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This commit is contained in:
@@ -0,0 +1,208 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(hos_cosgi_ruleengine)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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hos_celix
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hos_cosgi_common
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hos_cosgi_devicerepository
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hos_cosgi_launcher
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hos_cosgi_scripting
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hos_cpp_common
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hos_libvariant
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roscpp
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hos_cpp_cron
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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find_package(APR REQUIRED)
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find_package(CELIX REQUIRED)
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find_package(Boost REQUIRED)
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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||||
## To declare and build messages, services or actions from within this
|
||||
## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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||||
## * If MSG_DEP_SET isn't empty the following dependencies might have been
|
||||
## pulled in transitively but can be declared for certainty nonetheless:
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||||
## * add a build_depend tag for "message_generation"
|
||||
## * add a run_depend tag for "message_runtime"
|
||||
## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
|
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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|
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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|
||||
## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs # Or other packages containing msgs
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# )
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###################################
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## catkin specific configuration ##
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###################################
|
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## The catkin_package macro generates cmake config files for your package
|
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## Declare things to be passed to dependent projects
|
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
|
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include/${PROJECT_NAME}/
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# LIBRARIES hos_cosgi_ruleengine
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CATKIN_DEPENDS hos_celix hos_cosgi_common hos_cosgi_devicerepository hos_cosgi_launcher hos_cpp_common hos_libvariant roscpp hos_cpp_cron hos_cosgi_scripting
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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add_definitions(
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-std=c++11
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)
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|
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## Specify additional locations of header files
|
||||
## Your package locations should be listed before other locations
|
||||
# include_directories(include)
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include_directories(
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${catkin_INCLUDE_DIRS}
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${APR_INCLUDE_DIR}
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${APR_INCLUDE_DIR}/apr-1.0
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include/${PROJECT_NAME}/
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${hos_libvariant_INCLUDE_DIRS}/hos_libvariant
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)
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set(BUNDLE_SYMBOLICNAME "hos.hos_ruleengine")
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set(BUNDLE_VERSION "1.0.0")
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set(BUNDLE_NAME "hos_ruleengine")
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bundle(hos_cosgi_ruleengine
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SOURCES
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${PROJECT_SOURCE_DIR}/src/bundle_activator
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${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/ruleengine_serviceimpl
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${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rule/RulePackage
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${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rule/Rule
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${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/ruleengine/rule/RuleCondition
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)
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target_link_libraries(hos_cosgi_ruleengine
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${catkin_LIBRARIES}
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${APR_LIBRARIES}
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)
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## Declare a cpp library
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# add_library(hos_cosgi_ruleengine
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# src/${PROJECT_NAME}/hos_cosgi_ruleengine.cpp
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# )
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## Declare a cpp executable
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# add_executable(hos_cosgi_ruleengine_node src/hos_cosgi_ruleengine_node.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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# add_dependencies(hos_cosgi_ruleengine_node hos_cosgi_ruleengine_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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# target_link_libraries(hos_cosgi_ruleengine_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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install(FILES
