.

src/hos_celix/CMakeLists.txt

@@ -1,94 +1,26 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(hos_celix)
 
+
 ## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED)
 
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
 ###################################
 ## catkin specific configuration ##
 ###################################
-## The catkin_package macro generates cmake config files for your package
+
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 	INCLUDE_DIRS include/${PROJECT_NAME}/
 	LIBRARIES celix_framework celix_utils dependency_manager2
 	CFG_EXTRAS celix-extras.cmake
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
 )
 
+
 ###########
 ## Build ##
 ###########
 
-
 include(ExternalProject)
 
 ExternalProject_Add( celix_project
@@ -125,28 +57,6 @@ set_property( TARGET dependency_manager2 PROPERTY IMPORTED_LOCATION "${CATKIN_DE
 add_dependencies( dependency_manager2 celix_project )
 
 
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-
-## Declare a cpp library
-# add_library(hos_celix
-#   src/${PROJECT_NAME}/hos_celix.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(hos_celix_node src/hos_celix_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(hos_celix_node hos_celix_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(hos_celix_node
-#   ${catkin_LIBRARIES}
-# )
-
 #############
 ## Install ##
 #############
@@ -169,46 +79,14 @@ install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/cmake/
 #	FILES_MATCHING PATTERN "*.cmake"
 )
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
-## Mark executable scripts (Python etc.) for installation
+###################
-## in contrast to setup.py, you can choose the destination
+## Documentation ##
-# install(PROGRAMS
+###################
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
 
-## Mark executables and/or libraries for installation
+# We have no documentation, so we create an empty target
-# install(TARGETS hos_celix hos_celix_node
+find_package(Doxygen)
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+if(DOXYGEN_FOUND)
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	add_custom_target(doc)
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+endif(DOXYGEN_FOUND)
-# )
 
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_celix.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

src/hos_core_msgs/CMakeLists.txt

@@ -2,45 +2,15 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hos_core_msgs)
 
 ## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   message_generation
 )
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
 ################################################
 
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
 ## Generate messages in the 'msg' folder
 add_message_files(
 	DIRECTORY msg
@@ -50,114 +20,41 @@ add_message_files(
 	HosStatusUpdate.msg
 )
 
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
 #   DEPENDENCIES
 #   std_msgs  # Or other packages containing msgs
 )
 
+
 ###################################
 ## catkin specific configuration ##
 ###################################
-## The catkin_package macro generates cmake config files for your package
+
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 	INCLUDE_DIRS include
-#  LIBRARIES hos_core_msgs
 	CATKIN_DEPENDS message_runtime
-#  DEPENDS system_lib
 )
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a cpp library
-# add_library(hos_core_msgs
-#   src/${PROJECT_NAME}/hos_core_msgs.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(hos_core_msgs_node src/hos_core_msgs_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(hos_core_msgs_node hos_core_msgs_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(hos_core_msgs_node
-#   ${catkin_LIBRARIES}
-# )
 
 #############
 ## Install ##
 #############
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS hos_core_msgs hos_core_msgs_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
 ## Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
 	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 	FILES_MATCHING PATTERN "*.h"
-	PATTERN ".svn" EXCLUDE
 )
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
 
-#############
+###################
-## Testing ##
+## Documentation ##
-#############
+###################
 
-## Add gtest based cpp test target and link libraries
+# We have no documentation, so we create an empty target
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_core_msgs.cpp)
+find_package(Doxygen)
-# if(TARGET ${PROJECT_NAME}-test)
+if(DOXYGEN_FOUND)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+	add_custom_target(doc)
-# endif()
+endif(DOXYGEN_FOUND)
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

src/hos_core_types/CMakeLists.txt

@@ -2,110 +2,15 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hos_core_types)
 
 ## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED)
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
 
 ###################################
 ## catkin specific configuration ##
 ###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES hos_core_types
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
 )
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-
-## Declare a cpp library
-# add_library(hos_core_types
-#   src/${PROJECT_NAME}/hos_core_types.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(hos_core_types src/hos_core_types_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(hos_core_types_node hos_core_types_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(hos_core_types_node
-#   ${catkin_LIBRARIES}
-# )
 
 #############
 ## Install ##
@@ -117,46 +22,14 @@ foreach(dir launch schema)
   )
 endforeach(dir)
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
-## Mark executable scripts (Python etc.) for installation
+###################
-## in contrast to setup.py, you can choose the destination
+## Documentation ##
-# install(PROGRAMS
+###################
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
 
-## Mark executables and/or libraries for installation
+# We have no documentation, so we create an empty target
-# install(TARGETS hos_core_types hos_core_types_node
+find_package(Doxygen)
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+if(DOXYGEN_FOUND)
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	add_custom_target(doc)
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+endif(DOXYGEN_FOUND)
-# )
 
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_core_types.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

src/hos_cosgi_core/include/hos_cosgi_core/hos/cosgi/service/Interface.h

@@ -24,10 +24,6 @@ namespace interface {
 class Object {
 public:
 	virtual ~Object() {}
-
-	template<class T> T* castPtr() {
-		return dynamic_cast<T*>(this);
-	}
 };
 
