-
-	virtual void _registerAsListener();
-
-public:
-	DeviceMsgCondition(Rule* parent, Category category, std::string type, const std::string deviceID, const std::string msgPointer, const Variant msgValue, std::set<devicerepository::DeviceEvent::EventType> _listenerKeys) :
-		RuleCondition(parent, category, type), deviceID(deviceID), msgPointer(msgPointer), msgValue(msgValue), _listenerKeys(_listenerKeys) {}
-
-	virtual void notificationReceived(interface::Observer<devicerepository::DeviceEvent::EventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEvent::EventType& key, const devicerepository::DeviceEvent* e) noexcept override;
-	virtual void enable() override;
-	virtual void disable() override;
-};
-
-
-class DeviceStatusMsgCondition : public DeviceMsgCondition {
-public:
-	DeviceStatusMsgCondition(Rule* parent, const std::string deviceID, const std::string msgPointer, const Variant msgValue) :
-		DeviceMsgCondition(parent, Category::Event, "devicestatusmsg", deviceID, msgPointer, msgValue, {devicerepository::DeviceEvent::EventType::STATUS_UPDATE_RECEIVED}) {}
-
-	virtual void notificationReceived(interface::Observer<devicerepository::DeviceEvent::EventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEvent::EventType& key, const devicerepository::DeviceEvent* e) noexcept override;
-};
-
-class DeviceStatusMsgConditionFactory : public virtual RuleConditionFactory {
-public:
-	virtual std::shared_ptr<rule::RuleCondition> createCondition(rule::Rule* parent, Variant raw) override;
-};
-
-
-class DeviceCommandMsgCondition : public DeviceMsgCondition {
-public:
-	DeviceCommandMsgCondition(Rule* parent, const std::string deviceID, const std::string msgPointer, const Variant msgValue) :
-		DeviceMsgCondition(parent, Category::Event, "devicecommandmsg", deviceID, msgPointer, msgValue, {devicerepository::DeviceEvent::EventType::COMMAND_RECEIVED}) {}
-
-	virtual void notificationReceived(interface::Observer<devicerepository::DeviceEvent::EventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEvent::EventType& key, const devicerepository::DeviceEvent* e) noexcept override;
-};
-
-class DeviceCommandMsgConditionFactory : public virtual RuleConditionFactory {
-public:
-	virtual std::shared_ptr<rule::RuleCondition> createCondition(rule::Rule* parent, ::libvariant::Variant raw) override;
-};
-
-
-class DeviceStateChangeCondition : public DeviceMsgCondition {
-protected:
-	const Variant fromValue;
-public:
-	DeviceStateChangeCondition(Rule* parent, const std::string deviceID, const std::string statePointer, const Variant fromValue, const Variant toValue) :
-		DeviceMsgCondition(parent, Category::Event, "devicestatechange", deviceID, statePointer, toValue, {devicerepository::DeviceEvent::EventType::STATE_CHANGED}), fromValue(fromValue) {}
-
-	virtual void notificationReceived(interface::Observer<devicerepository::DeviceEvent::EventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEvent::EventType& key, const devicerepository::DeviceEvent* e) noexcept override;
-};
-
-class DeviceStateChangeConditionFactory : public virtual RuleConditionFactory {
-public:
-	virtual std::shared_ptr<rule::RuleCondition> createCondition(rule::Rule* parent, Variant raw) override;
-};
-
-
-
-
-} /* namespace rule */
-} /* namespace ruleengine */
-} /* namespace service */
-} /* namespace cosgi */
-} /* namespace hos */
-
-
-#endif /* SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULECONDITIONIMPL_H_ */

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rule/RulePackage.h

@@ -1,85 +0,0 @@
-/*
- * RulePackage.h
- *
- *  Created on: 29.04.2015
- *      Author: matzman
- */
-
-#ifndef SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULEPACKAGE_H_
-#define SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULEPACKAGE_H_
-
-
-#include <hos/cosgi/service/scripting/scripting_service.h>
-#include <vector>
-#include <map>
-#include <memory>
-#include <string>
-#include <Variant/Variant.h>
-
-
-// Forward declarations
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace ruleengine {
-class RuleEngineServiceImpl;
-class RuleConditionFactory;
-namespace rule {
-class Rule;
-}
-}
-namespace scripting {
-class GlobalScriptContext;
-}
-}
-}
-}
-
-
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace ruleengine {
-namespace rule {
-
-using namespace ::libvariant;
-
-class RulePackage {
-private:
-	typedef std::map<std::string, std::shared_ptr<Rule>> ruleMap_t;
-
-	service::scripting::ScriptingService* executionService = nullptr;
-	std::shared_ptr<scripting::GlobalScriptContext> globalContext;
-	ruleMap_t rules;
-	Variant rawValue;
-	bool enabled = false;
-
-
-public:
-	service::ruleengine::RuleEngineServiceImpl* const parent;
-	const std::string name;
-	const std::string language;
-
-	static std::shared_ptr<RulePackage> createRulePackage(service::ruleengine::RuleEngineServiceImpl* parent, std::string name, Variant raw);
-	RulePackage(service::ruleengine::RuleEngineServiceImpl* parent, const std::string name, const std::string language, Variant raw);
-	virtual ~RulePackage();
-
-	std::shared_ptr<Rule> getRule(const std::string& name);
-	size_t getRules(std::vector<std::shared_ptr<Rule>>& rules);
-
-	bool isEnabled() { return enabled; }
-	void enable();
-	void disable();
-
-	service::scripting::ScriptingService* getScriptingService() { return executionService; }
-	std::shared_ptr<scripting::GlobalScriptContext> getGlobalScriptContext() { return globalContext; }
-	std::shared_ptr<service::ruleengine::RuleConditionFactory> getConditionFactory(std::string type);
-};
-
-} /* namespace rule */
-} /* namespace ruleengine */
-} /* namespace service */
-} /* namespace cosgi */
-} /* namespace hos */
-
-#endif /* SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULEPACKAGE_H_ */

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/RuleImpl.cpp

@@ -6,39 +6,36 @@
  */
 
 
-#include <hos/cosgi/service/ruleengine/rule/Rule.h>
+#include "../rules/RuleImpl.h"
 
-#include <hos/cosgi/service/scripting/scripting_service.h>
-
-#include <hos/cosgi/service/ruleengine/rule/RuleCondition.h>
 #include <ros/ros.h>
-#include "RulePackage.h"
-#include <hos/cosgi/service/ruleengine/ruleengine_service.h>
 #include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+#include <hos/cosgi/service/ruleengine/rules/conditions/RuleCondition.h>
+#include <hos/cosgi/service/ruleengine/RuleEngineService.h>
+#include <hos/cosgi/service/scripting/ScriptingService.h>
 #include <hos/utils/SchemaLoader.h>
-#include "../ruleengine_serviceimpl.h"
+#include <Variant/Variant.h>
+
+#include "../rules/RulePackageImpl.h"
+
+#include "../RuleEngineServiceImpl.h"
 
 
 namespace hos {
 namespace cosgi {
 namespace service {
 namespace ruleengine {
-namespace rule {
+namespace rules {
 
 
-Rule::Rule(RulePackage* parent, std::string name)
+RuleImpl::RuleImpl(RulePackageImpl* parent, std::string name)
 		: parent(parent), name(name) {}
 
-
-utils::SchemaLoader* Rule::getHOSSchemaLoader() {
-	return parent->parent->getHOSSchemaLoader();
-}
-
-std::shared_ptr<RuleCondition> Rule::createRuleCondition(Variant condition) {
-	std::shared_ptr<RuleCondition> retval;
+std::shared_ptr<conditions::RuleCondition> RuleImpl::createRuleCondition(const Variant& condition) {
+	std::shared_ptr<conditions::RuleCondition> retval;
 	if (condition.IsMap() && condition.HasPath("type") && condition["type"].IsString()) {
 		if (condition.HasPath("$schema")) {
-			SchemaResult sr = SchemaValidate(Variant(), condition, getHOSSchemaLoader());
+			SchemaResult sr = SchemaValidate(Variant(), condition, parent->parent->getHOSSchemaLoader());
 			if (sr.Error()) {
 				throw std::runtime_error(sr.PrettyPrintMessage());
 			}
@@ -60,13 +57,13 @@ std::shared_ptr<RuleCondition> Rule::createRuleCondition(Variant condition) {
 	return retval;
 }
 
-std::shared_ptr<Rule> Rule::createRule(RulePackage* parent, std::string name, Variant raw) {
-	std::shared_ptr<Rule> retval;
-	if (parent->getRule(name)) {
+std::shared_ptr<RuleImpl> RuleImpl::createRule(RulePackageImpl* parent, std::string name, Variant raw) {
+	std::shared_ptr<RuleImpl> retval;
+	if (!parent->getRule(name).expired()) {
 		throw std::runtime_error("Rule with the same name already exists.");
 	}
 	if (raw.IsMap()) {
-		retval = std::make_shared<Rule>(parent, name);
+		retval = std::make_shared<RuleImpl>(parent, name);
 		if (raw.HasPath("condition") && raw["condition"].IsMap()) {
 			auto condition = raw["condition"];
 			auto cond = retval->createRuleCondition(condition);
@@ -78,7 +75,7 @@ std::shared_ptr<Rule> Rule::createRule(RulePackage* parent, std::string name, Va
 			auto scriptFactory = parent->getScriptingService();
 			//ToDo: Create Condition
 			if (raw.HasPath("script") && raw["script"].IsMap()) {
-				auto script = scriptFactory->createScript(parent->getGlobalScriptContext().get(), raw["script"]);
+				auto script = scriptFactory->createScript(raw["script"]);
 				if (script) {
 					retval->script = script;
 				} else {
@@ -88,7 +85,7 @@ std::shared_ptr<Rule> Rule::createRule(RulePackage* parent, std::string name, Va
 				throw std::runtime_error("Malformed JSON: missing property script or is not an object.");
 			}
 			if (raw.HasPath("exitscript") && raw["exitscript"].IsMap()) {
-				auto script = scriptFactory->createScript(parent->getGlobalScriptContext().get(), raw["exitscript"]);
+				auto script = scriptFactory->createScript(raw["exitscript"]);
 				if (script) {
 					retval->exitScript = script;
 				} else {
@@ -105,43 +102,34 @@ std::shared_ptr<Rule> Rule::createRule(RulePackage* parent, std::string name, Va
 }
 