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${CMAKE_BINARY_DIR}/hos_cosgi_ruleengine.zip
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bundles
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)
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||||
# all install targets should use catkin DESTINATION variables
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||||
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
# install(PROGRAMS
|
||||
# scripts/my_python_script
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||||
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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||||
# )
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||||
|
||||
## Mark executables and/or libraries for installation
|
||||
# install(TARGETS hos_cosgi_ruleengine hos_cosgi_ruleengine_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark cpp header files for installation
|
||||
# install(DIRECTORY include/${PROJECT_NAME}/
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||||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
# FILES_MATCHING PATTERN "*.h"
|
||||
# PATTERN ".svn" EXCLUDE
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||||
# )
|
||||
|
||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
# install(FILES
|
||||
# # myfile1
|
||||
# # myfile2
|
||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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||||
# )
|
||||
|
||||
#############
|
||||
## Testing ##
|
||||
#############
|
||||
|
||||
## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_cosgi_ruleengine.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
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||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
+36
@@ -0,0 +1,36 @@
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/*
|
||||
* hos_ruleengine_service.h
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||||
*
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||||
* Created on: 26.04.2015
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||||
* Author: matzman
|
||||
*/
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||||
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||||
#ifndef INCLUDE_HOS_COSGI_RULEENGINE_HOS_COSGI_SERVICE_RULEENGINE_RULEENGINE_SERVICE_H_
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||||
#define INCLUDE_HOS_COSGI_RULEENGINE_HOS_COSGI_SERVICE_RULEENGINE_RULEENGINE_SERVICE_H_
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||||
|
||||
|
||||
#include <hos/common/observable.h>
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#include <hos/cosgi/service/interface.h>
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||||
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||||
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||||
namespace hos {
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||||
namespace cosgi {
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||||
namespace service {
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||||
namespace ruleengine {
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||||
|
||||
|
||||
class RuleEngineService : public virtual interface::Service {
|
||||
public:
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||||
static constexpr const char* SERVICE_NAME = "hos_ruleengine_service";
|
||||
};
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||||
|
||||
|
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} // namespace ruleengine
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} // namespace service
|
||||
} // namespace cosgi
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} // namespace hos
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||||
|
||||
|
||||
|
||||
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||||
#endif /* INCLUDE_HOS_COSGI_RULEENGINE_HOS_COSGI_SERVICE_RULEENGINE_RULEENGINE_SERVICE_H_ */
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||||
@@ -0,0 +1,8 @@
|
||||
<launch>
|
||||
<group ns="/hos/rules/ruleengine0">
|
||||
<param name="rulepkg01" textfile="$(find hos_cosgi_ruleengine)/test/rulepkg01.json"/>
|
||||
</group>
|
||||
<node name="cosgi_ruleengine" pkg="hos_cosgi_launcher" type="hos_cosgi_launcher" output="screen">
|
||||
<param name="autostart_bundles" value="$(find hos_cosgi_launcher)/../../build_isolated/hos_cosgi_devicerepository/hos_cosgi_devicerepository.zip $(find hos_cosgi_launcher)/../../build_isolated/hos_cosgi_ruleengine/hos_cosgi_rulesngine.zip $(find hos_cosgi_launcher)/../../devel_isolated/hos_celix/share/celix/bundles/shell.zip $(find hos_cosgi_launcher)/../../devel_isolated/hos_celix/share/celix/bundles/shell_tui.zip $(find hos_cosgi_launcher)/../../devel_isolated/hos_celix/share/celix/bundles/log_service.zip $(find hos_cosgi_launcher)/../../devel_isolated/hos_celix/share/celix/bundles/log_writer.zip $(find hos_cosgi_launcher)/../../devel_isolated/hos_celix/share/celix/bundles/log_writer_syslog.zip"/>
|
||||
</node>
|
||||
</launch>
|
||||
@@ -0,0 +1,35 @@
|
||||
{
|
||||
"language" : "python",
|
||||
"globalcontext" : "?",
|
||||
"rules" : [
|
||||
{
|
||||
"name" : "rule0",
|
||||
"conditions" : [
|
||||
{
|
||||
"type" : "devicestatus",
|
||||
"deviceid" : "<deviceid>",
|
||||
"jsonpath" : "<jsonpath>",
|
||||
"from": <json-value>,
|
||||
"to": <json-value>,
|
||||
},
|
||||
{
|
||||
"type" : "devicemsg",
|
||||
"deviceid" : "<deviceid>",
|
||||
"jsonpath" : "<jsonpath>",
|
||||
"msgtype": "status",
|
||||
"msgvalue": <json-value>,
|
||||
},
|
||||
{
|
||||
"type" : "time",
|
||||
"cron" : "<cronpattern>",
|
||||
"timepoint" : "<timepoint>"
|
||||
},
|
||||
{
|
||||
"type": "system",
|
||||
"event": "startup"
|
||||
}
|
||||
],
|
||||
"body" : "<body>"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,34 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ecore:EPackage xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||
xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" name="rulesengine" nsURI="rulesengine" nsPrefix="rulesengine">
|
||||
<eClassifiers xsi:type="ecore:EClass" name="RulesengineService">
|
||||