 

src/hos_cosgi_core/src/launcher.cpp

@@ -113,7 +113,7 @@ int main(int argc, char **argv) {
 		// Create and register hos-core-service
 		CoreServiceImpl hosCoreService(rosPublicNodeHandle, rosPrivateNodeHandle);
 		service_registration_pt reg = nullptr;
-		bundleContext_registerService(context, (char*)CoreService::SERVICE_NAME, static_cast<CoreService*>(&hosCoreService), nullptr, &reg);
+		bundleContext_registerService(context, (char*)CoreService::SERVICE_NAME, &hosCoreService, nullptr, &reg);
 		ROS_INFO("HOS core service registered");
 
 

src/hos_cosgi_devicerepository/CMakeLists.txt

@@ -2,8 +2,6 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hos_cosgi_devicerepository)
 
 ## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   hos_celix
   hos_core_msgs
@@ -14,87 +12,22 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 ## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
 find_package(APR REQUIRED)
 find_package(CELIX REQUIRED)
 find_package(Boost REQUIRED)
 find_package(libvariant REQUIRED)
 
 
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   hos_core_msgs
-# )
-
 ###################################
 ## catkin specific configuration ##
 ###################################
-## The catkin_package macro generates cmake config files for your package
+
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 	INCLUDE_DIRS include/${PROJECT_NAME}/
-#  LIBRARIES hos_cosgi_devicerepository
+	CATKIN_DEPENDS hos_celix hos_core_msgs hos_cosgi_core roscpp hos_cpp_utils
-	CATKIN_DEPENDS hos_celix hos_core_msgs hos_cosgi_core roscpp hos_deps hos_cpp_utils
-#  DEPENDS system_lib
 )
 
+
 ###########
 ## Build ##
 ###########
@@ -103,14 +36,11 @@ add_definitions(
 	-std=c++11
 )
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
 include_directories(
+	include/${PROJECT_NAME}/
 	${catkin_INCLUDE_DIRS}
 	${APR_INCLUDE_DIR}
 	${APR_INCLUDE_DIR}/apr-1.0
-	include/${PROJECT_NAME}/
 	${libvariant_INCLUDE_DIR}
 )
 
@@ -123,28 +53,13 @@ bundle(hos_cosgi_devicerepository
 	${PROJECT_SOURCE_DIR}/src/BundleActivator
 	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/devicerepository/DeviceRepositoryServiceImpl
 )
+
 target_link_libraries(hos_cosgi_devicerepository
 	${catkin_LIBRARIES}
 	${APR_LIBRARIES}
 	${libvariant_LIBRARY}
 )
 
-## Declare a cpp library
-# add_library(hos_cosgi_itemrepository
-#   src/${PROJECT_NAME}/hos_cosgi_devicerepository.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(hos_cosgi_itemrepository_node src/hos_cosgi_itemrepository_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(hos_cosgi_itemrepository_node hos_cosgi_itemrepository_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(hos_cosgi_itemrepository_node
-#   ${catkin_LIBRARIES}
-# )
 
 #############
 ## Install ##
@@ -161,39 +76,22 @@ install(FILES
 	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bundles
 )
 
-# all install targets should use catkin DESTINATION variables
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+   OPTIONAL
+)
 
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
 
-## Mark executables and/or libraries for installation
+###################
-# install(TARGETS hos_cosgi_itemrepository hos_cosgi_itemrepository_node
+## Documentation ##
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+###################
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
+find_package(Doxygen)
-# install(FILES
+if(DOXYGEN_FOUND)
-#   # myfile1
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
-#   # myfile2
+	add_custom_target(doc
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+		${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
-# )
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+	)
+endif(DOXYGEN_FOUND)
 
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_cosgi_itemrepository.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