 
-devicerepository::DeviceRepositoryService* Rule::getDeviceRepository() {
+devicerepository::DeviceRepositoryService* RuleImpl::getDeviceRepository() noexcept {
 	return parent->parent->getDeviceRepository();
 }
 
-void Rule::enable() {
-	if (!enabled) {
+void RuleImpl::setEnabled(bool enabled) noexcept {
+	if (this->enabled != enabled) {
 		if (condition) {
-			condition->enable();
+			condition->setEnabled(enabled);
 		}
-		enabled = true;
-	}
-}
-
-void Rule::disable() {
-	if (enabled) {
-		if (condition) {
-			condition->disable();
-		}
-		enabled = false;
+		this->enabled = enabled;
 	}
 }
 
 
-void Rule::execute(Variant lContext) {
+void RuleImpl::executeScript(const libvariant::Variant& lContext) {
 	if (enabled && script) {
 		try {
-			script->exec(parent->getGlobalScriptContext().get(), lContext);
+			script->execute(parent->getGlobalScriptContext().lock(), lContext);
 		} catch(std::exception& e) {
 			ROS_ERROR_STREAM(e.what());
 		}
 	}
 }
 
-void Rule::executeExitScript(Variant lContext) {
+void RuleImpl::executeExitScript(const libvariant::Variant& lContext) {
 	if (enabled && exitScript) {
 		try {
-			exitScript->exec(parent->getGlobalScriptContext().get(), lContext);
+			exitScript->execute(parent->getGlobalScriptContext().lock(), lContext);
 		} catch(std::exception& e) {
 			ROS_ERROR_STREAM(e.what());
 		}
@@ -149,13 +137,13 @@ void Rule::executeExitScript(Variant lContext) {
 }
 
 
-bool Rule::evaluate() {
+bool RuleImpl::evaluate() {
 	if (condition) {
 		bool retval = condition->evaluate();
 		if (retval != currentState) {
 			currentState = retval;
 			if (retval) {
-				execute();
+				executeScript();
 			} else {
 				executeExitScript();
 			}
@@ -168,13 +156,13 @@ bool Rule::evaluate() {
 }
 
 
-void Rule::conditionStateChanged(bool newState, RuleCondition::Category category, Variant lcontext) {
-		if (newState && !currentState && category == RuleCondition::Category::Event) {
-			execute(lcontext);
-		} else if (category == RuleCondition::Category::State && newState != currentState) {
+void RuleImpl::conditionStateChanged(bool newState, const conditions::ConditionTriggerType& category, const Variant& lcontext) noexcept {
+		if (newState && !currentState && category == conditions::ConditionTriggerType::Event) {
+			executeScript(lcontext);
+		} else if (category == conditions::ConditionTriggerType::State && newState != currentState) {
 			currentState = newState;
 			if (newState) {
-				execute(lcontext);
+				executeScript(lcontext);
 			} else {
 				executeExitScript(lcontext);
 			}

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/RuleImpl.h

@@ -0,0 +1,100 @@
+
+#pragma once
+
+
+
+#include <hos/cosgi/service/ruleengine/rules/conditions/RuleCondition.h>
+#include <hos/cosgi/service/ruleengine/rules/Rule.h>
+#include <hos/cosgi/service/ruleengine/rules/RulePackage.h>
+
+#include "RulePackageImpl.h"
+#include <string>
+#include <memory>
+#include <vector>
+#include <Variant/Variant.h>
+
+
+// Forward declarations
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace devicerepository {
+class Device;
+class DeviceEvent;
+class DeviceRepositoryService;
+}
+namespace ruleengine {
+namespace rules {
+class RulePackageImpl;
+}
+}
+namespace scripting {
+class ScriptingService;
+class GlobalScriptContext;
+class Script;
+}
+}
+}
+namespace utils {
+class SchemaLoader;
+}
+}
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+
+using namespace ::libvariant;
+
+class RuleImpl : public virtual Rule {
+private:
+	std::shared_ptr<scripting::Script> script;
+	std::shared_ptr<scripting::Script> exitScript;
+	std::shared_ptr<conditions::RuleCondition> condition;
+	bool enabled = false;
+	bool currentState = false;
+
+public:
+	RulePackageImpl* const parent;
+	const std::string name;
+
+	RuleImpl(RulePackageImpl* parent, const std::string name);
+	static std::shared_ptr<RuleImpl> createRule(RulePackageImpl* parent, const std::string name, Variant raw);
+
+	virtual RulePackage* getParent() noexcept {
+		return dynamic_cast<RulePackage*>(parent);
+	}
+
+	virtual const std::string& getName() noexcept {
+		return name;
+	}
+
+	virtual bool isActive() noexcept override {
+		return currentState;
+	}
+	virtual bool evaluate() override;
+	virtual void executeScript(const libvariant::Variant& lContext = libvariant::Variant()) override;
+	virtual void executeExitScript(const libvariant::Variant& lContext = libvariant::Variant()) override;
+
+	virtual bool isEnabled() noexcept override {
+		return enabled;
+	}
+	virtual void setEnabled(bool enabled) noexcept override;
+
+	void conditionStateChanged(bool newState, const conditions::ConditionTriggerType& category, const Variant& lcontext = Variant()) noexcept override;
+
+	std::shared_ptr<conditions::RuleCondition> createRuleCondition(const Variant& raw) override;
+	devicerepository::DeviceRepositoryService* getDeviceRepository() noexcept override;
+};
+
+
+
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/RulePackageImpl.cpp

@@ -5,29 +5,29 @@
  *      Author: matzman
  */
 
-#include "RulePackage.h"
+#include "RuleImpl.h"
 
 #include <ros/ros.h>
 #include <exception>
 #include <Variant/Variant.h>
 
-#include "../ruleengine_serviceimpl.h"
-#include <hos/cosgi/service/ruleengine/rule/Rule.h>
+#include "../RuleEngineServiceImpl.h"
+#include "RulePackageImpl.h"
 
 namespace hos {
 namespace cosgi {
 namespace service {
 namespace ruleengine {
-namespace rule {
+namespace rules {
 
-RulePackage::RulePackage(service::ruleengine::RuleEngineServiceImpl* parent, const std::string name, const std::string language, const Variant raw)
+RulePackageImpl::RulePackageImpl(service::ruleengine::RuleEngineServiceImpl* parent, const std::string name, const std::string language, const Variant raw)
 		: parent(parent), name(name), language(language), rawValue(raw) {}
 
-RulePackage::~RulePackage() {}
+RulePackageImpl::~RulePackageImpl() {}
 
-std::shared_ptr<RulePackage> RulePackage::createRulePackage(service::ruleengine::RuleEngineServiceImpl* parent, std::string name, Variant raw) {
-	std::shared_ptr<RulePackage> retval;
-	if (parent->getRulePackage(name)) {
+std::shared_ptr<RulePackageImpl> RulePackageImpl::createRulePackage(service::ruleengine::RuleEngineServiceImpl* parent, std::string name, Variant raw) {
+	std::shared_ptr<RulePackageImpl> retval;
+	if (!parent->getRulePackage(name).expired()) {
 		std::stringstream ss;
 		ss << "Could not create package " << name << ": There already exists a rule package with the same name.";
 		throw std::runtime_error(ss.str());
@@ -39,7 +39,7 @@ std::shared_ptr<RulePackage> RulePackage::createRulePackage(service::ruleengine:
 		} else {
 			throw std::runtime_error("Rule package JSON is missing language parameter or parameter has wrong type.");
 		}
-		retval = std::make_shared<RulePackage>(parent, name, language, raw);
+		retval = std::make_shared<RulePackageImpl>(parent, name, language, raw);
 		retval->executionService = parent->getExecutionBackend(retval->language);
 		if (retval->executionService) {
 			if (raw.HasPath("globalcontext")) {
@@ -48,7 +48,7 @@ std::shared_ptr<RulePackage> RulePackage::createRulePackage(service::ruleengine:
 			if (raw.HasPath("rules") && raw["rules"].IsMap()) {
 				for (auto r : raw["rules"].AsMap()) {
 					try {
-						std::shared_ptr<Rule> rule = Rule::createRule(retval.get(), r.first, r.second);
+						std::shared_ptr<RuleImpl> rule = RuleImpl::createRule(retval.get(), r.first, r.second);
 						if (rule) {
 							retval->rules.insert({r.first, rule});
 						}
@@ -70,49 +70,39 @@ std::shared_ptr<RulePackage> RulePackage::createRulePackage(service::ruleengine:
 }
 
 
-std::shared_ptr<Rule> RulePackage::getRule(const std::string& name) {
-	std::shared_ptr<Rule> retval;
+std::weak_ptr<Rule> RulePackageImpl::getRule(const std::string& name) noexcept {
+	std::weak_ptr<Rule> retval;
 	try {
 		retval = rules.at(name);
 	} catch (...) {}
 	return retval;
 }
 
-size_t RulePackage::getRules(std::vector<std::shared_ptr<Rule>>& rules) {
-	size_t retval = 0;
+std::vector<std::weak_ptr<Rule>> RulePackageImpl::getRules() noexcept {
+	std::vector<std::weak_ptr<Rule>> retval;
 	for (auto item : this->rules) {
-		rules.push_back(item.second);
-		retval++;
+		retval.push_back(dynamic_pointer_cast<Rule>(item.second));
 	}
 	return retval;
 }
 
-std::shared_ptr<RuleConditionFactory> RulePackage::getConditionFactory(std::string type) {
+std::shared_ptr<RuleConditionFactory> RulePackageImpl::getConditionFactory(std::string type) {
 	return parent->getRuleConditionFactory(type);
 }
 
 
-void RulePackage::enable() {
-	if (!enabled) {
+void RulePackageImpl::setEnabled(bool enabled) noexcept {
+	if (this->enabled != enabled) {
 		for (auto r : rules) {
-			r.second->enable();
+			r.second->setEnabled(enabled);
 		}
-	enabled = true;
+		this->enabled = enabled;
 	}
 }
 
 
-void RulePackage::disable() {
-	if (enabled) {
-		for (auto r : rules) {
-			r.second->enable();
-		}
-	enabled = false;
-	}
-}
 
-
-} /* namespace rule */
+} /* namespace rules */
 } /* namespace ruleengine */
 } /* namespace service */
 } /* namespace cosgi */

