.X

src/hos_core_types/schema/core/configs/rulepackage.json

@@ -22,7 +22,7 @@
 	                "type": "object",
 	    			"properties": {
 	    				"body": {
-	    					"type": "string"
+	    					"type": "object"
 	    				},
 	    				"conditions": {
 	    					"type": "array",
@@ -39,7 +39,7 @@
 	    				}
 	    			},
 				    "additionalProperties": false,
-				    "required": [ "name", "conditions", "body" ]
+				    "required": [ "conditions", "body" ]
 			    }
             }
         }

src/hos_cosgi_rulesengine/CMakeLists.txt

@@ -122,7 +122,6 @@ bundle(hos_cosgi_rulesengine
 	${PROJECT_SOURCE_DIR}/src/bundle_activator
 	${PROJECT_SOURCE_DIR}/src/hos_rulesengine_service_impl
 	${PROJECT_SOURCE_DIR}/src/rulesengine/RulePackage
-	${PROJECT_SOURCE_DIR}/src/rulesengine/GlobalContext
 	${PROJECT_SOURCE_DIR}/src/rulesengine/Rule
 	${PROJECT_SOURCE_DIR}/src/rulesengine/RuleCondition
 )

src/hos_cosgi_rulesengine/include/hos_cosgi_rulesengine/hos_rulesexecution_service.h

@@ -11,16 +11,15 @@
 
 #include <hos_cosgi_common/cosgi_common.h>
 #include <memory>
+#include <Variant/Variant.h>
 
 
 // Forward declarations
-namespace XmlRpc {
-class XmlRpcValue;
-}
 namespace hos {
 namespace cosgi {
 namespace rulesengine {
 class RulePackage;
+class Rule;
 }
 }
 }
@@ -37,7 +36,8 @@ class GlobalExecutionContext : public COSGI_Object_Interface {
 
 
 class RuleBody : public COSGI_Object_Interface {
-
+public:
+	virtual void exec(GlobalExecutionContext* gContext) = 0;
 };
 
 
@@ -47,8 +47,8 @@ public:
 
 	virtual std::string getLanguage() = 0;
 
-	virtual std::shared_ptr<GlobalExecutionContext> createGlobalExecutionContext(rulesengine::RulePackage* parent, XmlRpc::XmlRpcValue& raw) = 0;
-	virtual std::shared_ptr<RuleBody> createRuleBody(rulesengine::RulePackage* parent, XmlRpc::XmlRpcValue& raw) = 0;
+	virtual std::shared_ptr<GlobalExecutionContext> createGlobalExecutionContext(rulesengine::RulePackage* parent, libvariant::Variant raw) = 0;
+	virtual std::shared_ptr<RuleBody> createRuleBody(rulesengine::Rule* parent, GlobalExecutionContext* gContext, libvariant::Variant raw) = 0;
 };
 
 

src/hos_cosgi_rulesengine/src/hos_rulesengine_service_impl.cpp

@@ -14,6 +14,7 @@
 #include <unordered_set>
 #include <hos_celix/bundle_context.h>
 #include "rulesengine/RulePackage.h"
+#include <Variant/Variant.h>
 
 
 namespace hos {
@@ -49,6 +50,7 @@ void HOSRulesEngineServiceImpl::init() {
 	nodehandle->getParam("rulesengine_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;
@@ -86,13 +88,27 @@ void HOSRulesEngineServiceImpl::addRulePkg(std::string name) {
 	ss << ruleEnginePrefix << "/" << name;
 	XmlRpc::XmlRpcValue rawValue;
 	nodehandle->getParam(ss.str(), rawValue);
-	addRulePkg(name, rawValue);
+	addRulePkg(name, static_cast<std::string>(rawValue));
 }
 
-void HOSRulesEngineServiceImpl::addRulePkg(std::string name, XmlRpc::XmlRpcValue& rawValue) {
-	std::shared_ptr<RulePackage> pkg = RulePackage::createRulePackage(*this, name, rawValue);
-	if (pkg) {
-		rulePkgs.insert({name, pkg});
+void HOSRulesEngineServiceImpl::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<RulePackage> pkg = RulePackage::createRulePackage(this, name, m);
+		if (pkg) {
+			if (pkg->getState() == RulePackage::State::Ok) {
+				rulePkgs.insert({name, pkg});
+			} else if (pkg->getState() == 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());
 	}
 }
 