src/hos_cosgi_devicerepository/Doxyfile.in

@@ -0,0 +1,248 @@
+# Doxyfile 1.8.8
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = hos_cosgi_devicerepository
+OUTPUT_DIRECTORY       = doc
+CREATE_SUBDIRS         = NO
+ALLOW_UNICODE_NAMES    = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = NO
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 4
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+MARKDOWN_SUPPORT       = YES
+AUTOLINK_SUPPORT       = YES
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+IDL_PROPERTY_SUPPORT   = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+INLINE_GROUPED_CLASSES = NO
+INLINE_SIMPLE_STRUCTS  = NO
+TYPEDEF_HIDES_STRUCT   = NO
+LOOKUP_CACHE_SIZE      = 0
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = NO
+EXTRACT_PACKAGE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = NO
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+SHOW_GROUPED_MEMB_INC  = NO
+FORCE_LOCAL_INCLUDES   = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_MEMBERS_CTORS_1ST = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+STRICT_PROTO_MATCHING  = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_FILES             = YES
+SHOW_NAMESPACES        = YES
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = @CMAKE_CURRENT_SOURCE_DIR@/include \
+                         @CMAKE_CURRENT_SOURCE_DIR@/src
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.f90 \
+                         *.f \
+                         *.for \
+                         *.tcl \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.as \
+                         *.js
+RECURSIVE              = YES
+EXCLUDE_SYMLINKS       = NO
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = NO
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = NO
+REFERENCES_RELATION    = NO
+REFERENCES_LINK_SOURCE = YES
+SOURCE_TOOLTIPS        = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 100
+HTML_COLORSTYLE_GAMMA  = 80
+HTML_TIMESTAMP         = YES
+HTML_DYNAMIC_SECTIONS  = NO
+HTML_INDEX_NUM_ENTRIES = 100
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+DOCSET_PUBLISHER_NAME  = Publisher
+GENERATE_HTMLHELP      = NO
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+GENERATE_QHP           = NO
+QHP_NAMESPACE          = org.doxygen.Project
+QHP_VIRTUAL_FOLDER     = doc
+GENERATE_ECLIPSEHELP   = NO
+ECLIPSE_DOC_ID         = org.doxygen.Project
+DISABLE_INDEX          = NO
+GENERATE_TREEVIEW      = YES
+ENUM_VALUES_PER_LINE   = 4
+TREEVIEW_WIDTH         = 250
+EXT_LINKS_IN_WINDOW    = NO
+FORMULA_FONTSIZE       = 10
+FORMULA_TRANSPARENT    = YES
+USE_MATHJAX            = NO
+MATHJAX_FORMAT         = HTML-CSS
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+SEARCHENGINE           = YES
+SERVER_BASED_SEARCH    = NO
+EXTERNAL_SEARCH        = NO
+SEARCHDATA_FILE        = searchdata.xml
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+EXTERNAL_PAGES         = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = NO
+DOT_NUM_THREADS        = 0
+DOT_FONTNAME           = Helvetica
+DOT_FONTSIZE           = 10
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+UML_LIMIT_NUM_FIELDS   = 10
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = YES
+INCLUDED_BY_GRAPH      = YES
+CALL_GRAPH             = NO
+CALLER_GRAPH           = NO
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+DOT_IMAGE_FORMAT       = png
+INTERACTIVE_SVG        = NO
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 0
+DOT_TRANSPARENT        = NO
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES

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

@@ -130,11 +130,13 @@ public:
 
 
 /**
- * Implementation of device repository service
+ * Implementation of DeviceRepositoryService.
  **/
 class DeviceRepositoryServiceImpl
 	: public virtual DeviceRepositoryService,
-	  public implementation::ObservableService<DeviceRepositoryServiceImpl, DeviceEventType, DeviceEvent> {
+	public implementation::Service<DeviceRepositoryServiceImpl>,
+	public implementation::Observable<DeviceEventType, DeviceEvent> {
+	//public implementation::ObservableService<DeviceRepositoryServiceImpl, > { /* Why does this one not work? */
 
 private:
 	typedef std::map<std::string, std::shared_ptr<DeviceImpl>> devicesMap_t;

src/hos_cosgi_ruleengine/CMakeLists.txt

@@ -2,8 +2,6 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hos_cosgi_ruleengine)
 
 ## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   hos_celix
   hos_cosgi_devicerepository
@@ -16,83 +14,19 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 ## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
 find_package(APR REQUIRED)
 find_package(CELIX REQUIRED)
 find_package(Boost REQUIRED)
 find_package(libvariant REQUIRED)
 
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
 
 ###################################
 ## catkin specific configuration ##
 ###################################
-## The catkin_package macro generates cmake config files for your package
+
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
   INCLUDE_DIRS include/${PROJECT_NAME}/
-#  LIBRARIES hos_cosgi_ruleengine
+  CATKIN_DEPENDS hos_celix hos_cosgi_core hos_cpp_utils roscpp
-  CATKIN_DEPENDS hos_celix hos_cosgi_devicerepository hos_cosgi_core hos_cpp_utils hos_deps roscpp hos_cpp_cron hos_cosgi_scripting
-#  DEPENDS system_lib
 )
 
 ###########
@@ -103,14 +37,11 @@ add_definitions(
 	-std=c++11
 )
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
 include_directories(
+	include/${PROJECT_NAME}/
 	${catkin_INCLUDE_DIRS}
 	${APR_INCLUDE_DIR}
 	${APR_INCLUDE_DIR}/apr-1.0
-	include/${PROJECT_NAME}/
 	${libvariant_INCLUDE_DIR}
 )
 
@@ -129,28 +60,13 @@ bundle(hos_cosgi_ruleengine
 	${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}
 	${APR_LIBRARIES}
 	${libvariant_LIBRARY}
 )
 
-## Declare a cpp library
-# add_library(hos_cosgi_ruleengine
-#   src/${PROJECT_NAME}/hos_cosgi_ruleengine.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(hos_cosgi_ruleengine_node src/hos_cosgi_ruleengine_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(hos_cosgi_ruleengine_node hos_cosgi_ruleengine_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(hos_cosgi_ruleengine_node
-#   ${catkin_LIBRARIES}
-# )
 
 #############
 ## Install ##
@@ -167,46 +83,21 @@ install(FILES
 	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bundles
 )
 
-# all install targets should use catkin DESTINATION variables
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+   OPTIONAL
+)
 
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
 
-## Mark executables and/or libraries for installation
+###################
-# install(TARGETS hos_cosgi_ruleengine hos_cosgi_ruleengine_node
+## Documentation ##
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+###################
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
 