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/RulePackageImpl.h

@@ -0,0 +1,97 @@
+
+#pragma once
+
+
+
+#include <hos/cosgi/service/ruleengine/rules/RulePackage.h>
+#include <hos/cosgi/service/scripting/ScriptingService.h>
+#include "../RuleEngineServiceImpl.h"
+#include <vector>
+#include <map>
+#include <memory>
+#include <string>
+#include <Variant/Variant.h>
+
+
+// Forward declarations
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+class RuleEngineServiceImpl;
+class RuleConditionFactory;
+namespace rules {
+class RuleImpl;
+}
+}
+namespace scripting {
+class GlobalScriptContext;
+}
+}
+}
+}
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+
+using namespace ::libvariant;
+
+class RulePackageImpl
+	: public virtual RulePackage {
+
+private:
+
+	typedef std::map<std::string, std::shared_ptr<RuleImpl>> ruleMap_t;
+
+	service::scripting::ScriptingService* executionService = nullptr;
+	std::shared_ptr<scripting::GlobalScriptContext> globalContext;
+	ruleMap_t rules;
+	Variant rawValue;
+	bool enabled = false;
+
+
+public:
+
+	static std::shared_ptr<RulePackageImpl> createRulePackage(service::ruleengine::RuleEngineServiceImpl* parent, std::string name, Variant raw);
+	RulePackageImpl(service::ruleengine::RuleEngineServiceImpl* parent, const std::string name, const std::string language, Variant raw);
+	virtual ~RulePackageImpl();
+
+	service::ruleengine::RuleEngineServiceImpl* const parent;
+	const std::string name;
+	const std::string language;
+
+	virtual service::ruleengine::RuleEngineService* getParent() noexcept override {
+		return dynamic_cast<service::ruleengine::RuleEngineService*>(parent);
+	}
+
+	virtual const std::string& getName() noexcept override {
+		return name;
+	};
+	virtual const std::string& getLanguage() noexcept override {
+		return language;
+	}
+
+	virtual std::weak_ptr<Rule> getRule(const std::string& name) noexcept override;
+	virtual std::vector<std::weak_ptr<Rule>> getRules() noexcept override;
+	virtual size_t getRuleCount() noexcept override { return rules.size(); }
+
+	virtual bool isEnabled() noexcept override {
+		return enabled;
+	}
+	virtual void setEnabled(bool enabled) noexcept override;
+
+	virtual service::scripting::ScriptingService* getScriptingService() noexcept override { return executionService; }
+	virtual std::weak_ptr<scripting::GlobalScriptContext> getGlobalScriptContext() noexcept override { return globalContext; }
+	std::shared_ptr<service::ruleengine::RuleConditionFactory> getConditionFactory(std::string type);
+};
+
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/conditions/DeviceMsgCondition.cpp

@@ -0,0 +1,271 @@
+
+
+#include "DeviceMsgCondition.h"
+#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+#include "../RuleImpl.h"
+#include <ros/ros.h>
+
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+namespace conditions {
+
+
+
+
+void DeviceMsgCondition::notificationReceived(interface::Observer<devicerepository::DeviceEventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEventType& key, const devicerepository::DeviceEvent* e) noexcept {
+	switch (key) {
+		case devicerepository::DeviceEventType::DEVICE_ADDED:
+			if (!device && this->deviceID.compare(e->device->getDeviceID()) == 0) {
+				ROS_INFO_STREAM("Rule " << parent->getName() << ": Device " << deviceID << " appeared.");
+				device = e->device;
+				parent->getDeviceRepository()->deleteObserver(devicerepository::DeviceEventType::DEVICE_ADDED, this);
+				_registerAsListener();
+			}
+			break;
+		case devicerepository::DeviceEventType::DEVICE_REMOVED:
+			if (device && device->getDeviceID().compare(e->device->getDeviceID()) == 0) {
+				ROS_ERROR_STREAM("Rule " << parent->getName() << ": Device " << deviceID << " disappeared.");
+				device->deleteObserver(this);
+				device = nullptr;
+				parent->getDeviceRepository()->addObserver(devicerepository::DeviceEventType::DEVICE_ADDED, this);
+			}
+			break;
+		default:
+			break;
+	}
+}
+
+void DeviceMsgCondition::setEnabled(bool enabled) noexcept {
+	if (this->enabled != enabled) {
+		if (enabled) {
+			auto repoService = parent->getDeviceRepository();
+			auto device = repoService->getDevice(deviceID);
+			if (!device.expired()) {
+				this->device = device.lock().get();
+				_registerAsListener();
+			} else {
+				ROS_ERROR_STREAM("Rule " << parent->getName() << ": Could not find device " << deviceID);
+				parent->getDeviceRepository()->addObserver(devicerepository::DeviceEventType::DEVICE_ADDED, this);
+			}
+		} else {
+			if (device) {
+				device->deleteObserver(this);
+				device = nullptr;
+			}
+			parent->getDeviceRepository()->deleteObserver(this);
+		}
+		this->enabled = enabled;
+	}
+}
+
+void DeviceMsgCondition::_registerAsListener() {
+	if (device) {
+		for (auto k : _listenerKeys)  {
+			device->addObserver(k, this);
+		}
+	}
+}
+
+
+
+
+std::shared_ptr<RuleCondition> DeviceStatusMsgConditionFactory::createCondition(rules::Rule* parent, const Variant& raw) {
+	std::shared_ptr<DeviceStatusMsgCondition> retval;
+	std::string deviceID;
+	if (raw.HasPath("deviceid") && raw["deviceid"].IsString()) {
+		deviceID = raw["deviceid"].AsString();
+	} else {
+		throw std::runtime_error("Malformed JSON: missing property deviceid or is not an string.");
+	}
+	std::string msgPointer;
+	if (raw.HasPath("msgpointer")) {
+		if (raw["msgpointer"].IsString()) {
+			msgPointer = raw["msgpointer"].AsString();
+		} else {
+			throw std::runtime_error("Malformed JSON: property msgpointer is not an string.");
+		}
+	}
+	Variant msgValue;
+	if (raw.HasPath("msgvalue")) {
+		msgValue = raw["msgvalue"];
+	}
+	retval = std::make_shared<DeviceStatusMsgCondition>(parent, deviceID, msgPointer, msgValue);
+	return retval;
+}
+
+void DeviceStatusMsgCondition::notificationReceived(interface::Observer<devicerepository::DeviceEventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEventType& key, const devicerepository::DeviceEvent* e) noexcept {
+	switch (e->eventType) {
+		case devicerepository::DeviceEventType::STATUS_UPDATE_RECEIVED:
+			if (device && device == e->device) {
+				auto e2 = static_cast<const devicerepository::DeviceStatusMsgEvent*>(e);
+				bool notify = true;
+				Variant value;
+				if (msgPointer.empty()) {
+					value = e2->statusMsg;
+				} else if (e2->statusMsg.HasPath(msgPointer)) {
+					value = e2->statusMsg.GetPath(msgPointer);
+				} else {
+					notify = false;
+				}
+				if (notify && !msgValue.IsNull()) {
+					if (msgValue != value) {
+						notify = false;
+					}
+				}
+				if (notify) {
+					Variant lcontext;
+					lcontext["event_deviceid"] = Variant(e->device->getDeviceID());
+					lcontext["event_type"] = Variant("statusmsg");
+					lcontext["event_msg"] = e2->statusMsg;
+					notifyStateChangeToParent(true, ConditionTriggerType::Event, lcontext);
+				}
+			}
+			break;
+		default:
+			DeviceMsgCondition::notificationReceived(o, key, e);
+			break;
+	}
+}
+
+
+std::shared_ptr<RuleCondition> DeviceCommandMsgConditionFactory::createCondition(rules::Rule* parent, const Variant& raw) {
+	std::shared_ptr<DeviceCommandMsgCondition> retval;
+	std::string deviceID;
+	if (raw.HasPath("deviceid") && raw["deviceid"].IsString()) {
+		deviceID = raw["deviceid"].AsString();
+	} else {
+		throw std::runtime_error("Malformed JSON: missing property deviceid or is not an string.");
+	}
+	std::string msgPointer;
+	if (raw.HasPath("msgpointer")) {
+		if (raw["msgpointer"].IsString()) {
+			msgPointer = raw["msgpointer"].AsString();
+		} else {
+			throw std::runtime_error("Malformed JSON: property msgpointer is not an string.");
+		}
+	}
+	Variant msgValue;
+	if (raw.HasPath("msgvalue")) {
+		msgValue = raw["msgvalue"];
+	}
+	retval = std::make_shared<DeviceCommandMsgCondition>(parent, deviceID, msgPointer, msgValue);
+	return retval;
+}
+
+void DeviceCommandMsgCondition::notificationReceived(interface::Observer<devicerepository::DeviceEventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEventType& key, const devicerepository::DeviceEvent* e) noexcept {
+	switch (e->eventType) {
+		case devicerepository::DeviceEventType::COMMAND_RECEIVED:
+			if (device && device == e->device) {
+				auto e2 = static_cast<const devicerepository::DeviceCmdMsgEvent*>(e);
+				bool notify = true;
+				Variant value;
+				if (msgPointer.empty()) {
+					value = e2->cmdMsg;
+				} else if (e2->cmdMsg.HasPath(msgPointer)) {
+					value = e2->cmdMsg.GetPath(msgPointer);
+				} else {
+					notify = false;
+				}
+				if (notify && !msgValue.IsNull()) {
+					if (msgValue != value) {
+						notify = false;
+					}
+				}
+				if (notify) {
+					Variant lcontext;
+					lcontext["event_deviceid"] = Variant(e->device->getDeviceID());
+					lcontext["event_type"] = Variant("commandmsg");
+					lcontext["event_msg"] = e2->cmdMsg;
+					notifyStateChangeToParent(true, ConditionTriggerType::Event, lcontext);
+				}
+			}
+			break;
+		default:
+			DeviceMsgCondition::notificationReceived(o, key, e);
+			break;
+	}
+}
+
+
+std::shared_ptr<RuleCondition> DeviceStateChangeConditionFactory::createCondition(rules::Rule* parent, const Variant& raw) {
+	std::shared_ptr<DeviceStateChangeCondition> retval;
+	std::string deviceID;
+	if (raw.HasPath("deviceid") && raw["deviceid"].IsString()) {
+		deviceID = raw["deviceid"].AsString();
+	} else {
+		throw std::runtime_error("Malformed JSON: missing property deviceid or is not an string.");
+	}
+	std::string statePointer;
+	if (raw.HasPath("msgpointer")) {
+		if (raw["msgpointer"].IsString()) {
+			statePointer = raw["msgpointer"].AsString();
+		} else {
+			throw std::runtime_error("Malformed JSON: property msgpointer is not an string.");
+		}
+	}
+	Variant fromValue;
+	if (raw.HasPath("fromvalue")) {
+		fromValue = raw["fromvalue"];
+	}
+	Variant toValue;
+	if (raw.HasPath("tovalue")) {
+		toValue = raw["tovalue"];
+	}
+	retval = std::make_shared<DeviceStateChangeCondition>(parent, deviceID, statePointer, fromValue, toValue);
+	return retval;
+}
+
+
+void DeviceStateChangeCondition::notificationReceived(interface::Observer<devicerepository::DeviceEventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEventType& key, const devicerepository::DeviceEvent* e) noexcept {
+	switch (e->eventType) {
+		case devicerepository::DeviceEventType::STATE_CHANGED:
+			if (device && device == e->device) {
+				auto e2 = static_cast<const devicerepository::DeviceStatusMsgEvent*>(e);
+				bool notify = true;
+				Variant current, last;
+				if (msgPointer.empty()) {
+					current = device->getCurrentState();
+					last = device->getLastState();
+				} else if (device->getCurrentState().HasPath(msgPointer) && device->getLastState().HasPath(msgPointer)) {
+					current = device->getCurrentState().GetPath(msgPointer);
+					last = device->getLastState().GetPath(msgPointer);
+				} else {
+					notify = false;
+				}
+				if (notify) {
+					if (current == last) {
+						notify = false;
+					} else if (!fromValue.IsNull() && fromValue != last) {
+						notify = false;
+					} else if (!msgValue.IsNull() && msgValue != current) {
+						notify = false;
+					}
+				}
+				if (notify) {
+					Variant lcontext;
+					lcontext["event_deviceid"] = Variant(e->device->getDeviceID());
+					lcontext["event_type"] = Variant("statechange");
+					lcontext["event_msg"] = e2->statusMsg;
+					notifyStateChangeToParent(true, ConditionTriggerType::Event, lcontext);
+				}
+			}
+			break;
+		default:
+			DeviceMsgCondition::notificationReceived(o, key, e);
+			break;
+	}
+}
+
+
+} /* namespace conditions */
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/conditions/DeviceMsgCondition.h