<eStructuralFeatures xsi:type="ecore:EReference" upperBound="-1" eType="#//RulePackage"
|
||||
containment="true"/>
|
||||
</eClassifiers>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="RulePackage">
|
||||
<eStructuralFeatures xsi:type="ecore:EReference" eType="#//GlobalContext" containment="true"/>
|
||||
<eStructuralFeatures xsi:type="ecore:EReference" lowerBound="1" upperBound="-1"
|
||||
eType="#//Rule" containment="true"/>
|
||||
</eClassifiers>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="GlobalContext" abstract="true" interface="true"/>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="Rule">
|
||||
<eStructuralFeatures xsi:type="ecore:EReference" lowerBound="1" upperBound="-1"
|
||||
eType="#//RuleCondition" containment="true"/>
|
||||
<eStructuralFeatures xsi:type="ecore:EReference" lowerBound="1" eType="#//RuleBody"
|
||||
containment="true"/>
|
||||
</eClassifiers>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="RuleCondition" abstract="true" interface="true"/>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="RuleBody" abstract="true" interface="true"/>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="DeviceRepositoryService">
|
||||
<eStructuralFeatures xsi:type="ecore:EReference" upperBound="-1" eType="#//Device"
|
||||
containment="true"/>
|
||||
</eClassifiers>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="Device"/>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="DeviceCondition" eSuperTypes="#//RuleCondition">
|
||||
<eStructuralFeatures xsi:type="ecore:EReference" eType="#//Device"/>
|
||||
</eClassifiers>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="TimeCondition" eSuperTypes="#//RuleCondition"/>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="SystemCondition" eSuperTypes="#//RuleCondition"/>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="GlobalPythonContext" eSuperTypes="#//GlobalContext"/>
|
||||
<eClassifiers xsi:type="ecore:EClass" name="PythonRuleBody" eSuperTypes="#//RuleBody"/>
|
||||
</ecore:EPackage>
|
||||
@@ -0,0 +1,462 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<notation:Diagram xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmi:id="_khfdwPATEeSxkrcRRJC36Q" type="Ecore" name="rulesengine.ecore_diagram" measurementUnit="Pixel">
|
||||
<children xmi:type="notation:Shape" xmi:id="_91SdQPATEeSxkrcRRJC36Q" type="rectangle" fontName="Sans" fillColor="13369343" transparency="0" lineColor="6737151" lineWidth="1">
|
||||
<children xmi:type="notation:BasicDecorationNode" xmi:id="_91TrYPATEeSxkrcRRJC36Q" type="DiagramName">
|
||||
<element xsi:nil="true"/>
|
||||
</children>
|
||||
<children xmi:type="notation:BasicDecorationNode" xmi:id="_91TrYfATEeSxkrcRRJC36Q" type="Description">
|
||||
<element xsi:nil="true"/>
|
||||
</children>
|
||||
<styles xmi:type="notation:TextStyle" xmi:id="_91SdQfATEeSxkrcRRJC36Q"/>
|
||||
<styles xmi:type="notation:LineTypeStyle" xmi:id="_91SdQvATEeSxkrcRRJC36Q"/>
|
||||
<element xsi:nil="true"/>
|
||||
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_91SdQ_ATEeSxkrcRRJC36Q" x="260" y="175" width="736" height="316"/>
|
||||
</children>
|
||||
<children xmi:type="notation:Shape" xmi:id="_0XNZQPATEeSxkrcRRJC36Q" type="2001" fontName="Sans">
|
||||
<children xmi:type="notation:DecorationNode" xmi:id="_0XNZQvATEeSxkrcRRJC36Q" type="5001"/>
|
||||
<children xmi:type="notation:BasicCompartment" xmi:id="_0XNZQ_ATEeSxkrcRRJC36Q" type="7001">
|
||||
<styles xmi:type="notation:SortingStyle" xmi:id="_0XNZRPATEeSxkrcRRJC36Q"/>
|
||||
<styles xmi:type="notation:FilteringStyle" xmi:id="_0XNZRfATEeSxkrcRRJC36Q"/>
|
||||
</children>
|
||||
<children xmi:type="notation:BasicCompartment" xmi:id="_0XOAUPATEeSxkrcRRJC36Q" type="7002">
|
||||
<styles xmi:type="notation:SortingStyle" xmi:id="_0XOAUfATEeSxkrcRRJC36Q"/>
|
||||
<styles xmi:type="notation:FilteringStyle" xmi:id="_0XOAUvATEeSxkrcRRJC36Q"/>
|
||||
</children>
|
||||
<children xmi:type="notation:BasicCompartment" xmi:id="_0XOAU_ATEeSxkrcRRJC36Q" type="7003">
|
||||
<styles xmi:type="notation:SortingStyle" xmi:id="_0XOAVPATEeSxkrcRRJC36Q"/>
|
||||
<styles xmi:type="notation:FilteringStyle" xmi:id="_0XOAVfATEeSxkrcRRJC36Q"/>
|
||||
</children>
|
||||
<element xmi:type="ecore:EClass" href="rulesengine.ecore#//RulesengineService"/>
|
||||
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_0XNZQfATEeSxkrcRRJC36Q" x="320" y="195"/>
|
||||
</children>
|
||||
<children xmi:type="notation:Shape" xmi:id="_0XOAVvATEeSxkrcRRJC36Q" type="2001" fontName="Sans">
|
||||
<children xmi:type="notation:DecorationNode" xmi:id="_0XOAWPATEeSxkrcRRJC36Q" type="5001"/>
|
||||
<children xmi:type="notation:BasicCompartment" xmi:id="_0XOAWfATEeSxkrcRRJC36Q" type="7001">
|
||||
<styles xmi:type="notation:SortingStyle" xmi:id="_0XOAWvATEeSxkrcRRJC36Q"/>
|
||||
<styles xmi:type="notation:FilteringStyle" xmi:id="_0XOAW_ATEeSxkrcRRJC36Q"/>
|
||||
</children>
|
||||
<children xmi:type="notation:BasicCompartment" xmi:id="_0XOAXPATEeSxkrcRRJC36Q" type="7002">
|
||||
<styles xmi:type="notation:SortingStyle" xmi:id="_0XOAXfATEeSxkrcRRJC36Q"/>
|
||||
<styles xmi:type="notation:FilteringStyle" xmi:id="_0XOAXvATEeSxkrcRRJC36Q"/>
|
||||
</children>
|
||||
<children xmi:type="notation:BasicCompartment" xmi:id="_0XOnYPATEeSxkrcRRJC36Q" type="7003">
|
||||
<styles xmi:type="notation:SortingStyle" xmi:id="_0XOnYfATEeSxkrcRRJC36Q"/>
|
||||
<styles xmi:type="notation:FilteringStyle" xmi:id="_0XOnYvATEeSxkrcRRJC36Q"/>
|
||||
</children>
|
||||
<element xmi:type="ecore:EClass" href="rulesengine.ecore#//RulePackage"/>
|
||||
<layoutConstraint xmi:type="notation:Bounds" xmi:id="_0XOAV_ATEeSxkrcRRJC36Q" x="340" y="285"/>
|
||||
</children>
|
||||
<children xmi:type="notation:Shape" xmi:id="_PWqCQPAUEeSxkrcRRJC36Q" type="2001" fontName="Sans">
|
||||
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||||
<maintainer email="matzman@todo.todo">matzman</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>TODO</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/hos_cosgi_ruleengine</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, mutiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintianers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *_depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use run_depend for packages you need at runtime: -->
|
||||