@@ -107,6 +123,16 @@ void HOSRulesEngineServiceImpl::addExecutionBackend(rulesexecution::HOSRulesExec
 	}
 }
 
+
+rulesexecution::HOSRulesExecutionService* HOSRulesEngineServiceImpl::getExecutionBackend(std::string language) {
+	auto s = execServices.find(language);
+	if (s != execServices.end()) {
+		return s->second;
+	}
+	return nullptr;
+}
+
+
 } // namespace rulesengine
 } // namespace cosgi
 } // namespace hos

src/hos_cosgi_rulesengine/src/hos_rulesengine_service_impl.h

@@ -20,6 +20,8 @@
 #include <hos_core_msgs/HosStatusUpdate.h>
 #include <hos_cpp_common/observable_impl.h>
 
+#include <HosSchemaLoader/HosSchemaLoader.h>
+
 #include <ros/ros.h>
 
 #include <map>
@@ -66,12 +68,15 @@ private:
 	std::string ruleEnginePrefix = "/hos/rules/rulesengine0";
 
 	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, XmlRpc::XmlRpcValue& rawValue);
+	void addRulePkg(std::string name, std::string rawValue);
 	void removeRulePkg(std::string name);
 
 	void init();
@@ -97,6 +102,7 @@ public:
 	bool isInitialized() { return initialized; }
 
 	void addExecutionBackend(rulesexecution::HOSRulesExecutionService* service);
+	rulesexecution::HOSRulesExecutionService* getExecutionBackend(std::string language);
 };
 
 

src/hos_cosgi_rulesengine/src/rulesengine/GlobalContext.cpp

@@ -1,32 +0,0 @@
-/*
- * GlobalContext.cpp
- *
- *  Created on: 29.04.2015
- *      Author: matzman
- */
-
-#include "GlobalContext.h"
-#include <ros/ros.h>
-
-namespace hos {
-namespace cosgi {
-namespace rulesengine {
-
-GlobalContext::GlobalContext(RulePackage& parent)
-		: parent(parent) {}
-
-GlobalContext::~GlobalContext() {
-	// TODO Auto-generated destructor stub
-}
-
-std::shared_ptr<GlobalContext> GlobalContext::createGlobalContext(RulePackage& parent, const XmlRpc::XmlRpcValue& raw) {
-	std::shared_ptr<GlobalContext> retval;
-	if (raw.getType() == XmlRpc::XmlRpcValue::TypeStruct) {
-		retval = std::make_shared<GlobalContext>(parent);
-	}
-	return retval;
-}
-
-} /* namespace rulesengine */
-} /* namespace cosgi */
-} /* namespace hos */

src/hos_cosgi_rulesengine/src/rulesengine/GlobalContext.h

@@ -1,47 +0,0 @@
-/*
- * GlobalContext.h
- *
- *  Created on: 29.04.2015
- *      Author: matzman
- */
-
-#ifndef SRC_RULESENGINE_GLOBALCONTEXT_H_
-#define SRC_RULESENGINE_GLOBALCONTEXT_H_
-
-
-#include <memory>
-
-
-// Forward declarations
-namespace XmlRpc {
-class XmlRpcValue;
-}
-namespace hos {
-namespace cosgi {
-namespace rulesengine {
-class RulePackage;
-}
-}
-}
-
-
-namespace hos {
-namespace cosgi {
-namespace rulesengine {
-
-class GlobalContext {
-private:
-	RulePackage& parent;
-public:
-	GlobalContext(RulePackage& parent);
-	static std::shared_ptr<GlobalContext> createGlobalContext(RulePackage& parent, const XmlRpc::XmlRpcValue& raw);
-	virtual ~GlobalContext();
-
-	RulePackage& getParent() { return parent; }
-};
-
-} /* namespace rulesengine */
-} /* namespace cosgi */
-} /* namespace hos */
-
-#endif /* SRC_RULESENGINE_GLOBALCONTEXT_H_ */

src/hos_cosgi_rulesengine/src/rulesengine/Rule.cpp

@@ -7,6 +7,8 @@
 
 
 #include "Rule.h"
+#include "RuleCondition.h"
+#include <hos_cosgi_rulesengine/hos_rulesexecution_service.h>
 #include <ros/ros.h>
 