@@ -0,0 +1,140 @@
+
+#pragma once
+
+
+#include <hos/cosgi/service/ruleengine/rules/conditions/RuleConditionImpl.h>
+#include <hos/cosgi/service/ruleengine/RuleEngineService.h>
+#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+#include <set>
+
+
+// main Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+namespace conditions {
+
+
+using namespace libvariant;
+
+
+
+class DeviceMsgCondition
+	: public  RuleConditionImpl,
+	  public virtual interface::Observer<devicerepository::DeviceEventType, devicerepository::DeviceEvent> {
+
+protected:
+	const std::string deviceID;
+	devicerepository::Device* device = nullptr;
+	const std::string msgPointer;
+	const Variant msgValue;
+	std::set<devicerepository::DeviceEventType> _listenerKeys;
+
+	virtual void _registerAsListener();
+
+public:
+	DeviceMsgCondition( Rule* parent,
+						ConditionTriggerType category,
+						const std::string& type,
+						const std::string& deviceID,
+						const std::string& msgPointer,
+						const Variant& msgValue,
+						const std::set<devicerepository::DeviceEventType> _listenerKeys )
+		: RuleConditionImpl(parent, category, type), deviceID(deviceID),
+		  msgPointer(msgPointer), msgValue(msgValue), _listenerKeys(_listenerKeys) {}
+
+	virtual void notificationReceived( 	interface::Observer<devicerepository::DeviceEventType,
+										devicerepository::DeviceEvent>::observable_type* o,
+										const devicerepository::DeviceEventType& key,
+										const devicerepository::DeviceEvent* e) noexcept override;
+
+	virtual void setEnabled(bool enabled) noexcept override;
+};
+
+
+
+class DeviceStatusMsgCondition
+	: public DeviceMsgCondition {
+
+public:
+	DeviceStatusMsgCondition( 	Rule* parent,
+								const std::string& deviceID,
+								const std::string& msgPointer,
+								const Variant& msgValue)
+		: DeviceMsgCondition(parent, ConditionTriggerType::Event, "devicestatusmsg", deviceID,
+				msgPointer, msgValue, {devicerepository::DeviceEventType::STATUS_UPDATE_RECEIVED}) {}
+
+	virtual void notificationReceived( 	interface::Observer<devicerepository::DeviceEventType,
+										devicerepository::DeviceEvent>::observable_type* o,
+										const devicerepository::DeviceEventType& key,
+										const devicerepository::DeviceEvent* e ) noexcept override;
+};
+
+
+
+class DeviceStatusMsgConditionFactory
+	: public RuleConditionFactory {
+public:
+	virtual std::shared_ptr<RuleCondition> createCondition(rules::Rule* parent, const Variant& raw) override;
+};
+
+
+
+class DeviceCommandMsgCondition
+	: public DeviceMsgCondition {
+
+public:
+	DeviceCommandMsgCondition(Rule* parent, const std::string deviceID, const std::string msgPointer, const Variant msgValue)
+		: DeviceMsgCondition(parent, ConditionTriggerType::Event, "devicecommandmsg", deviceID,
+				msgPointer, msgValue, {devicerepository::DeviceEventType::COMMAND_RECEIVED}) {}
+
+	virtual void notificationReceived( 	interface::Observer<devicerepository::DeviceEventType,
+										devicerepository::DeviceEvent>::observable_type* o,
+										const devicerepository::DeviceEventType& key,
+										const devicerepository::DeviceEvent* e ) noexcept override;
+};
+
+
+class DeviceCommandMsgConditionFactory
+	: public RuleConditionFactory {
+public:
+	virtual std::shared_ptr<RuleCondition> createCondition(rules::Rule* parent, const Variant& raw) override;
+};
+
+
+
+class DeviceStateChangeCondition
+	: public DeviceMsgCondition {
+
+protected:
+	const Variant fromValue;
+
+public:
+	DeviceStateChangeCondition( Rule* parent,
+								const std::string deviceID,
+								const std::string statePointer,
+								const Variant fromValue,
+								const Variant toValue )
+		: DeviceMsgCondition(parent, ConditionTriggerType::Event, "devicestatechange", deviceID, statePointer,
+				toValue, {devicerepository::DeviceEventType::STATE_CHANGED}), fromValue(fromValue) {}
+
+	virtual void notificationReceived(interface::Observer<devicerepository::DeviceEventType, devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEventType& key, const devicerepository::DeviceEvent* e) noexcept override;
+};
+
+
+class DeviceStateChangeConditionFactory
+	: public RuleConditionFactory {
+public:
+	virtual std::shared_ptr<RuleCondition> createCondition(rules::Rule* parent, const Variant& raw) override;
+};
+
+
+
+} /* namespace conditions */
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/conditions/LogicalAndCondition.cpp

@@ -0,0 +1,104 @@
+
+#include "LogicalAndCondition.h"
+#include <hos/cosgi/service/ruleengine/rules/Rule.h>
+
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+namespace conditions {
+
+
+
+std::shared_ptr<RuleCondition> LogicalAndConditionFactory::createCondition(rules::Rule* parent, const Variant& raw) {
+	std::shared_ptr<LogicalAndCondition> retval;
+	if (raw.HasPath("conditions") && raw["conditions"].IsList() && raw["conditions"].Size() > 0) {
+		retval = std::make_shared<LogicalAndCondition>(parent);
+		for (auto c : raw["conditions"].AsList()) {
+			auto cond = parent->createRuleCondition(c);
+			if (cond) {
+				retval->addChild(cond);
+			} else {
+				throw std::runtime_error("Could not create condition.");
+			}
+		}
+	} else {
+		throw std::runtime_error("Malformed JSON: missing property condition or is not a list.");
+	}
+	return std::static_pointer_cast<RuleConditionImpl>(retval);
+}
+
+
+
+void LogicalAndCondition::addChild(std::shared_ptr<RuleCondition> child) {
+	if (child->getTriggerType() == ConditionTriggerType::Event) {
+		if (eventChildrenCount > 0) {
+			throw new std::runtime_error("Cannot have an and condition with more than two event conditions.");
+		}
+		eventChildrenCount++;
+	} else if (child->getTriggerType() == ConditionTriggerType::State) {
+		stateChildrenCount++;
+	} else {
+		mixedChildrenCount++;
+	}
+	if (mixedChildrenCount > 0 || (eventChildrenCount > 0 && stateChildrenCount > 0)) {
+		triggerType = ConditionTriggerType::Both;
+	} else if (eventChildrenCount > 0 && stateChildrenCount == 0) {
+		triggerType = ConditionTriggerType::Event;
+	} else {
+		triggerType = ConditionTriggerType::State;
+	}
+	RuleCompositeConditionImpl::addChild(child);
+}
+
+
+
+void LogicalAndCondition::childStateChanged(RuleCondition* child, bool newState, ConditionTriggerType category, const Variant& lcontext) noexcept {
+	if (newState && category == ConditionTriggerType::Event && !currentState && trueChildrenCount >= children.size()-1) {
+		notifyStateChangeToParent(true, category);
+	} else if (category == ConditionTriggerType::State) {
+		if (newState) {
+			trueChildrenCount++;
+			if (!currentState && trueChildrenCount >= children.size()) {
+				currentState = true;
+				notifyStateChangeToParent(true, category, lcontext);
+			}
+		} else {
+			trueChildrenCount--;
+			if (currentState) {
+				currentState = false;
+				notifyStateChangeToParent(false, category, lcontext);
+			}
+		}
+	}
+}
+
+
+
+bool LogicalAndCondition::evaluate() noexcept {
+	// Event conditions always evaluate to false
+	if (triggerType == ConditionTriggerType::Event) {
+		return false;
+	}
+	trueChildrenCount = 0;
+	for (auto c : children) {
+		if (c->evaluate()) {
+			trueChildrenCount++;
+		}
+	}
+	currentState = trueChildrenCount == children.size();
+	return currentState;
+}
+
+
+
+} /* namespace conditions */
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/conditions/LogicalAndCondition.h