<!-- <run_depend>message_runtime</run_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>hos_celix</build_depend>
|
||||
<build_depend>hos_cosgi_common</build_depend>
|
||||
<build_depend>hos_cosgi_devicerepository</build_depend>
|
||||
<build_depend>hos_cosgi_launcher</build_depend>
|
||||
<build_depend>hos_cosgi_scripting</build_depend>
|
||||
<build_depend>hos_cpp_common</build_depend>
|
||||
<build_depend>hos_libvariant</build_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>hos_cpp_cron</build_depend>
|
||||
<run_depend>hos_celix</run_depend>
|
||||
<run_depend>hos_cosgi_common</run_depend>
|
||||
<run_depend>hos_cosgi_devicerepository</run_depend>
|
||||
<run_depend>hos_cosgi_launcher</run_depend>
|
||||
<run_depend>hos_cpp_common</run_depend>
|
||||
<run_depend>hos_libvariant</run_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>hos_cpp_cron</run_depend>
|
||||
<run_depend>hos_cosgi_scripting</run_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,174 @@
|
||||
/*
|
||||
* bundle_activator.cpp
|
||||
*
|
||||
* Created on: 26.04.2015
|
||||
* Author: matzman
|
||||
*/
|
||||
|
||||
#include <cstdlib>
|
||||
#include <cstdio>
|
||||
|
||||
#include <apr_general.h>
|
||||
|
||||
#include "ros/ros.h"
|
||||
|
||||
extern "C" {
|
||||
#include "celix/bundle_activator.h"
|
||||
#include "celix/bundle_context.h"
|
||||
#include "celix/service_listener.h"
|
||||
#include "celix/service_reference.h"
|
||||
#include "celix/constants.h"
|
||||
}
|
||||
|
||||
#include <hos/cosgi/service/core/core_service.h>
|
||||
#include "hos/cosgi/service/ruleengine/ruleengine_serviceimpl.h"
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
|
||||
|
||||
using namespace hos::cosgi::service::ruleengine;
|
||||
using namespace hos::cosgi::service::scripting;
|
||||
using namespace hos::cosgi::service::devicerepository;
|
||||
using namespace hos::cosgi::service::core;
|
||||
using namespace hos::cosgi;
|
||||
|
||||
struct UserData {
|
||||
apr_pool_t* memoryPool = nullptr;
|
||||
std::unique_ptr<RuleEngineServiceImpl> serviceImpl = nullptr;
|
||||
service_registration_pt serviceReg = nullptr;
|
||||
serviceListener myServiceListener;
|
||||
bundle_context_pt bundleContext;
|
||||
};
|
||||
|
||||
|
||||
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) {
|
||||
char* serviceName = nullptr;
|
||||
bool checkReg = false;
|
||||
serviceReference_getProperty(event->reference, (char*)OSGI_FRAMEWORK_OBJECTCLASS, &serviceName);
|
||||
if (serviceName && std::strcmp(serviceName, DeviceRepositoryService::SERVICE_NAME) == 0) {
|
||||
DeviceRepositoryService *service = nullptr;
|
||||
bundleContext_getService(myUserData->bundleContext, event->reference, (void**)&service);
|
||||
myUserData->serviceImpl->setRepoService(service);
|
||||
checkReg = true;
|
||||
} else if (serviceName && std::strcmp(serviceName, ScriptingService::SERVICE_NAME) == 0) {
|
||||
ScriptingService *service = nullptr;
|
||||
bundleContext_getService(myUserData->bundleContext, event->reference, (void**)&service);
|
||||
myUserData->serviceImpl->addExecutionBackend(service);
|
||||
checkReg = true;
|
||||
}
|
||||
// Register hos-devicerepository-service
|
||||
if (checkReg && !myUserData->serviceReg && myUserData->serviceImpl->isInitialized()) {
|
||||
bundleContext_registerService(myUserData->bundleContext, (char*)RuleEngineServiceImpl::SERVICE_NAME, myUserData->serviceImpl.get(), nullptr, &myUserData->serviceReg);
|
||||
}
|
||||
} else if (event->type == OSGI_FRAMEWORK_SERVICE_EVENT_UNREGISTERING) {
|
||||
}
|
||||
return CELIX_SUCCESS;
|
||||
}
|
||||
|
||||
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("RuleEngineService: Could not create APR memory pool (%i).", astatus);
|
||||
} else {
|
||||
// Create user data
|
||||
UserData* myUserData = (UserData*)apr_palloc(memoryPool, sizeof(UserData));
|
||||
if (myUserData != nullptr) {
|
||||
myUserData->memoryPool = memoryPool;
|
||||
myUserData->bundleContext = context;
|
||||
*userData = (void*)myUserData;
|
||||
status = CELIX_SUCCESS;
|
||||
ROS_INFO("RuleEngineService: Bundle successfully created");
|
||||
} else {
|
||||
ROS_ERROR("RuleEngineService: 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
|
||||
if (myUserData->serviceReg != nullptr) {
|
||||
serviceRegistration_unregister(myUserData->serviceReg);
|
||||
myUserData->serviceReg = nullptr;
|
||||
}
|
||||
myUserData->serviceImpl.reset(new RuleEngineServiceImpl());
|
||||
// Get HOS Core Service
|
||||
service_reference_pt ref = nullptr;
|
||||
bundleContext_getServiceReference(context, (char*)CoreService::SERVICE_NAME, &ref);
|
||||
CoreService* coreService = nullptr;
|
||||
bundleContext_getService(context, ref, (void**)&coreService);
|
||||
if (coreService == nullptr) {
|
||||
ROS_ERROR("RuleEngineService: Could not retrieve HOSCoreService. Are you using hos_cosgi_launcher?");
|
||||
} else {
|
||||
myUserData->serviceImpl->setCoreService(coreService);
|
||||
}
|
||||
// Get HOS Core Service
|
||||
service_reference_pt ref2 = nullptr;
|
||||
bundleContext_getServiceReference(context, (char*)DeviceRepositoryService::SERVICE_NAME, &ref2);
|
||||
DeviceRepositoryService* repoService = nullptr;
|
||||
bundleContext_getService(context, ref2, (void**)&repoService);
|
||||
if (repoService) {
|
||||
myUserData->serviceImpl->setRepoService(repoService);
|
||||
}
|
||||
// Register hos-devicerepository-service
|
||||
if (myUserData->serviceImpl->isInitialized()) {
|
||||
bundleContext_registerService(context, (char*)RuleEngineServiceImpl::SERVICE_NAME, myUserData->serviceImpl.get(), nullptr, &myUserData->serviceReg);
|
||||
}
|
||||
// Register service listener
|
||||
myUserData->myServiceListener.handle = myUserData;
|
||||
myUserData->myServiceListener.serviceChanged = cb_serviceChanged;
|
||||
bundleContext_addServiceListener(context, &myUserData->myServiceListener, nullptr);
|
||||
ROS_INFO("RuleEngineService: Bundle successfully started");
|
||||
} else {
|
||||
ROS_ERROR("RuleEngineService: Could not start bundle, user data struct is null");
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
celix_status_t bundleActivator_stop(void * userData, bundle_context_pt context) {
|
||||
celix_status_t status = CELIX_ILLEGAL_STATE;
|
||||
if (userData != nullptr) {
|
||||
UserData* myUserData = (UserData*)userData;
|
||||