 
@@ -15,22 +17,23 @@ namespace cosgi {
 namespace rulesengine {
 
 
-Rule::Rule(RulePackage& parent, std::string name)
-		: parent(parent), name(name) {}
+Rule::Rule(RulePackage* parent, std::string name, rulesexecution::HOSRulesExecutionService* executionService)
+		: parent(parent), name(name), executionService(executionService) {}
 
 Rule::~Rule() {}
 
-std::shared_ptr<Rule> Rule::createRule(RulePackage& parent, std::string name, XmlRpc::XmlRpcValue& raw) {
+std::shared_ptr<Rule> Rule::createRule(RulePackage* parent, std::string name, rulesexecution::GlobalExecutionContext* gContext, libvariant::Variant raw, rulesexecution::HOSRulesExecutionService* executionService) {
 	std::shared_ptr<Rule> retval;
-	if (raw.getType() == XmlRpc::XmlRpcValue::TypeStruct) {
-		retval = std::make_shared<Rule>(parent, name);
-		if (raw.hasMember("conditions") && raw["conditions"].getType() == XmlRpc::XmlRpcValue::TypeStruct) {
+	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) {
-
+			for (auto c : conditions.AsList()) {
+				auto cond = RuleCondition::createRuleCondition(retval.get(), c);
+				retval->conditions.push_back(cond);
 			}
-			if (raw.hasMember("body") && raw["body"].getType() == XmlRpc::XmlRpcValue::TypeString) {
-
+			if (raw.HasPath("body") && raw["body"].IsMap()) {
+				retval->body = executionService->createRuleBody(retval.get(), gContext, raw["body"]);
 			} else {
 				ROS_ERROR_STREAM("Could not create rule \"" << name << "\".");
 				retval.reset();
@@ -43,6 +46,10 @@ std::shared_ptr<Rule> Rule::createRule(RulePackage& parent, std::string name, Xm
 	return retval;
 }
 
+void Rule::exec(rulesexecution::GlobalExecutionContext* gContext) {
+	body->exec(gContext);
+}
+
 
 } /* namespace rulesengine */
 } /* namespace cosgi */

src/hos_cosgi_rulesengine/src/rulesengine/Rule.h

@@ -12,19 +12,22 @@
 #include <string>
 #include <memory>
 #include <vector>
+#include <Variant/Variant.h>
 
 
 // Forward declarations
-namespace XmlRpc {
-class XmlRpcValue;
-}
 namespace hos {
 namespace cosgi {
 namespace rulesengine {
 class RulePackage;
-class RuleBody;
+class Rule;
 class RuleCondition;
 }
+namespace rulesexecution {
+class HOSRulesExecutionService;
+class GlobalExecutionContext;
+class RuleBody;
+}
 }
 }
 
@@ -36,16 +39,19 @@ namespace rulesengine {
 
 class Rule {
 private:
-	RulePackage& parent;
+	RulePackage* parent;
 	std::string name;
-	std::shared_ptr<RuleBody> body;
+	std::shared_ptr<rulesexecution::RuleBody> body;
 	std::vector<std::shared_ptr<RuleCondition>> conditions;
+	rulesexecution::HOSRulesExecutionService* executionService;
 public:
-	Rule(RulePackage& parent, std::string name);
-	static std::shared_ptr<Rule> createRule(RulePackage& parent, std::string name, XmlRpc::XmlRpcValue& raw);
+	Rule(RulePackage* parent, std::string name, rulesexecution::HOSRulesExecutionService* executionService);
+	static std::shared_ptr<Rule> createRule(RulePackage* parent, std::string name, rulesexecution::GlobalExecutionContext* gContext, libvariant::Variant raw, rulesexecution::HOSRulesExecutionService* executionService);
 	virtual ~Rule();
 
-	RulePackage& getParent() { return parent; }
+	RulePackage* getParent() { return parent; }
+
+	virtual void exec(rulesexecution::GlobalExecutionContext* gContext);
 };
 
 class RuleBody {

src/hos_cosgi_rulesengine/src/rulesengine/RuleCondition.cpp

@@ -11,14 +11,12 @@ namespace hos {
 namespace cosgi {
 namespace rulesengine {
 
-RuleCondition::RuleCondition() {
-	// TODO Auto-generated constructor stub
 
+std::shared_ptr<RuleCondition> RuleCondition::createRuleCondition(Rule* parent, libvariant::Variant raw) {
+	std::shared_ptr<RuleCondition> retval;
+	return retval;
 }
 