@@ -0,0 +1,57 @@
+
+#pragma once
+
+
+#include <hos/cosgi/service/ruleengine/rules/conditions/RuleConditionImpl.h>
+#include <hos/cosgi/service/ruleengine/RuleEngineService.h>
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+namespace conditions {
+
+using namespace libvariant;
+
+
+
+class LogicalAndCondition
+	: public RuleCompositeConditionImpl {
+
+protected:
+	unsigned eventChildrenCount = 0;
+	unsigned stateChildrenCount = 0;
+	unsigned mixedChildrenCount = 0;
+	unsigned trueChildrenCount = 0;
+
+public:
+	LogicalAndCondition(Rule* parent) :
+			RuleCompositeConditionImpl(parent, ConditionTriggerType::Both, "logical_and") {}
+
+	virtual void addChild(std::shared_ptr<RuleCondition> child) override;
+
+	virtual void childStateChanged(RuleCondition* child, bool newState, ConditionTriggerType category,
+			const Variant& lcontext = Variant()) noexcept override;
+
+	virtual bool evaluate() noexcept override;
+};
+
+
+
+class LogicalAndConditionFactory
+	: public RuleConditionFactory {
+public:
+	virtual std::shared_ptr<RuleCondition> createCondition(rules::Rule* parent, const Variant& raw) override;
+};
+
+
+
+} /* namespace conditions */
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/conditions/LogicalOrCondition.cpp

@@ -0,0 +1,101 @@
+
+#include "LogicalOrCondition.h"
+#include <hos/cosgi/service/ruleengine/rules/Rule.h>
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+namespace conditions {
+
+
+
+std::shared_ptr<RuleCondition> LogicalOrConditionFactory::createCondition(rules::Rule* parent, const Variant& raw) {
+	std::shared_ptr<LogicalOrCondition> retval;
+	if (raw.HasPath("conditions") && raw["conditions"].IsList() && raw["conditions"].Size() > 0) {
+		retval = std::make_shared<LogicalOrCondition>(parent);
+		for (auto c : raw["conditions"].AsList()) {
+			auto cond = parent->createRuleCondition(c);
+			if (cond) {
+				retval->addChild(cond);
+			} else {
+				throw std::runtime_error("Could not create condition.");
+			}
+		}
+	} else {
+		throw std::runtime_error("Malformed JSON: missing property condition or is not a list.");
+	}
+	return std::static_pointer_cast<RuleConditionImpl>(retval);
+}
+
+
+
+void LogicalOrCondition::addChild(std::shared_ptr<RuleCondition> child) {
+	if (child->getTriggerType() == ConditionTriggerType::Event) {
+		eventChildrenCount++;
+	} else if (child->getTriggerType() == ConditionTriggerType::State) {
+		stateChildrenCount++;
+	} else {
+		mixedChildrenCount++;
+	}
+	if (mixedChildrenCount > 0 || (eventChildrenCount > 0 && stateChildrenCount > 0)) {
+		triggerType = ConditionTriggerType::Both;
+	} else if (eventChildrenCount > 0 && stateChildrenCount == 0) {
+		triggerType = ConditionTriggerType::Event;
+	} else {
+		triggerType = ConditionTriggerType::State;
+	}
+	RuleCompositeConditionImpl::addChild(child);
+}
+
+
+
+void LogicalOrCondition::childStateChanged(RuleCondition* child, bool newState,
+		ConditionTriggerType category, const Variant& lcontext) noexcept {
+	if (newState && category == ConditionTriggerType::Event && !currentState) {
+		notifyStateChangeToParent(true, category, lcontext);
+	} else if (category == ConditionTriggerType::State) {
+		if (newState) {
+			trueChildrenCount++;
+			if (!currentState) {
+				currentState = true;
+				notifyStateChangeToParent(true, category, lcontext);
+			}
+		} else {
+			trueChildrenCount--;
+			if (currentState && trueChildrenCount <= 0) {
+				currentState = false;
+				notifyStateChangeToParent(false, category, lcontext);
+			}
+		}
+	}
+}
+
+
+
+bool LogicalOrCondition::evaluate() noexcept {
+	// Event conditions always evaluate to false
+	if (triggerType == ConditionTriggerType::Event) {
+		return false;
+	}
+	trueChildrenCount = 0;
+	for (auto c : children) {
+		if (c->evaluate()) {
+			trueChildrenCount++;
+		}
+	}
+	currentState = trueChildrenCount > 0;
+	return currentState;
+}
+
+
+
+} /* namespace conditions */
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/conditions/LogicalOrCondition.h

@@ -0,0 +1,57 @@
+
+#pragma once
+
+
+#include <hos/cosgi/service/ruleengine/rules/conditions/RuleConditionImpl.h>
+#include <hos/cosgi/service/ruleengine/RuleEngineService.h>
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+namespace conditions {
+
+using namespace libvariant;
+
+
+
+class LogicalOrCondition
+		: public RuleCompositeConditionImpl {
+
+protected:
+	unsigned eventChildrenCount = 0;
+	unsigned stateChildrenCount = 0;
+	unsigned mixedChildrenCount = 0;
+	unsigned trueChildrenCount = 0;
+
+public:
+	LogicalOrCondition(Rule* parent) :
+			RuleCompositeConditionImpl(parent, ConditionTriggerType::Both, "logical_or") {}
+
+	virtual void addChild(std::shared_ptr<RuleCondition> child) override;
+	virtual void childStateChanged(RuleCondition* child, bool newState, ConditionTriggerType category,
+			const libvariant::Variant& lcontext =  libvariant::Variant()) noexcept override;
+	virtual bool evaluate() noexcept override;
+
+};
+
+
+
+class LogicalOrConditionFactory
+	: public RuleConditionFactory {
+public:
+	virtual std::shared_ptr<RuleCondition> createCondition(rules::Rule* parent, const Variant& raw) override;
+};
+
+
+
+} /* namespace conditions */
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_ruleengine/src/hos/cosgi/service/ruleengine/rules/conditions/RuleConditionImpl.cpp

@@ -0,0 +1,32 @@
+
+#include <hos/cosgi/service/ruleengine/rules/conditions/RuleConditionImpl.h>
+#include "../RuleImpl.h"
+
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
+namespace conditions {
+
+
+
+void RuleConditionImpl::notifyStateChangeToParent(bool newState, ConditionTriggerType category, const libvariant::Variant& lcontext) {
+	if (compositeParent) {
+		compositeParent->childStateChanged(this, newState, category, lcontext);
+	} else {
+		parent->conditionStateChanged(newState, category, lcontext);
+	}
+}
+
+
+
+} /* namespace conditions */
+} /* namespace rules */
+} /* namespace ruleengine */
+} /* namespace service */
+} /* namespace cosgi */
+} /* namespace hos */
+

src/hos_cosgi_scripting/CMakeLists.txt

@@ -93,6 +93,12 @@ catkin_package(
 ## Build ##
 ###########
 
+include_directories(
+	include/${PROJECT_NAME}/
+	${catkin_INCLUDE_DIRS}
+	${libvariant_INCLUDE_DIR}
+)
+
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 # include_directories(include)

src/hos_cosgi_scripting/include/hos_cosgi_scripting/hos/cosgi/service/scripting/ScriptingService.h

@@ -0,0 +1,107 @@
+
+#pragma once
+
+
+
+#include <hos/cosgi/service/Interface.h>
+#include <Variant/Variant.h>
+#include <memory>
+
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace scripting {
+
+
+
+/**
+ * Public COSGI interface of an abstract global script context.
+ *
+ * It persists the global context across script executions (to implement global variables).
+ *
+ * Currently it is just an opaque handle that is passed to the script execution handle.
+ */
+class GlobalScriptContext
+	: public virtual interface::Object {};
+
+
+
+/**
+ * Public COSGI interface of an abstract script object.
+ *
+ * This object is supposed to be stateless, every state is carried in the global script context.
+ */
+class Script
+	: public virtual interface::Object {
+
+public:
+
+	/**
+	 * Execute the script object with the given contexts.
+	 *
+	 * May return exceptions derived from std::exception.
+	 *
+	 * \param[in] gContext reference to global context.
+	 * \param[in] lContext map with local variables.
+	 */
+	virtual void execute( 	std::shared_ptr<GlobalScriptContext> gContext = std::shared_ptr<GlobalScriptContext>(),
+							const libvariant::Variant& lContext = libvariant::Variant() ) = 0;
+};
+
+
+
+/**
+ * Public COSGI interface of a scripting service.
+ *
+ * It offers following functionality:
+ *  - Create scripts and related objects.
+ */
+class ScriptingService
+	: public virtual interface::Service {
+
+public:
+
+	/**
+	 * Common name for every scripting service implementation.
+	 */
+	static constexpr const char* SERVICE_NAME = "hos_scripting_service";
+
+	/**
+	 * Returns an unique identifier indicating the scripting language.
+	 *
+	 * \return unique language identifier.
+	 */
+	virtual const char* getLanguage() noexcept = 0;
+
+	/**
+	 * Creates and returns a global context object from the given json global context config.
+	 *
+	 * May return exceptions derived from std::exception.
+	 *
+	 * \param raw json config.
+	 * \return global context object.
+	 */
+	virtual std::shared_ptr<GlobalScriptContext> createGlobalScriptContext(const libvariant::Variant& raw) = 0;
+
+	/**
+	 * Creates and returns a script object from the given json script config.
+	 *
+	 * May return exceptions derived from std::exception.
+	 *
+	 * \param raw json config.
+	 * \return global context object.
+	 */
+	virtual std::shared_ptr<Script> createScript(const libvariant::Variant& raw) = 0;
+
+};
+
+
+
+} // namespace scripting
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

src/hos_cosgi_scripting/include/hos_cosgi_scripting/hos/cosgi/service/scripting/scripting_service.h