status = bundleContext_removeServiceListener(context, &myUserData->myServiceListener);
|
||||
if (myUserData->serviceReg != nullptr) {
|
||||
serviceRegistration_unregister(myUserData->serviceReg);
|
||||
myUserData->serviceReg = nullptr;
|
||||
}
|
||||
if (myUserData->serviceImpl) {
|
||||
myUserData->serviceImpl.reset();
|
||||
}
|
||||
ROS_INFO("RuleEngineService: Bundle successfully stopped");
|
||||
status = CELIX_SUCCESS;
|
||||
} else {
|
||||
ROS_ERROR("RuleEngineService: Could not stop bundle, user data struct is null");
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
celix_status_t bundleActivator_destroy(void * userData, bundle_context_pt context) {
|
||||
celix_status_t status = CELIX_ILLEGAL_STATE;
|
||||
if (userData != nullptr) {
|
||||
apr_pool_t* memoryPool = ((UserData*)userData)->memoryPool;
|
||||
if (memoryPool != nullptr) {
|
||||
apr_pool_destroy(memoryPool);
|
||||
ROS_INFO("RuleEngineService: Bundle successfully destroyed");
|
||||
} else {
|
||||
ROS_ERROR("RuleEngineService: Could not destroy bundle, there is no APR memory pool");
|
||||
}
|
||||
status = CELIX_SUCCESS;
|
||||
} else {
|
||||
ROS_ERROR("RuleEngineService: Could not destroy bundle, user data struct is null");
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,62 @@
|
||||
/*
|
||||
* Rule.cpp
|
||||
*
|
||||
* Created on: 29.04.2015
|
||||
* Author: matzman
|
||||
*/
|
||||
|
||||
|
||||
#include "Rule.h"
|
||||
|
||||
#include <hos/cosgi/service/scripting/scripting_service.h>
|
||||
|
||||
#include "RuleCondition.h"
|
||||
#include <ros/ros.h>
|
||||
|
||||
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace ruleengine {
|
||||
namespace rule {
|
||||
|
||||
|
||||
Rule::Rule(RulePackage* parent, std::string name, scripting::ScriptingService* executionService)
|
||||
: parent(parent), name(name), executionService(executionService) {}
|
||||
|
||||
Rule::~Rule() {}
|
||||
|
||||
std::shared_ptr<Rule> Rule::createRule(RulePackage* parent, std::string name, scripting::GlobalScriptContext* gContext, Variant raw, scripting::ScriptingService* executionService) {
|
||||
std::shared_ptr<Rule> retval;
|
||||
if (raw.IsMap()) {
|
||||
retval = std::make_shared<Rule>(parent, name, executionService);
|
||||
if (raw.HasPath("conditions") && raw["conditions"].IsList()) {
|
||||
auto conditions = raw["conditions"];
|
||||
for (auto c : conditions.AsList()) {
|
||||
auto cond = RuleCondition::createRuleCondition(retval.get(), c);
|
||||
retval->conditions.push_back(cond);
|
||||
}
|
||||
if (raw.HasPath("body") && raw["body"].IsMap()) {
|
||||
retval->body = executionService->createScript(gContext, raw["body"]);
|
||||
} else {
|
||||
ROS_ERROR_STREAM("Could not create rule \"" << name << "\".");
|
||||
retval.reset();
|
||||
}
|
||||
} else {
|
||||
ROS_ERROR_STREAM("Could not create rule \"" << name << "\".");
|
||||
retval.reset();
|
||||
}
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
void Rule::exec(scripting::GlobalScriptContext* gContext) {
|
||||
body->exec(gContext);
|
||||
}
|
||||
|
||||
|
||||
} /* namespace rule */
|
||||
} /* namespace ruleengine */
|
||||
} /* namespace service */
|
||||
} /* namespace cosgi */
|
||||
} /* namespace hos */
|
||||
@@ -0,0 +1,75 @@
|
||||
/*
|
||||
* 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>
|
||||
|
||||
|
||||
// Forward declarations
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace ruleengine {
|
||||
namespace rule {
|
||||
class RulePackage;
|
||||
class RuleCondition;
|
||||
}
|
||||
}
|
||||
namespace scripting {
|
||||
class ScriptingService;
|
||||
class GlobalScriptContext;
|
||||
class Script;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace ruleengine {
|
||||
namespace rule {
|
||||
|
||||
using namespace libvariant;
|
||||
|
||||
class Rule {
|
||||
private:
|
||||
RulePackage* parent;
|
||||
std::string name;
|
||||
std::shared_ptr<scripting::Script> body;
|
||||
std::vector<std::shared_ptr<RuleCondition>> conditions;
|
||||
scripting::ScriptingService* executionService;
|
||||
public:
|
||||
Rule(RulePackage* parent, std::string name, scripting::ScriptingService* executionService);
|
||||
static std::shared_ptr<Rule> createRule(RulePackage* parent, std::string name, scripting::GlobalScriptContext* gContext, Variant raw, scripting::ScriptingService* executionService);
|
||||
virtual ~Rule();
|
||||
|
||||
RulePackage* getParent() { return parent; }
|
||||
|
||||
virtual void exec(scripting::GlobalScriptContext* gContext);
|
||||
};
|
||||
|
||||
class RuleBody {
|
||||
|
||||
};
|
||||
|
||||
|
||||
} /* namespace rule */
|
||||
} /* namespace ruleengine */
|
||||
} /* namespace service */
|
||||
} /* namespace cosgi */
|
||||
} /* namespace hos */
|
||||
|
||||
|
||||
#endif /* SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULE_H_ */
|
||||
@@ -0,0 +1,27 @@
|
||||
/*
|
||||
* RuleCondition.cpp
|
||||
*
|
||||
* Created on: 29.04.2015
|
||||
* Author: matzman
|
||||
*/
|
||||
|
||||
#include "RuleCondition.h"
|
||||
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace ruleengine {
|
||||
namespace rule {
|
||||
|
||||
|
||||
std::shared_ptr<RuleCondition> RuleCondition::createRuleCondition(Rule* parent, Variant raw) {
|
||||
std::shared_ptr<RuleCondition> retval;
|
||||
return retval;
|
||||
}
|
||||
|
||||
|
||||
} /* namespace rule */
|
||||
} /* namespace ruleengine */
|
||||
} /* namespace service */
|
||||
} /* namespace cosgi */
|
||||
} /* namespace hos */
|
||||
@@ -0,0 +1,125 @@
|
||||
/*
|
||||
* 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 <Variant/Variant.h>
|
||||
#include <hos/common/observable.h>
|
||||
|
||||
|
||||
// Forward declarations
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace ruleengine {
|
||||
namespace rule {
|
||||
class Rule;
|
||||
class ConditionDeviceStatusMsgEvent;
|
||||
class ConditionDeviceCommandMsgEvent;
|
||||
class ConditionDeviceStateChangedEvent;
|
||||
class ConditionSystemEvent;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace ruleengine {
|
||||
namespace rule {
|
||||
|
||||
using namespace libvariant;
|
||||
|
||||
class RuleCondition {
|
||||
public:
|
||||
enum class Type : int { DeviceStatusMsg, DeviceCommandMsg, DeviceStateChange, TimeEventCondition, SystemEventCondition};
|
||||
protected:
|
||||
Rule* parent;
|
||||
const Type type;
|
||||
public:
|
||||