-## Mark cpp header files for installation
+find_package(Doxygen)
-# install(DIRECTORY include/${PROJECT_NAME}/
+if(DOXYGEN_FOUND)
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
-#   FILES_MATCHING PATTERN "*.h"
+	add_custom_target(doc
-#   PATTERN ".svn" EXCLUDE
+		${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
-# )
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-
+	)
-## Mark other files for installation (e.g. launch and bag files, etc.)
+endif(DOXYGEN_FOUND)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_cosgi_ruleengine.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

src/hos_cosgi_ruleengine/Doxyfile.in

@@ -0,0 +1,248 @@
+# Doxyfile 1.8.8
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = hos_cosgi_ruleengine
+OUTPUT_DIRECTORY       = doc
+CREATE_SUBDIRS         = NO
+ALLOW_UNICODE_NAMES    = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = NO
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 4
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+MARKDOWN_SUPPORT       = YES
+AUTOLINK_SUPPORT       = YES
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+IDL_PROPERTY_SUPPORT   = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+INLINE_GROUPED_CLASSES = NO
+INLINE_SIMPLE_STRUCTS  = NO
+TYPEDEF_HIDES_STRUCT   = NO
+LOOKUP_CACHE_SIZE      = 0
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = NO
+EXTRACT_PACKAGE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = NO
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+SHOW_GROUPED_MEMB_INC  = NO
+FORCE_LOCAL_INCLUDES   = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_MEMBERS_CTORS_1ST = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+STRICT_PROTO_MATCHING  = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_FILES             = YES
+SHOW_NAMESPACES        = YES
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = @CMAKE_CURRENT_SOURCE_DIR@/include \
+                         @CMAKE_CURRENT_SOURCE_DIR@/src
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.f90 \
+                         *.f \
+                         *.for \
+                         *.tcl \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.as \
+                         *.js
+RECURSIVE              = YES
+EXCLUDE_SYMLINKS       = NO
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = NO
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = NO
+REFERENCES_RELATION    = NO
+REFERENCES_LINK_SOURCE = YES
+SOURCE_TOOLTIPS        = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 100
+HTML_COLORSTYLE_GAMMA  = 80
+HTML_TIMESTAMP         = YES
+HTML_DYNAMIC_SECTIONS  = NO
+HTML_INDEX_NUM_ENTRIES = 100
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+DOCSET_PUBLISHER_NAME  = Publisher
+GENERATE_HTMLHELP      = NO
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+GENERATE_QHP           = NO
+QHP_NAMESPACE          = org.doxygen.Project
+QHP_VIRTUAL_FOLDER     = doc
+GENERATE_ECLIPSEHELP   = NO
+ECLIPSE_DOC_ID         = org.doxygen.Project
+DISABLE_INDEX          = NO
+GENERATE_TREEVIEW      = YES
+ENUM_VALUES_PER_LINE   = 4
+TREEVIEW_WIDTH         = 250
+EXT_LINKS_IN_WINDOW    = NO
+FORMULA_FONTSIZE       = 10
+FORMULA_TRANSPARENT    = YES
+USE_MATHJAX            = NO
+MATHJAX_FORMAT         = HTML-CSS
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+SEARCHENGINE           = YES
+SERVER_BASED_SEARCH    = NO
+EXTERNAL_SEARCH        = NO
+SEARCHDATA_FILE        = searchdata.xml
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+EXTERNAL_PAGES         = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = NO
+DOT_NUM_THREADS        = 0
+DOT_FONTNAME           = Helvetica
+DOT_FONTSIZE           = 10
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+UML_LIMIT_NUM_FIELDS   = 10
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = YES
+INCLUDED_BY_GRAPH      = YES
+CALL_GRAPH             = NO
+CALLER_GRAPH           = NO
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+DOT_IMAGE_FORMAT       = png
+INTERACTIVE_SVG        = NO
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 0
+DOT_TRANSPARENT        = NO
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES

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

@@ -16,6 +16,14 @@ namespace libvariant { class Variant; }
 namespace hos {
 namespace cosgi {
 namespace service {
+
+
+// forward declarations
+namespace devicerepository { class DeviceRepositoryService; }
+namespace core { class CoreService; }
+
+
+// service namespace
 namespace ruleengine {
 
 
@@ -92,6 +100,30 @@ public:
 	 * \param[in] factory rule condition factory.
 	 */
 	virtual void registerRuleConditionFactory(const std::string& type, std::shared_ptr<RuleConditionFactory> factory) noexcept = 0;
+
+
+	/* Interface for third-party conditions. */
+
+	/**
+	 * Returns the rule condition factory responsible for the given condition type.
+	 *
+	 * \param[in] type condition type identifier.
+	 */
+	virtual RuleConditionFactory* getRuleConditionFactory(const std::string& type) noexcept = 0;
+
+	/**
+	 * Returns a reference to the device repository service.
+	 *
+	 * \return device respository service.
+	 */
+	virtual devicerepository::DeviceRepositoryService* getDeviceRepository() noexcept = 0;
+
+	/**
+	 * Returns a reference to the core service.
+	 *
+	 * \return core service.
+	 */
+	virtual core::CoreService* getCoreService() noexcept = 0;
 };
 
 