@@ -1,54 +0,0 @@
-/*
- * hos_ruleexecution_service.h
- *
- *  Created on: 01.05.2015
- *      Author: matzman
- */
-
-#ifndef INCLUDE_HOS_COSGI_SCRIPTING_HOS_COSGI_SERVICE_SCRIPTING_SCRIPTING_SERVICE_H_
-#define INCLUDE_HOS_COSGI_SCRIPTING_HOS_COSGI_SERVICE_SCRIPTING_SCRIPTING_SERVICE_H_
-
-
-#include <hos/cosgi/service/Interface.h>
-#include <Variant/Variant.h>
-#include <memory>
-
-
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace scripting {
-
-using namespace ::libvariant;
-
-class GlobalScriptContext : public virtual interface::Object {
-
-};
-
-
-class Script : public virtual interface::Object {
-public:
-	virtual void exec(GlobalScriptContext* gContext, Variant lContext = Variant()) = 0;
-};
-
-
-class ScriptingService : public virtual interface::Service {
-public:
-	static constexpr const char* SERVICE_NAME = "hos_scripting_service";
-
-	virtual std::string getLanguage() = 0;
-
-	virtual std::shared_ptr<GlobalScriptContext> createGlobalScriptContext(::libvariant::Variant raw) = 0;
-	virtual std::shared_ptr<Script> createScript(GlobalScriptContext* gContext, ::libvariant::Variant raw) = 0;
-};
-
-
-} // namespace scripting
-} // namespace service
-} // namespace cosgi
-} // namespace hos
-
-
-
-
-#endif /* INCLUDE_HOS_COSGI_SCRIPTING_HOS_COSGI_SERVICE_SCRIPTING_SCRIPTING_SERVICE_H_ */

src/hos_cosgi_scripting_python/CMakeLists.txt

@@ -121,9 +121,10 @@ set(BUNDLE_NAME "hos_scripting_python")
 
 bundle(hos_cosgi_scripting_python
 	SOURCES 
-	${PROJECT_SOURCE_DIR}/src/bundle_activator
-	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/scripting/python/scripting_serviceimpl
-	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/scripting/python/PyHOSAPI
+	${PROJECT_SOURCE_DIR}/src/BundleActivator
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/scripting/python/PyScriptingServiceImpl
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/scripting/python/utils/utils
+	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/scripting/python/hosapi/PyHOSAPI
 )
 target_link_libraries(hos_cosgi_scripting_python
 	${catkin_LIBRARIES}

src/hos_cosgi_scripting_python/src/BundleActivator.cpp

@@ -1,28 +1,19 @@
-/*
- * bundle_activator.cpp
- *
- *  Created on: 26.04.2015
- *      Author: matzman
- */
 
+// std
 #include <cstdlib>
-#include <cstdio>
-
+#include <string>
+#include <memory>
+// ROS
+#include <ros/ros.h>
+// APR
 #include <apr_general.h>
-
-#include "ros/ros.h"
-
-extern "C" {
-	#include "celix/bundle_activator.h"
-	#include "celix/bundle_context.h"
-	#include "celix/service_reference.h"
-	#include "celix/constants.h"
-}
-
+// Celix
+#include <hos/cosgi/celix.h>
+// CoreService
+#include "hos/cosgi/service/scripting/python/PyScriptingServiceImpl.h"
 #include <hos/cosgi/service/core/CoreService.h>
 #include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
-#include "hos/cosgi/service/scripting/python/scripting_serviceimpl.h"
-#include <memory>
+
 
 
 using namespace hos::cosgi::service::scripting;
@@ -42,6 +33,7 @@ struct UserData {
 };
 
 
+
 celix_status_t cb_serviceChanged(void* listener, service_event_pt event) {
 	UserData* myUserData = (UserData*) ((serviceListener*)listener)->handle;
 	if (event->type == OSGI_FRAMEWORK_SERVICE_EVENT_REGISTERED) {
@@ -63,6 +55,7 @@ celix_status_t cb_serviceChanged(void* listener, service_event_pt event) {
 	return CELIX_SUCCESS;
 }
 
+
 celix_status_t bundleActivator_create(bundle_context_pt context, void **userData) {
     celix_status_t status = CELIX_SUCCESS;
     apr_pool_t* memoryPool = nullptr;
@@ -87,6 +80,7 @@ celix_status_t bundleActivator_create(bundle_context_pt context, void **userData
     return status;
 }
 
+
 celix_status_t bundleActivator_start(void * userData, bundle_context_pt context) {
     celix_status_t status = CELIX_SUCCESS;
 	if (userData != nullptr) {
@@ -132,6 +126,7 @@ celix_status_t bundleActivator_start(void * userData, bundle_context_pt context)
     return status;
 }
 
+
 celix_status_t bundleActivator_stop(void * userData, bundle_context_pt context) {
     celix_status_t status = CELIX_ILLEGAL_STATE;
 	if (userData != nullptr) {
@@ -152,6 +147,7 @@ celix_status_t bundleActivator_stop(void * userData, bundle_context_pt context)
     return status;
 }
 
+
 celix_status_t bundleActivator_destroy(void * userData, bundle_context_pt context) {
     celix_status_t status = CELIX_ILLEGAL_STATE;
     if (userData != nullptr) {
@@ -168,3 +164,4 @@ celix_status_t bundleActivator_destroy(void * userData, bundle_context_pt contex
 	}
     return status;
 }
+

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/PyScriptingServiceImpl.cpp

@@ -1,17 +1,8 @@
-/*
- * hos_cosgi_ruleexecution_python_impl.cpp
- *
- *  Created on: 01.05.2015
- *      Author: matzman
- */
-
-#include "scripting_serviceimpl.h"
 
+#include "PyScriptingServiceImpl.h"
 #include <hos/cosgi/service/core/CoreService.h>
-
-#include "PyHOSAPI.h"
-
 #include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+#include "hosapi/PyHOSAPI.h"
 
 
 
@@ -21,52 +12,77 @@ namespace service {
 namespace scripting {
 namespace python {
 
-template<> const char* implementation::ServiceInfo<PyScriptingService>::name = service::scripting::python::PyScriptingService::SERVICE_NAME;
-template<> const int implementation::ServiceInfo<PyScriptingService>::major = 0;
-template<> const int implementation::ServiceInfo<PyScriptingService>::minor = 8;
 
-void PyScriptingService::setCoreService(service::core::CoreService* coreService) {
+
+// Service information
+template<> const char* implementation::ServiceInfo<PyScriptingService>::name = service::scripting::python::PyScriptingService::SERVICE_NAME;
+template<> const int implementation::ServiceInfo<PyScriptingService>::major = 1;
+template<> const int implementation::ServiceInfo<PyScriptingService>::minor = 0;
+
+
+
+void PyScriptingService::setCoreService(service::core::CoreService* coreService) noexcept {
 	if (coreService && !this->coreService) {
 		this->coreService = coreService;
 		this->nodehandle = &coreService->getPrivateNodeHandle();
 		int major = 0, minor = 0;
 		coreService->getServiceVersion(major, minor);
-		ROS_INFO_STREAM("PyRuleExecutionService: Found HOSCoreService Version " << major << "." << minor);
+		ROS_INFO_STREAM("PyScriptingService: Found CoreService Version " << major << "." << minor);
 		if (repoService) {
 			init();
 		}
 	}
 }
 
-void PyScriptingService::setRepoService(devicerepository::DeviceRepositoryService* repoService) {
+void PyScriptingService::setRepoService(devicerepository::DeviceRepositoryService* repoService) noexcept {
 	if (repoService && !this->repoService) {
 		this->repoService = repoService;
 		int major = 0, minor = 0;
 		repoService->getServiceVersion(major, minor);
-		ROS_INFO_STREAM("PyRuleExecutionService: Found HOSDeviceRepositoryService Version " << major << "." << minor);
+		ROS_INFO_STREAM("PyScriptingService: Found DeviceRepositoryService Version " << major << "." << minor);
 		if (coreService) {
 			init();
 		}
 	}
 }
 
-void PyScriptingService::init() {
+void PyScriptingService::init() noexcept {
+	std::lock_guard<std::recursive_mutex> lock(serviceMutex);
+
+	// Initialize Python
 	Py_Initialize();
+
+	// Import __main__
 	boost::python::object main_module = boost::python::import("__main__");
-	pyGlobalScope = main_module.attr("__dict__");// Load the sys module.
+
+	// Create default global scope
+	pyGlobalScope = main_module.attr("__dict__");
+
+	// import sys and get version
 	boost::python::object sys = boost::python::import("sys");
 	std::string version = boost::python::extract<std::string>(sys.attr("version"));
-	ROS_INFO_STREAM("PyRuleExecutionService: Python Version: " << version);
+	ROS_INFO_STREAM("PyScriptingService: Python Version: " << version);
+
+	// Initialize HOS Python API
+	inithos();
+	deviceService.reset(new hosapi::PyDeviceRepositoryWrapper(repoService));
+
 	initialized = true;
 	ROS_INFO_STREAM("PyRuleExecutionService: Initialized and Ready.");
 }
 
-std::shared_ptr<service::scripting::GlobalScriptContext> PyScriptingService::createGlobalScriptContext(Variant raw) {
+
+std::shared_ptr<service::scripting::GlobalScriptContext> PyScriptingService::createGlobalScriptContext(const Variant& raw) {
+	std::lock_guard<std::recursive_mutex> lock(serviceMutex);
 	std::shared_ptr<PyGlobalScriptContext> retval;
+
+	// Retrieve script code and execute it
 	if (raw.HasPath("code") && raw["code"].IsString()) {
-		retval = std::make_shared<PyGlobalScriptContext>(this->pyGlobalScope, raw["code"].AsString());
+		retval = std::make_shared<PyGlobalScriptContext>(this, this->pyGlobalScope, raw["code"].AsString());
 		try {
-			boost::python::object result = boost::python::exec(retval->getCode().c_str(), pyGlobalScope);
+			// When no local context is given, all variable created during execution comes into the global scope
+			boost::python::object result = boost::python::exec(retval->getScriptCode().c_str(), pyGlobalScope);
+
 		} catch(boost::python::error_already_set const &) {
 			PyErr_Print();
 			throw std::runtime_error("Python error during global context creation.");
@@ -75,10 +91,13 @@ std::shared_ptr<service::scripting::GlobalScriptContext> PyScriptingService::cre
 	return std::static_pointer_cast<service::scripting::GlobalScriptContext>(retval);
 }
 