-RuleCondition::~RuleCondition() {
-	// TODO Auto-generated destructor stub
-}
 
 } /* namespace rulesengine */
 } /* namespace cosgi */

src/hos_cosgi_rulesengine/src/rulesengine/RuleCondition.h

@@ -8,16 +8,74 @@
 #ifndef SRC_RULESENGINE_RULECONDITION_H_
 #define SRC_RULESENGINE_RULECONDITION_H_
 
+#include <memory>
+#include <Variant/Variant.h>
+
+
+// Forward declarations
+namespace hos {
+namespace cosgi {
+namespace rulesengine {
+class Rule;
+}
+}
+}
+
+
 namespace hos {
 namespace cosgi {
 namespace rulesengine {
 
+
+
 class RuleCondition {
 public:
-	RuleCondition();
-	virtual ~RuleCondition();
+	enum class Type : int { DeviceMsgCondition, DeviceStatusCondition, TimeEventCondition, SystemEventCondition};
+private:
+	Rule* parent;
+	const Type type;
+public:
+	static std::shared_ptr<RuleCondition> createRuleCondition(Rule* parent, libvariant::Variant raw);
+public:
+	RuleCondition(Rule* parent, Type type) : parent(parent), type(type) {}
+	virtual ~RuleCondition() {}
+
+	const Type getType() { return type; }
 };
 
+
+
+class DeviceMsgCondition : public RuleCondition {
+friend class RuleCondition;
+public:
+	DeviceMsgCondition(Rule* parent) : RuleCondition(parent, Type::DeviceMsgCondition) {}
+};
+
+
+
+class DeviceStatusCondition : public RuleCondition {
+friend class RuleCondition;
+public:
+	DeviceStatusCondition(Rule* parent) : RuleCondition(parent, Type::DeviceStatusCondition) {}
+};
+
+
+
+class TimeEventCondition : public RuleCondition {
+friend class RuleCondition;
+public:
+	TimeEventCondition(Rule* parent) : RuleCondition(parent, Type::TimeEventCondition) {}
+};
+
+
+
+class SystemEventCondition : public RuleCondition {
+friend class RuleCondition;
+public:
+	SystemEventCondition(Rule* parent) : RuleCondition(parent, Type::SystemEventCondition) {}
+};
+
+
 } /* namespace rulesengine */
 } /* namespace cosgi */
 } /* namespace hos */

src/hos_cosgi_rulesengine/src/rulesengine/RulePackage.cpp

@@ -6,45 +6,52 @@
  */
 
 #include "RulePackage.h"
-#include "GlobalContext.h"
 #include "Rule.h"
 #include <ros/ros.h>
 #include <exception>
+#include <Variant/Variant.h>
+#include "../hos_rulesengine_service_impl.h"
 
 namespace hos {
 namespace cosgi {
 namespace rulesengine {
 
-RulePackage::RulePackage(HOSRulesEngineServiceImpl& parent, std::string name)
+RulePackage::RulePackage(HOSRulesEngineServiceImpl* parent, std::string name)
 		: parent(parent), name(name) {}
 