static std::shared_ptr<RuleCondition> createRuleCondition(Rule* parent, libvariant::Variant raw);
|
||||
RuleCondition(Rule* parent, Type type) : parent(parent), type(type) {}
|
||||
public:
|
||||
virtual ~RuleCondition() {}
|
||||
|
||||
const Type getType() { return type; }
|
||||
};
|
||||
|
||||
|
||||
class DeviceMsgCondition : public RuleCondition {
|
||||
friend class RuleCondition;
|
||||
protected:
|
||||
Variant msgValue;
|
||||
std::string msgPath;
|
||||
std::string deviceID;
|
||||
DeviceMsgCondition(Rule* parent, Type type, const Variant msgValue, const std::string msgPath, std::string deviceID)
|
||||
: RuleCondition(parent, type) {}
|
||||
};
|
||||
|
||||
|
||||
class DeviceStatusMsgCondition : public DeviceMsgCondition, public common::IObserver<std::string, ConditionDeviceStatusMsgEvent> {
|
||||
friend class RuleCondition;
|
||||
protected:
|
||||
DeviceStatusMsgCondition(Rule* parent, const Variant msgValue, const std::string msgPath, std::string deviceID)
|
||||
: DeviceMsgCondition(parent, Type::DeviceStatusMsg, msgValue, msgPath, deviceID) {}
|
||||
public:
|
||||
virtual void notificationReceived(common::Observable<std::string, ConditionDeviceStatusMsgEvent>* o, const std::string key, const ConditionDeviceStatusMsgEvent* e) override;
|
||||
};
|
||||
|
||||
|
||||
|
||||
class DeviceCommandMsgCondition : public DeviceMsgCondition, public common::IObserver<std::string, ConditionDeviceCommandMsgEvent> {
|
||||
friend class RuleCondition;
|
||||
protected:
|
||||
public:
|
||||
DeviceCommandMsgCondition(Rule* parent, const Variant msgValue, const std::string msgPath, std::string deviceID)
|
||||
: DeviceMsgCondition(parent, Type::DeviceCommandMsg, msgValue, msgPath, deviceID) {}
|
||||
virtual void notificationReceived(common::Observable<std::string, ConditionDeviceCommandMsgEvent>* o, const std::string key, const ConditionDeviceCommandMsgEvent* e) override;
|
||||
};
|
||||
|
||||
|
||||
|
||||
class DeviceStateChangeCondition : public RuleCondition, public common::IObserver<std::string, ConditionDeviceStateChangedEvent> {
|
||||
friend class RuleCondition;
|
||||
protected:
|
||||
public:
|
||||
DeviceStateChangeCondition(Rule* parent) : RuleCondition(parent, Type::DeviceStateChange) {}
|
||||
virtual void notificationReceived(common::Observable<std::string, ConditionDeviceStateChangedEvent>* o, const std::string key, const ConditionDeviceStateChangedEvent* e) override;
|
||||
};
|
||||
|
||||
|
||||
|
||||
class TimeEventCondition : public RuleCondition {
|
||||
friend class RuleCondition;
|
||||
protected:
|
||||
public:
|
||||
TimeEventCondition(Rule* parent) : RuleCondition(parent, Type::TimeEventCondition) {}
|
||||
};
|
||||
|
||||
|
||||
|
||||
class SystemEventCondition : public RuleCondition, public common::IObserver<std::string, ConditionSystemEvent> {
|
||||
friend class RuleCondition;
|
||||
protected:
|
||||
public:
|
||||
SystemEventCondition(Rule* parent) : RuleCondition(parent, Type::SystemEventCondition) {}
|
||||
virtual void notificationReceived(common::Observable<std::string, ConditionSystemEvent>* o, const std::string key, const ConditionSystemEvent* e) override;
|
||||
};
|
||||
|
||||
|
||||
} /* namespace rule */
|
||||
} /* namespace ruleengine */
|
||||
} /* namespace service */
|
||||
} /* namespace cosgi */
|
||||
} /* namespace hos */
|
||||
|
||||
#endif /* SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULECONDITION_H_ */
|
||||
@@ -0,0 +1,79 @@
|
||||
/*
|
||||
* RulePackage.cpp
|
||||
*
|
||||
* Created on: 29.04.2015
|
||||
* Author: matzman
|
||||
*/
|
||||
|
||||
#include "RulePackage.h"
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <exception>
|
||||
#include <Variant/Variant.h>
|
||||
|
||||
#include "../ruleengine_serviceimpl.h"
|
||||
#include "Rule.h"
|
||||
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace ruleengine {
|
||||
namespace rule {
|
||||
|
||||
RulePackage::RulePackage(service::ruleengine::RuleEngineServiceImpl* parent, std::string name)
|
||||
: parent(parent), name(name) {}
|
||||
|
||||
RulePackage::~RulePackage() {
|
||||
}
|
||||
|
||||
std::shared_ptr<RulePackage> RulePackage::createRulePackage(service::ruleengine::RuleEngineServiceImpl* parent, std::string name, Variant raw) {
|
||||
std::shared_ptr<RulePackage> retval;
|
||||
if (raw.IsMap()) {
|
||||
retval = std::make_shared<RulePackage>(parent, name);
|
||||
if (raw.HasPath("language") && raw["language"].IsString()) {
|
||||
retval->language = raw["language"].AsString();
|
||||
} else {
|
||||
throw std::runtime_error("Rule package JSON is missing language parameter or parameter has wrong type.");
|
||||
}
|
||||
retval->executionService = parent->getExecutionBackend(retval->language);
|
||||
if (retval->executionService) {
|
||||
if (raw.HasPath("globalcontext")) {
|
||||
retval->globalContext = retval->executionService->createGlobalScriptContext(raw["globalcontext"]);
|
||||
}
|
||||
if (raw.HasPath("rules") && raw["rules"].IsMap()) {
|
||||
for (auto r : raw["rules"].AsMap()) {
|
||||
std::shared_ptr<Rule> rule = Rule::createRule(retval.get(), r.first, retval->globalContext.get(), r.second, retval->executionService);
|
||||
if (rule) {
|
||||
retval->rules.insert({r.first, rule});
|
||||
}
|
||||
}
|
||||
if (retval->rules.size() == 0) {
|
||||
throw std::runtime_error("Rule package has no rules.");
|
||||
}
|
||||
} else {
|
||||
throw std::runtime_error("Rule package JSON is missing rules parameter or parameter has wrong type.");
|
||||
}
|
||||
retval->setState(State::Ok);
|
||||
} else {
|
||||
retval->setState(State::NoExecService);
|
||||
}
|
||||
} else {
|
||||
throw std::runtime_error("Rule package JSON is not valid.");
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
size_t RulePackage::getRules(std::vector<std::shared_ptr<Rule>>& rules) {
|
||||
size_t retval = 0;
|
||||
for (auto item : this->rules) {
|
||||
rules.push_back(item.second);
|
||||
retval++;
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
} /* namespace rule */
|
||||
} /* namespace ruleengine */
|
||||
} /* namespace service */
|
||||
} /* namespace cosgi */
|
||||
} /* namespace hos */
|
||||
@@ -0,0 +1,87 @@
|
||||
/*
|
||||
* 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;
|
||||
namespace rule {
|
||||
class Rule;
|
||||
}
|
||||
}
|
||||
namespace scripting {
|
||||