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

@@ -126,13 +126,6 @@ public:
 	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;
-
 };
 
 

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

@@ -3,6 +3,7 @@
 
 
 #include "RuleCondition.h"
+#include <hos/cosgi/service/Implementation.h>
 
 
 
@@ -20,7 +21,8 @@ namespace conditions {
  * Base class for condition implementations.
  */
 class RuleConditionImpl
-	: public virtual RuleCondition {
+	: public virtual RuleCondition,
+	  public implementation::Object {
 
 protected:
 

src/hos_cosgi_ruleengine/src/BundleActivator.cpp

@@ -1,29 +1,21 @@
-/*
- * bundle_activator.cpp
- *
- *  Created on: 26.04.2015
- *      Author: matzman
- */
 
+// std
 #include <cstdlib>
 #include <cstdio>
-
+#include <string>
-#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/CoreService.h>
-#include "hos/cosgi/service/ruleengine/RuleEngineServiceImpl.h"
 #include <memory>
 #include <mutex>
+// ROS
+#include <ros/ros.h>
+// APR
+#include <apr_general.h>
+// Celix
+#include <hos/cosgi/celix.h>
+// CoreService
+#include "hos/cosgi/service/ruleengine/RuleEngineServiceImpl.h"
+#include <hos/cosgi/service/core/CoreService.h>
+#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+
 
 
 using namespace hos::cosgi::service::ruleengine;
@@ -32,6 +24,8 @@ 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;
@@ -41,40 +35,49 @@ 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) {
 		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
+
+		// Register rule engine 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) {
@@ -83,6 +86,7 @@ celix_status_t bundleActivator_create(bundle_context_pt context, void **userData
 			*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);
@@ -91,17 +95,21 @@ 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) {
 		UserData* myUserData = (UserData*)userData;
-		// Create hos-devicerepository-service
+
+		// Create rule engine service
 		if (myUserData->serviceReg != nullptr) {
 			serviceRegistration_unregister(myUserData->serviceReg);
 			myUserData->serviceReg = nullptr;
 		}
 		myUserData->serviceImpl.reset(new RuleEngineServiceImpl());
-		// Get HOS Core Service
+
+		// Get core Service
 		service_reference_pt ref = nullptr;
 		bundleContext_getServiceReference(context, (char*)CoreService::SERVICE_NAME, &ref);
 		CoreService* coreService = nullptr;
@@ -111,7 +119,8 @@ celix_status_t bundleActivator_start(void * userData, bundle_context_pt context)
 		} else {
 			myUserData->serviceImpl->setCoreService(coreService);
 		}
-		// Get HOS Core Service
+
+		// Get device repository service
 		service_reference_pt ref2 = nullptr;
 		bundleContext_getServiceReference(context, (char*)DeviceRepositoryService::SERVICE_NAME, &ref2);
 		DeviceRepositoryService* repoService = nullptr;
@@ -119,14 +128,17 @@ celix_status_t bundleActivator_start(void * userData, bundle_context_pt context)
 		if (repoService) {
 			myUserData->serviceImpl->setRepoService(repoService);
 		}
-		// Register hos-devicerepository-service
+
+		// Register rule engine 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");
@@ -134,6 +146,8 @@ 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) {
@@ -154,6 +168,8 @@ 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) {

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

@@ -1,41 +1,44 @@
-/*
- * hos_ruleengine_service_impl.cpp
- *
- *  Created on: 26.04.2015
- *      Author: matzman
- */
 
-#include <ros/ros.h>
+#include "RuleEngineServiceImpl.h"
+// std
 #include <exception>
 #include <iostream>
 #include <unordered_set>
+// ROS
+#include <ros/ros.h>
+// libvariant
 #include <Variant/Variant.h>
-#include <celix/bundle_context.h>
+// HOS
 #include <hos/cosgi/service/core/CoreService.h>
 #include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
-#include <Variant/Variant.h>
+#include <hos/utils/SchemaLoader.h>
-
+// HOS internal
-#include "RuleEngineServiceImpl.h"
-
 #include "rules/conditions/LogicalAndCondition.h"
 #include "rules/conditions/LogicalOrCondition.h"
 #include "rules/conditions/DeviceMsgCondition.h"
 #include "rules/RulePackageImpl.h"
 
 
+
+// Service Namespace
 namespace hos {
 namespace cosgi {
 namespace service {
 namespace ruleengine {
 
+
 using namespace ::libvariant;
 
 
-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) {
+// Service information
+template<> const char* implementation::ServiceInfo<RuleEngineServiceImpl>::name = service::ruleengine::RuleEngineService::SERVICE_NAME;
+template<> const int implementation::ServiceInfo<RuleEngineServiceImpl>::major = 1;
+template<> const int implementation::ServiceInfo<RuleEngineServiceImpl>::minor = 0;
+
+
+
+void RuleEngineServiceImpl::setCoreService(service::core::CoreService* coreService) noexcept {
 	if (coreService && !this->coreService) {
 		this->coreService = coreService;
 		this->nodehandle = &coreService->getPrivateNodeHandle();
@@ -48,7 +51,8 @@ void RuleEngineServiceImpl::setCoreService(service::core::CoreService* coreServi
 	}
 }
 