 RulePackage::~RulePackage() {
 }
 
-std::shared_ptr<RulePackage> RulePackage::createRulePackage(HOSRulesEngineServiceImpl& parent, std::string name, XmlRpc::XmlRpcValue& raw) {
+std::shared_ptr<RulePackage> RulePackage::createRulePackage(HOSRulesEngineServiceImpl* parent, std::string name, ::libvariant::Variant raw) {
 	std::shared_ptr<RulePackage> retval;
-	if (raw.getType() == XmlRpc::XmlRpcValue::TypeStruct) {
+	if (raw.IsMap()) {
 		retval = std::make_shared<RulePackage>(parent, name);
-		if (raw.hasMember("language") && raw["language"].getType() == XmlRpc::XmlRpcValue::TypeString) {
-			retval->language = static_cast<std::string>(raw["language"]);
+		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.");
 		}
-		if (raw.hasMember("globalcontext")) {
-			retval->globalContext = GlobalContext::createGlobalContext(*retval, raw["globalcontext"]);
-		}
-		if (raw.hasMember("rules") && raw["rules"].getType() == XmlRpc::XmlRpcValue::TypeStruct) {
-			for (auto r : raw["rules"]) {
-				std::shared_ptr<Rule> rule = Rule::createRule(*retval, r.first, r.second);
-				if (rule) {
-					retval->rules.insert({r.first, rule});
+		retval->executionService = parent->getExecutionBackend(retval->language);
+		if (retval->executionService) {
+			if (raw.HasPath("globalcontext")) {
+				retval->globalContext = retval->executionService->createGlobalExecutionContext(retval.get(), 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.");
 			}
-			if (retval->rules.size() == 0) {
-				throw std::runtime_error("Rule package has no rules.");
-			}
+			retval->setState(State::Ok);
 		} else {
-			throw std::runtime_error("Rule package JSON is missing rules parameter or parameter has wrong type.");
+			retval->setState(State::NoExecService);
 		}
 	} else {
 		throw std::runtime_error("Rule package JSON is not valid.");

src/hos_cosgi_rulesengine/src/rulesengine/RulePackage.h

@@ -13,19 +13,20 @@
 #include <map>
 #include <memory>
 #include <string>
+#include <Variant/Variant.h>
+#include <hos_cosgi_rulesengine/hos_rulesexecution_service.h>
 
 
 // Forward declarations
-namespace XmlRpc {
-class XmlRpcValue;
-}
 namespace hos {
 namespace cosgi {
 namespace rulesengine {
 class HOSRulesEngineServiceImpl;
-class GlobalContext;
 class Rule;
 }
+namespace rulesexecution {
+class GlobalExecutionContext;
+}
 }
 }
 
@@ -35,25 +36,38 @@ namespace cosgi {
 namespace rulesengine {
 
 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<GlobalContext> globalContext;
-	HOSRulesEngineServiceImpl& parent;
+	std::shared_ptr<rulesexecution::GlobalExecutionContext> globalContext;
+	HOSRulesEngineServiceImpl* parent;
+	rulesexecution::HOSRulesExecutionService* executionService = nullptr;
+
+
+	bool setState(State state) {
+		this->state = state;
+		return true;
+	}
 
 
 public:
-	RulePackage(HOSRulesEngineServiceImpl& parent, std::string name);
-	static std::shared_ptr<RulePackage> createRulePackage(HOSRulesEngineServiceImpl& parent, std::string name, XmlRpc::XmlRpcValue& raw);
+	RulePackage(HOSRulesEngineServiceImpl* parent, std::string name);
+	static std::shared_ptr<RulePackage> createRulePackage(HOSRulesEngineServiceImpl* parent, std::string name, ::libvariant::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);
 
-	HOSRulesEngineServiceImpl& getParent() { return parent; }
+	HOSRulesEngineServiceImpl* getParent() { return parent; }
+
+	State getState() { return state; }
 };
 
 } /* namespace rulesengine */

src/hos_cosgi_rulesengine/test/rulepkg01.json

@@ -1,6 +1,6 @@
 {
 	"language": "python",
-	"globalcontext": {},
+	"globalcontext": { "code": "print \"GlobalContext: Init!\"\nvar1 = 66.6"},
 	"rules": {
 		"rule01": {
 			"conditions": [
@@ -13,7 +13,7 @@
 				"deviceid": "huelight1"
 				}
 			],
-			"body": "print \"Hello World1\""
+			"body": { "code": "print \"Hello World1\"" }
 		},
 		"rule02": {
 			"conditions": [
@@ -26,7 +26,7 @@
 				"deviceid": "huelight2"
 				}
 			],
-			"body": "print \"Hello World2\""
+			"body": { "code": "print \"Hello World2\"" }
 		}
 	}
 }

src/hos_cosgi_rulesexecution_python/CMakeLists.txt

@@ -24,7 +24,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(APR REQUIRED)
 find_package(CELIX REQUIRED)
-find_package(Boost REQUIRED)
+find_package(Boost REQUIRED COMPONENTS python)
 