-std::shared_ptr<service::scripting::Script> PyScriptingService::createScript(service::scripting::GlobalScriptContext* gContext, Variant raw) {
+
+std::shared_ptr<service::scripting::Script> PyScriptingService::createScript(const Variant& raw) {
+	std::lock_guard<std::recursive_mutex> lock(serviceMutex);
 	std::shared_ptr<PyScript> retval;
+	// Retrieve script code and create script object
 	if (raw.HasPath("code") && raw["code"].IsString()) {
-		retval = std::make_shared<PyScript>(raw["code"].AsString(), *this);
+		retval = std::make_shared<PyScript>(this, raw["code"].AsString());
 	}
 	return std::static_pointer_cast<service::scripting::Script>(retval);
 }
@@ -86,24 +105,33 @@ std::shared_ptr<service::scripting::Script> PyScriptingService::createScript(ser
 
 
 
-void PyScript::exec(service::scripting::GlobalScriptContext* gContext, Variant lContext) {
+
+
+void PyScript::execute( std::shared_ptr<GlobalScriptContext> gContext, const libvariant::Variant& lContext )  {
 	try {
-		boost::python::object& gcont = service.getPyGlobalScope();
+		auto gCont = dynamic_pointer_cast<PyGlobalScriptContext>(gContext);
+
+		// Get global scope
+		boost::python::object* gscope;
 		if (gContext) {
-			gcont = dynamic_cast<PyGlobalScriptContext*>(gContext)->getPyGlobalContext();
-		}
-		boost::python::object lcont;
-		if (!lContext.IsNull()) {
-			lcont = convertVariantToBoostPython(lContext);
-			//gcont["local"] = lcont;
+			gscope = &dynamic_pointer_cast<PyGlobalScriptContext>(gContext)->getPyObject();
 		} else {
-			lcont = boost::python::dict();
+			gscope = &service->getPyDefaultScrope();
 		}
-		inithos();
-		PyDeviceRepositoryWrapper deviceService(service.getDeviceRepository());
-		lcont["Devices"] = boost::python::object(boost::python::ptr(&deviceService));
-		gcont["Devices"] = boost::python::object(deviceService);
-		boost::python::object result = boost::python::exec(code.c_str(), gcont, lcont);
+
+		// Create local scope
+		boost::python::object lscope;
+		if (!lContext.IsNull() && lContext.IsMap()) {
+			lscope = utils::convertVariantToBoostPython(lContext);
+			//gscope["local"] = lscope;
+		} else {
+			lscope = boost::python::dict();
+		}
+		lscope["Devices"] = boost::python::object(boost::python::ptr(service->getDeviceService()));
+
+		// Execute script scope
+		boost::python::object result = boost::python::exec(code.c_str(), *gscope, lscope);
+
 	} catch(boost::python::error_already_set const &) {
 		PyErr_Print();
 		throw std::runtime_error("Python error during execution.");

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/PyScriptingServiceImpl.h

@@ -0,0 +1,171 @@
+
+#pragma once
+
+
+#include <hos/cosgi/service/scripting/ScriptingService.h>
+// hos includes
+#include <hos/cosgi/service/Implementation.h>
+#include <hos/cosgi/service/core/CoreService.h>
+#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+#include "hosapi/PyHOSAPI.h"
+// libvariant includes
+#include <Variant/Variant.h>
+// ROS includes
+#include <ros/ros.h>
+// std includes
+#include <memory>
+// boost includes
+#include <boost/python.hpp>
+
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace scripting {
+namespace python {
+
+
+// forward declarations
+class PyScriptingService;
+
+
+using namespace libvariant;
+
+
+
+/**
+ * Python implementation of GlobalScriptContext.
+ */
+class PyGlobalScriptContext
+	: public virtual service::scripting::GlobalScriptContext {
+
+private:
+
+	PyScriptingService* service;
+	boost::python::object gContext;
+	std::string code;
+
+public:
+
+	PyGlobalScriptContext(PyScriptingService* service, const boost::python::object& gContext, const std::string& code)
+			: service(service), gContext(gContext), code(code) {}
+
+	/* Internal */
+
+	const std::string& getScriptCode() noexcept {
+		return code;
+	}
+
+	boost::python::object& getPyObject() noexcept {
+		return gContext;
+	}
+
+};
+
+
+
+/**
+ * Python implementation of Script.
+ */
+class PyScript
+	: public virtual service::scripting::Script {
+
+private:
+
+	PyScriptingService* service;
+	std::string code;
+
+public:
+
+	PyScript(PyScriptingService* service, const std::string& code)
+		: code(code), service(service) {}
+
+
+	/* Public Service Implementations */
+
+	virtual void execute( 	std::shared_ptr<GlobalScriptContext> gContext = std::shared_ptr<GlobalScriptContext>(),
+							const libvariant::Variant& lContext = libvariant::Variant() ) override;
+
+
+	/* Internal */
+
+	const std::string& getScriptCode() noexcept {
+		return code;
+	}
+
+};
+
+
+
+/**
+ * Implementation of device repository service
+ **/
+class PyScriptingService
+	: public virtual service::scripting::ScriptingService,
+	  public virtual implementation::Service<PyScriptingService> {
+
+private:
+
+	std::recursive_mutex serviceMutex;
+
+	service::core::CoreService* coreService = nullptr;;
+	devicerepository::DeviceRepositoryService* repoService = nullptr;;
+	ros::NodeHandle* nodehandle = nullptr;
+
+	boost::python::object pyGlobalScope;
+	std::unique_ptr<hosapi::PyDeviceRepositoryWrapper> deviceService;
+
+	bool initialized = false;
+
+	void init() noexcept;
+
+public:
+
+	/** Language identifier. */
+	static constexpr const char* LANGUAGE = "python";
+
+
+	/* Initialization */
+
+	void setCoreService(service::core::CoreService* coreService) noexcept;
+	void setRepoService(devicerepository::DeviceRepositoryService* repoService) noexcept;
+
+
+	/* Public Service Implementations */
+
+	virtual const char* getLanguage() noexcept override {
+		return LANGUAGE;
+	}
+
+	virtual std::shared_ptr<scripting::GlobalScriptContext> createGlobalScriptContext(const Variant& raw) override;
+
+	virtual std::shared_ptr<scripting::Script> createScript(const Variant& raw) override;
+
+
+	/* Internal */
+
+	bool isInitialized() noexcept {
+		return initialized;
+	}
+
+	boost::python::object& getPyDefaultScrope() noexcept {
+		return pyGlobalScope;
+	}
+
+	hosapi::PyDeviceRepositoryWrapper* getDeviceService() noexcept {
+		return deviceService.get();
+	}
+
+};
+
+
+
+
+} // namespace python
+} // namespace scripting
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/hosapi/PyHOSAPI.cpp

@@ -0,0 +1,27 @@
+
+
+#include "PyHOSAPI.h"
+
+/**
+ * Python HOS API declaration.
+ */
+BOOST_PYTHON_MODULE(hos)
+{
+
+	using namespace boost::python;
+	using namespace hos::cosgi::service::scripting::python::hosapi;
+
+	// Device class
+    class_<PyDeviceWrapper>("Device", no_init)
+        .def("deviceID", &PyDeviceWrapper::deviceID)
+        .def("sendCommand", &PyDeviceWrapper::sendCommand);
+
+    // Device Repository class.
+    class_<PyDeviceRepositoryWrapper>("DeviceRepository", no_init)
+        .def("getDevice", &PyDeviceRepositoryWrapper::getDevice)
+        .def("__getitem__", &PyDeviceRepositoryWrapper::getDevice)
+    	.def("__len__", &PyDeviceRepositoryWrapper::deviceCount)
+		.def("keys", &PyDeviceRepositoryWrapper::deviceIDs);
+
+};
+

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/hosapi/PyHOSAPI.h

@@ -1,53 +1,72 @@
-/*
- * PyHOSAPI.h
- *
- *  Created on: 19.05.2015
- *      Author: matzman
- */
 
-#ifndef SRC_HOS_COSGI_SERVICE_SCRIPTING_PYTHON_PYHOSAPI_H_
-#define SRC_HOS_COSGI_SERVICE_SCRIPTING_PYTHON_PYHOSAPI_H_
+#pragma once
 
-#include <boost/python.hpp>
-#include <hos/cosgi/service/scripting/scripting_service.h>
+
+#include <hos/cosgi/service/scripting/ScriptingService.h>
 #include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+#include <boost/python.hpp>
+#include "../utils/utils.h"
 
 
+
+/**
+ * This function declares the python hos module.
+ */
+extern "C" void inithos();
+
+
+
+// main namespace
 namespace hos {
 namespace cosgi {
 namespace service {
 namespace scripting {
 namespace python {
-
-class PyScriptingService;
+namespace hosapi {
 
 
-boost::python::object convertVariantToBoostPython(Variant var);
-
-Variant convertBoostPythonTovariant(boost::python::object obj);
-
 
+/**
+ * Python HOS API wrapper for devicerepository::Device.
+ */
 class PyDeviceWrapper {
+
 private:
+
 	devicerepository::Device* device;
+
 public:
-	PyDeviceWrapper(devicerepository::Device* device) : device(device) {}
 
-	std::string deviceID() { return device->getDeviceID(); }
+	PyDeviceWrapper(devicerepository::Device* device)
+		: device(device) {}
 
-	void sendCommand(boost::python::object cmd) {
-		device->sendCommand(convertBoostPythonTovariant(cmd));
+	const std::string deviceID() noexcept {
+		return device->getDeviceID();
 	}
+
+	void sendCommand(const boost::python::object& cmd) {
+		device->sendCommand(utils::convertBoostPythonTovariant(cmd));
+	}
+
 };
 
 
-class PyDeviceRepositoryWrapper {
-private:
-	devicerepository::DeviceRepositoryService* service;
-public:
-	PyDeviceRepositoryWrapper(devicerepository::DeviceRepositoryService* service) : service(service) {}
 
-	PyDeviceWrapper getDevice(std::string name) {
+/**
+ * Python HOS API wrapper for devicerepository::DeviceRepositoryService.
+ */
+class PyDeviceRepositoryWrapper {
+
+private:
+
+	devicerepository::DeviceRepositoryService* service;
+
+public:
+
+	PyDeviceRepositoryWrapper(devicerepository::DeviceRepositoryService* service)
+		: service(service) {}
+
+	PyDeviceWrapper getDevice(const std::string& name) {
 		return PyDeviceWrapper(service->getDevice(name).lock().get());
 	}
 
@@ -62,17 +81,15 @@ public:
 		}
 		return retval;
 	}
+
 };
 
-extern "C" void inithos();
 