-void RuleEngineServiceImpl::setRepoService(devicerepository::DeviceRepositoryService* repoService) {
+
+void RuleEngineServiceImpl::setRepoService(devicerepository::DeviceRepositoryService* repoService) noexcept {
 	if (repoService && !this->repoService) {
 		this->repoService = repoService;
 		int major = 0, minor = 0;
@@ -60,16 +64,21 @@ void RuleEngineServiceImpl::setRepoService(devicerepository::DeviceRepositorySer
 	}
 }
 
-void RuleEngineServiceImpl::init() {
+
+void RuleEngineServiceImpl::init() noexcept {
+	// Get public parameters
 	nodehandle->getParam("ruleengine_prefix", ruleEnginePrefix);
-	XmlRpc::XmlRpcValue rawValue;
+
-	nodehandle->getParam(ruleEnginePrefix, rawValue);
+	// Register condition factories
-	schemaLoader.reset(new utils::SchemaLoader());
 	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>());
+
+	// Create rule packages
+	XmlRpc::XmlRpcValue rawValue;
+	nodehandle->getParam(ruleEnginePrefix, rawValue);
 	if (rawValue.getType() == XmlRpc::XmlRpcValue::TypeStruct) {
 		for (auto pkg : rawValue) {
 			std::string pname = pkg.first;
@@ -82,11 +91,13 @@ void RuleEngineServiceImpl::init() {
 			}
 		}
 	}
+
 	initialized = true;
 	ROS_INFO_STREAM("RuleEngineService: Initialized and Ready.");
 }
 
-void RuleEngineServiceImpl::addRulePkg(std::string name) {
+
+void RuleEngineServiceImpl::addRulePkg(const std::string& name) {
 	std::stringstream ss;
 	ss << ruleEnginePrefix << "/" << name;
 	XmlRpc::XmlRpcValue rawValue;
@@ -94,20 +105,26 @@ void RuleEngineServiceImpl::addRulePkg(std::string name) {
 	addRulePkg(name, static_cast<std::string>(rawValue));
 }
 
-void RuleEngineServiceImpl::addRulePkg(std::string name, std::string rawValue) {
+
-	Variant s = schemaLoader->GetSchema(std::string("hos:schema://core/configs/rulepackage"));
+void RuleEngineServiceImpl::addRulePkg(const std::string& name, const std::string& rawValue) {
+	// Validate config
+	auto schemaLoader = coreService->getSchemaLoader();
+	Variant s = schemaLoader.GetSchema(std::string("hos:schema://core/configs/rulepackage"));
 	Variant m = Deserialize(rawValue, SERIALIZE_JSON);
-	SchemaResult sr = SchemaValidate(s, m, schemaLoader.get());
+	SchemaResult sr = SchemaValidate(s, m, &schemaLoader);
 	if (!sr.Error()) {
+
+		// Crerate rule package
 		std::shared_ptr<rules::RulePackageImpl> pkg = rules::RulePackageImpl::createRulePackage(this, name, m);
 		if (pkg) {
-			if (pkg->getScriptingService()) {
+			if (pkg->getScriptingService()) { // we have a suitable scripting service
 				rulePkgs.insert({name, pkg});
 				pkg->setEnabled(true);
-			} else {
+			} else { // we don't have a suitable scripting service
 				noExecRulePkgs.insert({name, pkg});
 				std::cout << "No execution service found for rule package \"" << name << "\"" << std::endl;
 			}
+
 		} else {
 			throw std::runtime_error("Unknown error during rule package creation.");
 		}
@@ -124,11 +141,14 @@ void RuleEngineServiceImpl::addRulePkg(std::string name, std::string rawValue) {
 	}
 }
 
-void RuleEngineServiceImpl::removeRulePkg(std::string name) {
+
+void RuleEngineServiceImpl::removeRulePkg(const std::string& name) noexcept {
 	rulePkgs.erase(name);
+	noExecRulePkgs.erase(name);
 }
 
-void RuleEngineServiceImpl::addExecutionBackend(scripting::ScriptingService* service) {
+
+void RuleEngineServiceImpl::addExecutionBackend(scripting::ScriptingService* service) noexcept {
 	if (execServices.find(service->getLanguage()) == execServices.end()) {
 		execServices.insert({service->getLanguage(), service});
 		ROS_INFO_STREAM("RuleEngineService: Added execution service \"" << service->getLanguage() << "\".");
@@ -136,7 +156,7 @@ void RuleEngineServiceImpl::addExecutionBackend(scripting::ScriptingService* ser
 }
 
 
-scripting::ScriptingService* RuleEngineServiceImpl::getExecutionBackend(std::string language) {
+scripting::ScriptingService* RuleEngineServiceImpl::getExecutionBackend(const std::string& language) noexcept {
 	auto s = execServices.find(language);
 	if (s != execServices.end()) {
 		return s->second;
@@ -150,6 +170,15 @@ void RuleEngineServiceImpl::registerRuleConditionFactory(const std::string& type
 }
 