 
 ################################################
@@ -111,6 +111,7 @@ include_directories(
 	${APR_INCLUDE_DIR}/apr-1.0
 	include
 	${hos_libvariant_INCLUDE_DIRS}/hos_libvariant
+	/usr/include/python2.7
 )
 
 set(BUNDLE_SYMBOLICNAME "hos.hos_rulesexecution_python")
@@ -125,6 +126,8 @@ bundle(hos_cosgi_rulesexecution_python
 target_link_libraries(hos_cosgi_rulesexecution_python
 	${catkin_LIBRARIES}
 	${APR_LIBRARIES}
+	${Boost_LIBRARIES}
+	python2.7
 )
 
 ## Declare a cpp library

src/hos_cosgi_rulesexecution_python/src/bundle_activator.cpp

@@ -27,6 +27,7 @@ extern "C" {
 
 using namespace hos::cosgi::rulesengine;
 using namespace hos::cosgi::rulesexecution;
+using namespace hos::cosgi::rulesexecution::python;
 using namespace hos::cosgi::devicerepository;
 using namespace hos::cosgi::core;
 using namespace hos::cosgi;

src/hos_cosgi_rulesexecution_python/src/hos_rulesexecution_python_impl.cpp

@@ -10,9 +10,11 @@
 #include <hos_cosgi_launcher/hos_core_service.h>
 
 
+
 namespace hos {
 namespace cosgi {
 namespace rulesexecution {
+namespace python {
 
 void HOSRulesExecutionPythonImpl::setCoreService(core::HOSCoreService* coreService) {
 	if (coreService && !this->coreService) {
@@ -40,6 +42,12 @@ void HOSRulesExecutionPythonImpl::setRepoService(devicerepository::HOSDeviceRepo
 }
 
 void HOSRulesExecutionPythonImpl::init() {
+	Py_Initialize();
+	boost::python::object main_module = boost::python::import("__main__");
+	pyGlobalScope = main_module.attr("__dict__");// Load the sys module.
+	boost::python::object sys = boost::python::import("sys");
+	std::string version = boost::python::extract<std::string>(sys.attr("version"));
+	ROS_INFO_STREAM("RulesExecutionPythonService: Python Version: " << version);
 	initialized = true;
 	ROS_INFO_STREAM("RulesExecutionPythonService: Initialized and Ready.");
 }
@@ -51,19 +59,44 @@ void HOSRulesExecutionPythonImpl::getServiceVersion(int& major, int& minor) {
 	minor = SERVICE_VERSION_MINOR;
 }
 
-std::shared_ptr<GlobalExecutionContext> HOSRulesExecutionPythonImpl::createGlobalExecutionContext(rulesengine::RulePackage* parent, XmlRpc::XmlRpcValue& raw) {
-	std::shared_ptr<GlobalExecutionContext> retval;
-	return retval;
+std::shared_ptr<GlobalExecutionContext> HOSRulesExecutionPythonImpl::createGlobalExecutionContext(rulesengine::RulePackage* parent, libvariant::Variant raw) {
+	std::shared_ptr<PyGlobalExecutionContext> retval;
+	if (raw.HasPath("code") && raw["code"].IsString()) {
+		retval = std::make_shared<PyGlobalExecutionContext>(this->pyGlobalScope, raw["code"].AsString());
+		try {
+			boost::python::object result = boost::python::exec(retval->getCode().c_str(), pyGlobalScope);
+		} catch(boost::python::error_already_set const &) {
+			PyErr_Print();
+			throw std::runtime_error("Python error during global context creation.");
+		}
+	}
+	return std::static_pointer_cast<GlobalExecutionContext>(retval);
 }
 
-std::shared_ptr<RuleBody> HOSRulesExecutionPythonImpl::createRuleBody(rulesengine::RulePackage* parent, XmlRpc::XmlRpcValue& raw) {
+std::shared_ptr<RuleBody> HOSRulesExecutionPythonImpl::createRuleBody(rulesengine::Rule* parent, GlobalExecutionContext* gContext, libvariant::Variant raw) {
 	std::shared_ptr<RuleBody> retval;
-	return retval;
+	if (raw.HasPath("code") && raw["code"].IsString()) {
+		retval = std::make_shared<PyRuleBody>(raw["code"].AsString(), *this);
+	}
+	return std::static_pointer_cast<RuleBody>(retval);
 }
 