class GlobalScriptContext;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace ruleengine {
|
||||
namespace rule {
|
||||
|
||||
using namespace ::libvariant;
|
||||
|
||||
class RulePackage {
|
||||
public:
|
||||
enum class State : int { Error = 0, NoExecService = 1, Ok = 2 };
|
||||
|
||||
private:
|
||||
typedef std::map<std::string, std::shared_ptr<Rule>> ruleMap_t;
|
||||
|
||||
std::string name;
|
||||
std::string language;
|
||||
State state = State::Error;
|
||||
ruleMap_t rules;
|
||||
std::shared_ptr<scripting::GlobalScriptContext> globalContext;
|
||||
service::ruleengine::RuleEngineServiceImpl* parent;
|
||||
service::scripting::ScriptingService* executionService = nullptr;
|
||||
|
||||
|
||||
bool setState(State state) {
|
||||
this->state = state;
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
public:
|
||||
RulePackage(service::ruleengine::RuleEngineServiceImpl* parent, std::string name);
|
||||
static std::shared_ptr<RulePackage> createRulePackage(service::ruleengine::RuleEngineServiceImpl* parent, std::string name, Variant raw);
|
||||
virtual ~RulePackage();
|
||||
|
||||
std::shared_ptr<Rule> getRule(const std::string& name) { return rules[name]; }
|
||||
size_t getRules(std::vector<std::shared_ptr<Rule>>& rules);
|
||||
|
||||
service::ruleengine::RuleEngineServiceImpl* getParent() { return parent; }
|
||||
|
||||
State getState() { return state; }
|
||||
};
|
||||
|
||||
} /* namespace rule */
|
||||
} /* namespace ruleengine */
|
||||
} /* namespace service */
|
||||
} /* namespace cosgi */
|
||||
} /* namespace hos */
|
||||
|
||||
#endif /* SRC_HOS_COSGI_SERVICE_RULEENGINE_RULE_RULEPACKAGE_H_ */
|
||||
@@ -0,0 +1,165 @@
|
||||
/*
|
||||
* hos_ruleengine_service_impl.cpp
|
||||
*
|
||||
* Created on: 26.04.2015
|
||||
* Author: matzman
|
||||
*/
|
||||
|
||||
#include "ruleengine_serviceimpl.h"
|
||||
#include <ros/ros.h>
|
||||
#include <exception>
|
||||
#include <iostream>
|
||||
#include <unordered_set>
|
||||
#include <celix/bundle_context.h>
|
||||
#include <hos/cosgi/service/core/core_service.h>
|
||||
#include <hos/cosgi/service/devicerepository/devicerepository_service.h>
|
||||
#include <Variant/Variant.h>
|
||||
|
||||
#include "rule/RulePackage.h"
|
||||
|
||||
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace ruleengine {
|
||||
|
||||
template<> const char* implementation::ServiceInfo<RuleEngineServiceImpl>::name = service::ruleengine::RuleEngineService::SERVICE_NAME;
|
||||
template<> const int implementation::ServiceInfo<RuleEngineServiceImpl>::major = 0;
|
||||
template<> const int implementation::ServiceInfo<RuleEngineServiceImpl>::minor = 6;
|
||||
|
||||
void RuleEngineServiceImpl::setCoreService(service::core::CoreService* coreService) {
|
||||
if (coreService && !this->coreService) {
|
||||
this->coreService = coreService;
|
||||
this->nodehandle = coreService->getPrivateNodeHandle();
|
||||
int major = 0, minor = 0;
|
||||
coreService->getServiceVersion(major, minor);
|
||||
ROS_INFO_STREAM("RuleEngineService: Found HOSCoreService Version " << major << "." << minor);
|
||||
if (repoService) {
|
||||
init();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void RuleEngineServiceImpl::setRepoService(devicerepository::DeviceRepositoryService* repoService) {
|
||||
if (repoService && !this->repoService) {
|
||||
this->repoService = repoService;
|
||||
int major = 0, minor = 0;
|
||||
repoService->getServiceVersion(major, minor);
|
||||
ROS_INFO_STREAM("RuleEngineService: Found HOSDeviceRepositoryService Version " << major << "." << minor);
|
||||
if (coreService) {
|
||||
init();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void RuleEngineServiceImpl::init() {
|
||||
nodehandle->getParam("ruleengine_prefix", ruleEnginePrefix);
|
||||
XmlRpc::XmlRpcValue rawValue;
|
||||
nodehandle->getParam(ruleEnginePrefix, rawValue);
|
||||
schemaLoader.reset(new libvariant::HosSchemaLoader());
|
||||
if (rawValue.getType() == XmlRpc::XmlRpcValue::TypeStruct) {
|
||||
for (auto pkg : rawValue) {
|
||||
std::string pname = pkg.first;
|
||||
XmlRpc::XmlRpcValue pRaw = pkg.second;
|
||||
try {
|
||||
addRulePkg(pname, pRaw);
|
||||
ROS_INFO_STREAM("Created rule package " << pname << ".");
|
||||
} catch (std::exception& e) {
|
||||
ROS_ERROR_STREAM("Could not create rule package " << pname << ": " << e.what());
|
||||
}
|
||||
}
|
||||
}
|
||||
repoService->addObserver(this);
|
||||
initialized = true;
|
||||
ROS_INFO_STREAM("RuleEngineService: Initialized and Ready.");
|
||||
}
|
||||
|
||||
RuleEngineServiceImpl::~RuleEngineServiceImpl() {
|
||||
repoService->deleteObserver(this);
|
||||
}
|
||||
|
||||
|
||||
void RuleEngineServiceImpl::notificationReceived(interface::Observer<devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEvent* e) {
|
||||
switch (e->eventType) {
|
||||
case devicerepository::DeviceEvent::EventType::STATUS_UPDATED:
|
||||
{
|
||||
ConditionDeviceStatusMsgEvent event;
|
||||
common::Observable<std::string, ConditionDeviceStatusMsgEvent>::notifyObservers(e->device->getDeviceID(), &event);
|
||||
if (e->device->stateChanged()) {
|
||||
ConditionDeviceStateChangedEvent event;
|
||||
common::Observable<std::string, ConditionDeviceStateChangedEvent>::notifyObservers(e->device->getDeviceID(), &event);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case devicerepository::DeviceEvent::EventType::COMMAND_RECEIVED:
|
||||
{
|
||||
ConditionDeviceCommandMsgEvent event;
|
||||
common::Observable<std::string, ConditionDeviceCommandMsgEvent>::notifyObservers(e->device->getDeviceID(), &event);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void RuleEngineServiceImpl::addRulePkg(std::string name) {
|
||||
std::stringstream ss;
|
||||
ss << ruleEnginePrefix << "/" << name;
|
||||
XmlRpc::XmlRpcValue rawValue;
|
||||
nodehandle->getParam(ss.str(), rawValue);
|
||||
addRulePkg(name, static_cast<std::string>(rawValue));
|
||||
}
|
||||
|
||||
void RuleEngineServiceImpl::addRulePkg(std::string name, std::string rawValue) {
|
||||
::libvariant::Variant s = schemaLoader->GetSchema(std::string("hos:schema://core/configs/rulepackage"));
|
||||
::libvariant::Variant m = ::libvariant::Deserialize(rawValue, ::libvariant::SERIALIZE_JSON);
|
||||
::libvariant::SchemaResult sr = ::libvariant::SchemaValidate(s, m, schemaLoader.get());
|
||||
if (!sr.Error()) {
|
||||