 
+RuleConditionFactory* RuleEngineServiceImpl::getRuleConditionFactory(const std::string& type) noexcept {
+	RuleConditionFactory* retval = nullptr;
+	try {
+		retval = condFactories.at(type).get();
+	} catch(...) {}
+	return retval;
+}
+
+
 std::weak_ptr<rules::RulePackage> RuleEngineServiceImpl::getRulePackage(const std::string& name) noexcept {
 	std::weak_ptr<rules::RulePackage> retval;
 	try {
@@ -165,12 +194,19 @@ std::weak_ptr<rules::RulePackage> RuleEngineServiceImpl::getRulePackage(const st
 
 
 std::vector<std::weak_ptr<rules::RulePackage>> RuleEngineServiceImpl::getRulePackages() noexcept {
-
+	std::vector<std::weak_ptr<rules::RulePackage>> retval;
+	for (auto p : rulePkgs) {
+		retval.push_back(p.second);
+	}
+	for (auto p : noExecRulePkgs) {
+		retval.push_back(p.second);
+	}
+	return retval;
 }
 
 
 size_t RuleEngineServiceImpl::getRulePackageCount() noexcept {
-
+	return rulePkgs.size() + noExecRulePkgs.size();
 }
 
 
@@ -180,9 +216,3 @@ size_t RuleEngineServiceImpl::getRulePackageCount() noexcept {
 } // namespace cosgi
 } // namespace hos
 
-
-
-
-
-
-

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

@@ -2,38 +2,26 @@
 #pragma once
 
 
-
+#include <hos/cosgi/service/ruleengine/RuleEngineService.h>
-#include <mutex>
+// hos includes
-#include <map>
+#include <hos/cosgi/service/core/CoreService.h>
-#include <set>
+#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+#include <hos/cosgi/service/scripting/ScriptingService.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>
-#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+// ROS includes
-#include <hos/cosgi/service/Implementation.h>
-#include <hos/cosgi/service/ruleengine/RuleEngineService.h>
-#include <hos/cosgi/service/scripting/ScriptingService.h>
 #include <ros/ros.h>
+// std includes
+#include <mutex>
+#include <map>
+#include <set>
 #include <memory>
 #include <string>
 
 
-// Forward declarations
-namespace XmlRpc {
-class XmlRpcValue;
-}
-namespace hos {
-namespace cosgi {
-namespace service {
-namespace core {
-class CoreService;
-}
-}
-}
-}
-
-
 
 // Service Namespace
 namespace hos {
@@ -41,12 +29,17 @@ namespace cosgi {
 namespace service {
 namespace ruleengine {
 
+
+// Forward declaration
 namespace rules {
 class RulePackageImpl;
 }
 
 
 
+/**
+ * Implementation of RuleEngineService.
+ **/
 class RuleEngineServiceImpl :
 		public virtual RuleEngineService,
 		public implementation::Service<RuleEngineServiceImpl> {
@@ -67,57 +60,52 @@ private:
 	execServiceMap_t execServices;
 	condFactoryMap_t condFactories;
 
-	std::unique_ptr<utils::SchemaLoader> schemaLoader;
-
 	bool initialized = false;
 
-	void addRulePkg(std::string name);
+	void addRulePkg(const std::string& name);
-	void addRulePkg(std::string name, std::string rawValue);
+	void addRulePkg(const std::string& name, const std::string& rawValue);
-	void removeRulePkg(std::string name);
+	void removeRulePkg(const std::string& name) noexcept;
 
-	void init();
+	void init() noexcept;
 
 public:
 
 	/* Initialization */
 
-	void setCoreService(service::core::CoreService* coreService);
+	void setCoreService(service::core::CoreService* coreService) noexcept;
 
-	void setRepoService(devicerepository::DeviceRepositoryService* repoService);
+	void setRepoService(devicerepository::DeviceRepositoryService* repoService) noexcept;
 
 
 	/* Public Service Implementations */
 
 	virtual void registerRuleConditionFactory(const std::string& type, std::shared_ptr<RuleConditionFactory> factory) noexcept override;
 
+	virtual RuleConditionFactory* getRuleConditionFactory(const std::string& type) 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;
 
-
+	virtual devicerepository::DeviceRepositoryService* getDeviceRepository() 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];
-	}
-
-	utils::SchemaLoader* getHOSSchemaLoader() {
-		return schemaLoader.get();
-	}
-
-	devicerepository::DeviceRepositoryService* getDeviceRepository() {
 		return repoService;
 	}
 
+	virtual core::CoreService* getCoreService() noexcept override {
+		return coreService;
+	}
+
+
+	/* Internal */
+
+	bool isInitialized() noexcept { return initialized; }
+
+	void addExecutionBackend(scripting::ScriptingService* service) noexcept;
+
+	scripting::ScriptingService* getExecutionBackend(const std::string& language) noexcept;
+
 };
 
 

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

@@ -1,24 +1,11 @@
-/*
- * Rule.cpp
- *
- *  Created on: 29.04.2015
- *      Author: matzman
- */
 
-
+#include "RuleImpl.h"
-#include "../rules/RuleImpl.h"
+#include "RulePackageImpl.h"
-
+#include "../RuleEngineServiceImpl.h"
-#include <ros/ros.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 <Variant/Variant.h>
 