 
+} // namespace hosapi
 } // namespace python
 } // namespace scripting
 } // namespace service
 } // namespace cosgi
 } // namespace hos
 
-
-
-#endif /* SRC_HOS_COSGI_SERVICE_SCRIPTING_PYTHON_PYHOSAPI_H_ */

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/scripting_serviceimpl.h

@@ -1,111 +0,0 @@
-/*
- * hos_cosgi_ruleexecution_python_impl.h
- *
- *  Created on: 01.05.2015
- *      Author: matzman
- */
-
-#ifndef SRC_HOS_COSGI_SERVICE_SCRIPTING_PYTHON_SCRIPTING_SERVICEIMPL_H_
-#define SRC_HOS_COSGI_SERVICE_SCRIPTING_PYTHON_SCRIPTING_SERVICEIMPL_H_
-
-#include <ros/ros.h>
-#include <Variant/Variant.h>
-#include <boost/python.hpp>
-#include <hos/cosgi/service/scripting/scripting_service.h>
-#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
-#include <hos/cosgi/service/Implementation.h>
-#include <memory>
-
-
-// Forward declarations
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace core {
-class CoreService;
-}
-}
-}
-}
-
-
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace scripting {
-namespace python {
-
-class PyScriptingService;
-using namespace ::libvariant;
-
-class PyGlobalScriptContext : public virtual service::scripting::GlobalScriptContext {
-private:
-	boost::python::object& gContext;
-	std::string code;
-public:
-	PyGlobalScriptContext(boost::python::object& gContext, std::string code)
-			: gContext(gContext), code(code) {}
-	std::string getCode() { return code; }
-	boost::python::object& getPyGlobalContext() { return gContext; }
-};
-
-
-
-class PyScript : public virtual service::scripting::Script {
-private:
-	std::string code;
-	PyScriptingService& service;
-public:
-	PyScript(std::string code, PyScriptingService& service) : code(code), service(service) {}
-	std::string getCode() { return code; }
-	virtual void exec(service::scripting::GlobalScriptContext* gContext, Variant lContext = Variant());
-};
-
-
-class PyScriptingService;
-class PyScriptingService : public virtual service::scripting::ScriptingService, public virtual implementation::Service<PyScriptingService> {
-private:
-	service::core::CoreService* coreService = nullptr;;
-	devicerepository::DeviceRepositoryService* repoService = nullptr;;
-	ros::NodeHandle* nodehandle = nullptr;
-
-	boost::python::object pyGlobalScope;
-
-	bool initialized = false;
-
-	void init();
-
-public:
-	static constexpr const char* LANGUAGE = "python";
-
-	/* Initialization */
-
-	void setCoreService(service::core::CoreService* coreService);
-	void setRepoService(devicerepository::DeviceRepositoryService* repoService);
-
-	/* Public Service Implementations */
-	virtual std::string getLanguage() { return LANGUAGE; }
-
-	virtual std::shared_ptr<scripting::GlobalScriptContext> createGlobalScriptContext(Variant raw);
-	virtual std::shared_ptr<scripting::Script> createScript(scripting::GlobalScriptContext* gContext, Variant raw);
-
-	/* Internal Stuff */
-
-	bool isInitialized() { return initialized; }
-
-	boost::python::object& getPyGlobalScope() { return pyGlobalScope; }
-
-	devicerepository::DeviceRepositoryService* getDeviceRepository() { return repoService; }
-};
-
-
-
-
-} // namespace python
-} // namespace scripting
-} // namespace service
-} // namespace cosgi
-} // namespace hos
-
-
-#endif /* SRC_HOS_COSGI_SERVICE_SCRIPTING_PYTHON_SCRIPTING_SERVICEIMPL_H_ */

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/utils/utils.cpp

@@ -1,39 +1,21 @@
-/*
- * PyHOSAPI.cpp
- *
- *  Created on: 19.05.2015
- *      Author: matzman
- */
+
+#include "utils.h"
+#include "ros/ros.h"
 
 
 
-#include "PyHOSAPI.h"
-#include <ros/ros.h>
-
-
+// main namespace
 namespace hos {
 namespace cosgi {
 namespace service {
 namespace scripting {
 namespace python {
+namespace utils {
 
 
-BOOST_PYTHON_MODULE(hos)
-{
-	using namespace boost::python;
 
-    class_<PyDeviceWrapper>("Device", no_init)
-        .def("deviceID", &PyDeviceWrapper::deviceID)
-        .def("sendCommand", &PyDeviceWrapper::sendCommand) ;
 
-    class_<PyDeviceRepositoryWrapper>("DeviceRepository", no_init)
-        .def("getDevice", &PyDeviceRepositoryWrapper::getDevice)
-        .def("__getitem__", &PyDeviceRepositoryWrapper::getDevice)
-    	.def("__len__", &PyDeviceRepositoryWrapper::deviceCount)
-		.def("keys", &PyDeviceRepositoryWrapper::deviceIDs) ;
-}
-
-boost::python::object convertVariantToBoostPython(Variant var) {
+boost::python::object convertVariantToBoostPython(const libvariant::Variant& var) noexcept {
 	if (var.IsBool()) {
 		return boost::python::object(var.AsBool());
 	} else if (var.IsFloat()) {
@@ -63,45 +45,46 @@ boost::python::object convertVariantToBoostPython(Variant var) {
 }
 
 
-Variant convertBoostPythonTovariant(boost::python::object obj) {
-	Variant retval;
+libvariant::Variant convertBoostPythonTovariant(const boost::python::object& obj) noexcept {
+	libvariant::Variant retval;
 	if (!obj.is_none()) {
 		if (PyObject_TypeCheck(obj.ptr(), &PyString_Type)) {
-			retval = Variant(boost::python::extract<std::string>(obj));
+			retval = libvariant::Variant(boost::python::extract<std::string>(obj));
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyBool_Type)) {
-			retval = Variant(boost::python::extract<bool>(obj));
+			retval = libvariant::Variant(boost::python::extract<bool>(obj));
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyFloat_Type)) {
-			retval = Variant(boost::python::extract<double>(obj));
+			retval = libvariant::Variant(boost::python::extract<double>(obj));
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyInt_Type)) {
-			retval = Variant(boost::python::extract<int>(obj));
+			retval = libvariant::Variant(boost::python::extract<int>(obj));
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyDict_Type)) {
 			boost::python::dict dict = boost::python::extract<boost::python::dict>(obj);
 			for (int i = 0; i < boost::python::len(dict); i++) {
 				auto k = dict.keys()[i];
-				Variant key = convertBoostPythonTovariant(k);
-				Variant value = convertBoostPythonTovariant(dict[k]);
+				libvariant::Variant key = convertBoostPythonTovariant(k);
+				libvariant::Variant value = convertBoostPythonTovariant(dict[k]);
 				retval[key.AsString()] = value;
 			}
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyList_Type)) {
 			boost::python::list list = boost::python::extract<boost::python::list>(obj);
 			for (int i = 0; i < boost::python::len(list); i++) {
 				auto v = list[i];
-				Variant value = convertBoostPythonTovariant(v);
+				libvariant::Variant value = convertBoostPythonTovariant(v);
 				retval.Append(value);
 			}
 		} else {
 			ROS_ERROR("Unknown PyObject type encountered while converting to Variant");
-			return Variant();
+			return libvariant::Variant();
 		}
 	}
 	return retval;
 }
 
 
+
+} // namespace utils
 } // namespace python
-} // namespace scripting
+} // namespace ruleengine
 } // namespace service
 } // namespace cosgi
 } // namespace hos
 
-

src/hos_cosgi_scripting_python/src/hos/cosgi/service/scripting/python/utils/utils.h

@@ -0,0 +1,44 @@
+
+#pragma once
+
+
+#include <boost/python.hpp>
+#include <Variant/Variant.h>
+
+
+
+// main namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace scripting {
+namespace python {
+namespace utils {
+
+
+/**
+ * Converts a Variant into a boost::python::object.
+ *
+ * \param[in] variant object.
+ * \return boost python object.
+ */
+boost::python::object convertVariantToBoostPython(const libvariant::Variant& var) noexcept;
+
+
+/**
+ * Converts a boost::python::object into a Variant.
+ *
+ * \param[in] boost python object.
+ * \return variant object.
+ */
+libvariant::Variant convertBoostPythonTovariant(const boost::python::object& obj) noexcept;
+
+
+
+} // namespace utils
+} // namespace python
+} // namespace ruleengine
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

src/hos_cosgi_webserver/src/hos/cosgi/service/webserver/resources/DevicesHTTPResource.cpp

@@ -80,8 +80,13 @@ void DevicesHTTPResource::render_GET(const httpserver::http_request& req, httpse
 						for (int i = prefixPathPieces+1; i < req.get_path_pieces_size(); i++) {
 							path.push_back(req.get_path_piece(i));
 						}
-						setDeviceState(device.lock().get(), setValue, path);
-						*res = new http_response(http_response_builder("OK", 200).string_response());
+						try {
+							setDeviceState(device.lock().get(), setValue, path);
+							*res = new http_response(http_response_builder("OK", 200).string_response());
+						} catch (std::exception& e) {
+							auto msg = (boost::format("ERROR: %1%") % e.what()).str();
+							*res = new http_response(http_response_builder(msg , 400).string_response());
+						}
 					} else {
 						std::string info;
 						if (req.get_path_pieces_size() > prefixPathPieces+1) {

src/hos_cpp_utils/include/hos_cpp_utils/hos/utils/SchemaLoader.h

@@ -14,16 +14,22 @@ namespace utils {
 
 
 
-class SchemaLoader: public libvariant::SchemaLoader {
+class SchemaLoader
+	: public libvariant::SchemaLoader {
+
 private:
 	std::string ros_param_ns;
 	std::string prefix;
 	ros::NodeHandle nodeHandle;
+
 	bool loadTypeSchema(std::string schema);
+
 public:
-	SchemaLoader(std::string ns = "/hos/types/repository", std::string prefix = "hos:schema://")
+	SchemaLoader(const std::string& ns = "/hos/types/repository", const std::string& prefix = "hos:schema://")
 		: ros_param_ns(ns), prefix(prefix), nodeHandle("~") {}
-	virtual bool HandleMissing(const std::string &uri, LoaderError &error);
+
+	virtual bool HandleMissing(const std::string &uri, LoaderError &error) override;
+
 };