 
+void PyRuleBody::exec(GlobalExecutionContext* gContext) {
+	try {
+		boost::python::object& gcont = service.getPyGlobalScope();
+		if (gContext) {
+			gcont = static_cast<PyGlobalExecutionContext*>(gContext)->getPyGlobalContext();
+		}
+		boost::python::object result = boost::python::exec(code.c_str(), gcont);
+	} catch(boost::python::error_already_set const &) {
+		PyErr_Print();
+		throw std::runtime_error("Python error during global context creation.");
+	}
+}
 
 
+} // namespace python
 } // namespace rulesengine
 } // namespace cosgi
 } // namespace hos

src/hos_cosgi_rulesexecution_python/src/hos_rulesexecution_python_impl.h

@@ -11,12 +11,12 @@
 #include <hos_cosgi_rulesengine/hos_rulesexecution_service.h>
 #include <hos_cosgi_devicerepository/hos_devicerepository_service.h>
 #include <ros/ros.h>
+#include <Variant/Variant.h>
+#include <boost/python.hpp>
+#include <memory>
 
 
 // Forward declarations
-namespace XmlRpc {
-class XmlRpcValue;
-}
 namespace hos {
 namespace cosgi {
 namespace core {
@@ -26,6 +26,11 @@ namespace devicerepository {
 class HOSDeviceRepositoryService;
 class DeviceEvent;
 }
+namespace rulesexecution {
+namespace python {
+class HOSRulesExecutionPythonImpl;
+}
+}
 }
 }
 
@@ -33,6 +38,33 @@ class DeviceEvent;
 namespace hos {
 namespace cosgi {
 namespace rulesexecution {
+namespace python {
+
+
+
+class PyGlobalExecutionContext : public GlobalExecutionContext {
+private:
+	boost::python::object& gContext;
+	std::string code;
+public:
+	PyGlobalExecutionContext(boost::python::object& gContext, std::string code)
+			: gContext(gContext), code(code) {}
+	std::string getCode() { return code; }
+	boost::python::object& getPyGlobalContext() { return gContext; }
+};
+
+
+
+class PyRuleBody : public RuleBody {
+private:
+	std::string code;
+	HOSRulesExecutionPythonImpl& service;
+public:
+	PyRuleBody(std::string code, HOSRulesExecutionPythonImpl& service) : code(code), service(service) {}
+	std::string getCode() { return code; }
+	virtual void exec(GlobalExecutionContext* gContext);
+};
+
 
 
 class HOSRulesExecutionPythonImpl : public HOSRulesExecutionService {
@@ -41,6 +73,8 @@ private:
 	devicerepository::HOSDeviceRepositoryService* repoService = nullptr;;
 	ros::NodeHandle* nodehandle = nullptr;
 
+	boost::python::object pyGlobalScope;
+
 	bool initialized = false;
 
 	void init();
@@ -62,17 +96,19 @@ public:
 
 	virtual std::string getLanguage() { return LANGUAGE; }
 
-	virtual std::shared_ptr<GlobalExecutionContext> createGlobalExecutionContext(rulesengine::RulePackage* parent, XmlRpc::XmlRpcValue& raw);
-	virtual std::shared_ptr<RuleBody> createRuleBody(rulesengine::RulePackage* parent, XmlRpc::XmlRpcValue& raw);
+	virtual std::shared_ptr<GlobalExecutionContext> createGlobalExecutionContext(rulesengine::RulePackage* parent, libvariant::Variant raw);
+	virtual std::shared_ptr<RuleBody> createRuleBody(rulesengine::Rule* parent, GlobalExecutionContext* gContext, libvariant::Variant raw);
 
 	/* Internal Stuff */
 
 	bool isInitialized() { return initialized; }
 
+	boost::python::object& getPyGlobalScope() { return pyGlobalScope; }
 };
 
 
 
+} // namespace python
 } // namespace rulesengine
 } // namespace cosgi
 } // namespace hos

src/hos_launch/launch/hos_cosgi.launch

@@ -1,4 +1,7 @@
 <launch>
+	<group ns="/hos/rules/rulesengine0">
+		<param name="rulepkg01" textfile="$(find hos_cosgi_rulesengine)/test/rulepkg01.json"/>
+	</group>
 	<node name="cosgi_devicerepository" pkg="hos_cosgi_launcher" type="hos_cosgi_launcher" output="screen">
 		<param name="autostart_bundles" 
 			value="$(find hos_cosgi_launcher)/../../devel_isolated/hos_celix/share/celix/bundles/log_service.zip