std::shared_ptr<rule::RulePackage> pkg = rule::RulePackage::createRulePackage(this, name, m);
|
||||
if (pkg) {
|
||||
if (pkg->getState() == rule::RulePackage::State::Ok) {
|
||||
rulePkgs.insert({name, pkg});
|
||||
} else if (pkg->getState() == rule::RulePackage::State::NoExecService) {
|
||||
noExecRulePkgs.insert({name, pkg});
|
||||
std::cout << "No execution service found for rule package \"" << name << "\"" << std::endl;
|
||||
} else {
|
||||
throw std::runtime_error("Unknown state");
|
||||
}
|
||||
}
|
||||
} else {
|
||||
throw std::runtime_error(sr.PrettyPrintMessage());
|
||||
}
|
||||
}
|
||||
|
||||
void RuleEngineServiceImpl::removeRulePkg(std::string name) {
|
||||
rulePkgs.erase(name);
|
||||
}
|
||||
|
||||
void RuleEngineServiceImpl::addExecutionBackend(scripting::ScriptingService* service) {
|
||||
if (execServices.find(service->getLanguage()) == execServices.end()) {
|
||||
execServices.insert({service->getLanguage(), service});
|
||||
ROS_INFO_STREAM("RuleEngineService: Added execution service \"" << service->getLanguage() << "\".");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
scripting::ScriptingService* RuleEngineServiceImpl::getExecutionBackend(std::string language) {
|
||||
auto s = execServices.find(language);
|
||||
if (s != execServices.end()) {
|
||||
return s->second;
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
|
||||
} // namespace ruleengine
|
||||
} // namespace service
|
||||
} // namespace cosgi
|
||||
} // namespace hos
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,140 @@
|
||||
/*
|
||||
* 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_
|
||||
|
||||
#include <hos/cosgi/service/implementation.h>
|
||||
#include <Variant/Variant.h>
|
||||
#include <mutex>
|
||||
#include <map>
|
||||
#include <set>
|
||||
#include <hos_core_msgs/DeviceCommand.h>
|
||||
#include <hos_core_msgs/DeviceStatusUpdate.h>
|
||||
#include <hos_core_msgs/HosStatusUpdate.h>
|
||||
#include <hos/cosgi/service/ruleengine/ruleengine_service.h>
|
||||
#include <hos/cosgi/service/scripting/scripting_service.h>
|
||||
#include <hos/cosgi/service/devicerepository/devicerepository_service.h>
|
||||
#include <HosSchemaLoader/HosSchemaLoader.h>
|
||||
#include <ros/ros.h>
|
||||
|
||||
#include <map>
|
||||
#include <memory>
|
||||
|
||||
|
||||
// Forward declarations
|
||||
namespace XmlRpc {
|
||||
class XmlRpcValue;
|
||||
}
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace core {
|
||||
class CoreService;
|
||||
}
|
||||
namespace ruleengine {
|
||||
namespace rule {
|
||||
class RulePackage;
|
||||
}
|
||||
}
|
||||
}
|
||||
namespace devicerepository {
|
||||
class DeviceRepositoryService;
|
||||
class DeviceEvent;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
// Service Namespace
|
||||
namespace hos {
|
||||
namespace cosgi {
|
||||
namespace service {
|
||||
namespace ruleengine {
|
||||
|
||||
|
||||
class ConditionDeviceStatusMsgEvent {
|
||||
|
||||
};
|
||||
|
||||
class ConditionDeviceCommandMsgEvent {
|
||||
|
||||
};
|
||||
|
||||
class ConditionDeviceStateChangedEvent {
|
||||
|
||||
};
|
||||
|
||||
class ConditionSystemEvent {
|
||||
|
||||
};
|
||||
|
||||
class RuleEngineServiceImpl;
|
||||
class RuleEngineServiceImpl : public virtual RuleEngineService,
|
||||
public virtual implementation::Service<RuleEngineServiceImpl>,
|
||||
public virtual interface::Observer<devicerepository::DeviceEvent>,
|
||||
public common::Observable<std::string, ConditionDeviceStatusMsgEvent>,
|
||||
public common::Observable<std::string, ConditionDeviceCommandMsgEvent>,
|
||||
public common::Observable<std::string, ConditionDeviceStateChangedEvent>,
|
||||
public common::Observable<std::string, ConditionSystemEvent> {
|
||||
private:
|
||||
typedef std::map<std::string, std::shared_ptr<rule::RulePackage>> rulePkgMap_t;
|
||||
typedef std::map<std::string, scripting::ScriptingService*> execServiceMap_t;
|
||||
|
||||
service::core::CoreService* coreService = nullptr;
|
||||
devicerepository::DeviceRepositoryService* repoService = nullptr;
|
||||
ros::NodeHandle* nodehandle = nullptr;
|
||||
|
||||
std::string ruleEnginePrefix = "/hos/rules/ruleengine0";
|
||||
|
||||
rulePkgMap_t rulePkgs;
|
||||
rulePkgMap_t noExecRulePkgs;
|
||||
execServiceMap_t execServices;
|
||||
|
||||
std::unique_ptr<libvariant::HosSchemaLoader> schemaLoader;
|
||||
|
||||
bool initialized = false;
|
||||
|
||||
void addRulePkg(std::string name);
|
||||
void addRulePkg(std::string name, std::string rawValue);
|
||||
void removeRulePkg(std::string name);
|
||||
|
||||
void init();
|
||||
|
||||
public:
|
||||
~RuleEngineServiceImpl();
|
||||
/* Initialization */
|
||||
|
||||
void setCoreService(service::core::CoreService* coreService);
|
||||
void setRepoService(devicerepository::DeviceRepositoryService* repoService);
|
||||
|
||||
/* Public Service Implementations */
|
||||
|
||||
/* Observer Callbacks */
|
||||
|
||||
virtual void notificationReceived(interface::Observer<devicerepository::DeviceEvent>::observable_type* o, const devicerepository::DeviceEvent* e) override;
|
||||
|
||||
/* Internal Stuff */
|
||||
|
||||
bool isInitialized() { return initialized; }
|
||||
|
||||
void addExecutionBackend(scripting::ScriptingService* service);
|
||||
scripting::ScriptingService* getExecutionBackend(std::string language);
|
||||
};
|
||||
|
||||
|
||||
} // namespace ruleengine
|
||||
} // namespace service
|
||||
} // namespace cosgi
|
||||
} // namespace hos
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif /* INCLUDE_HOS_COSGI_RULEENGINE_HOS_RULEENGINE_SERVICE_IMPL_H_ */
|
||||
@@ -0,0 +1,32 @@
|
||||
{
|
||||
"language": "python",
|
||||
"globalcontext": { "code": "print \"GlobalContext: Init!\"\nvar1 = 66.6"},
|
||||
"rules": {
|
||||
"rule01": {
|
||||
"conditions": [
|
||||
{
|
||||
"type": "devicemsg",
|
||||
"deviceid": "huelight1"
|
||||
},
|
||||
{
|
||||
"type": "devicestatus",
|
||||
"deviceid": "huelight1"
|
||||
}
|
||||
],
|
||||
"body": { "code": "print \"Hello World1\"" }
|
||||
},
|
||||
"rule02": {
|
||||
"conditions": [
|
||||
{
|
||||
"type": "devicemsg",
|
||||
"deviceid": "huelight2"
|
||||
},
|
||||
{
|
||||
"type": "devicestatus",
|
||||
"deviceid": "huelight2"
|
||||
}
|
||||
],
|
||||
"body": { "code": "print \"Hello World2\"" }
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user