-#include "../rules/RulePackageImpl.h"
-
-#include "../RuleEngineServiceImpl.h"
 
 
 namespace hos {
@@ -28,19 +15,18 @@ namespace ruleengine {
 namespace rules {
 
 
-RuleImpl::RuleImpl(RulePackageImpl* parent, std::string name)
-		: parent(parent), name(name) {}
 
 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, parent->parent->getHOSSchemaLoader());
+			auto schemaLoader = parent->getParent()->getCoreService()->getSchemaLoader();
+			SchemaResult sr = SchemaValidate(Variant(), condition, &schemaLoader);
 			if (sr.Error()) {
 				throw std::runtime_error(sr.PrettyPrintMessage());
 			}
 		}
-		auto conditionFactory = parent->getConditionFactory(condition["type"].AsString());
+		auto conditionFactory = parent->getParent()->getRuleConditionFactory(condition["type"].AsString());
 		if (conditionFactory) {
 			auto cond = conditionFactory->createCondition(this, condition);
 			if (cond) {
@@ -57,7 +43,8 @@ std::shared_ptr<conditions::RuleCondition> RuleImpl::createRuleCondition(const V
 	return retval;
 }
 
-std::shared_ptr<RuleImpl> RuleImpl::createRule(RulePackageImpl* parent, std::string name, Variant raw) {
+
+std::shared_ptr<RuleImpl> RuleImpl::createRule(RulePackageImpl* parent, const std::string& name, const Variant& raw) {
 	std::shared_ptr<RuleImpl> retval;
 	if (!parent->getRule(name).expired()) {
 		throw std::runtime_error("Rule with the same name already exists.");
@@ -102,10 +89,6 @@ std::shared_ptr<RuleImpl> RuleImpl::createRule(RulePackageImpl* parent, std::str
 }
 
 
-devicerepository::DeviceRepositoryService* RuleImpl::getDeviceRepository() noexcept {
-	return parent->parent->getDeviceRepository();
-}
-
 void RuleImpl::setEnabled(bool enabled) noexcept {
 	if (this->enabled != enabled) {
 		if (condition) {
@@ -126,6 +109,7 @@ void RuleImpl::executeScript(const libvariant::Variant& lContext) {
 	}
 }
 
+
 void RuleImpl::executeExitScript(const libvariant::Variant& lContext) {
 	if (enabled && exitScript) {
 		try {
@@ -169,8 +153,11 @@ void RuleImpl::conditionStateChanged(bool newState, const conditions::ConditionT
 		}
 }
 
+
+
 } /* namespace rule */
 } /* namespace ruleengine */
 } /* namespace service */
 } /* namespace cosgi */
 } /* namespace hos */
+

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

@@ -2,92 +2,88 @@
 #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 <hos/cosgi/service/ruleengine/rules/conditions/RuleCondition.h>
-
+#include <hos/cosgi/service/devicerepository/DeviceRepositoryService.h>
+#include <hos/cosgi/service/scripting/ScriptingService.h>
 #include "RulePackageImpl.h"
+#include <Variant/Variant.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;
-}
-}
-
 
+// main namespace
 namespace hos {
 namespace cosgi {
 namespace service {
 namespace ruleengine {
 namespace rules {
 
-using namespace ::libvariant;
 
-class RuleImpl : public virtual Rule {
+using namespace libvariant;
+
+
+
+/**
+ * Implementation of Rule.
+ */
+class RuleImpl
+	: public virtual Rule,
+	  public implementation::Object {
+
 private:
+
+	RulePackageImpl* parent;
+	std::string name;
 	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);
+	/* Initialization */
-	static std::shared_ptr<RuleImpl> createRule(RulePackageImpl* parent, const std::string name, Variant raw);
 
-	virtual RulePackage* getParent() noexcept {
+	RuleImpl(RulePackageImpl* parent, const std::string& name)
-		return parent->castPtr<RulePackage>();
+		: parent(parent), name(name) {}
+
+	static std::shared_ptr<RuleImpl> createRule(RulePackageImpl* parent, const std::string& name, const Variant& raw);
+
+
+	/* Public Service Implementations */
+
+	virtual RulePackage* getParent() noexcept override {
+		return parent;
 	}
 
-	virtual const std::string& getName() noexcept {
+	virtual const std::string& getName() noexcept override {
 		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;
+	virtual 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;
+
 };
 
 

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

@@ -1,31 +1,24 @@
-/*
- * RulePackage.cpp
- *
- *  Created on: 29.04.2015
- *      Author: matzman
- */
 
+#include "RulePackageImpl.h"
 #include "RuleImpl.h"
-
 #include <ros/ros.h>
 #include <exception>
 #include <Variant/Variant.h>
 
-#include "../RuleEngineServiceImpl.h"
-#include "RulePackageImpl.h"
 
+
+// main namespace
 namespace hos {
 namespace cosgi {
 namespace service {
 namespace ruleengine {
 namespace rules {
 
-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) {}
 
-RulePackageImpl::~RulePackageImpl() {}
 
-std::shared_ptr<RulePackageImpl> RulePackageImpl::createRulePackage(service::ruleengine::RuleEngineServiceImpl* parent, std::string name, Variant raw) {
+std::shared_ptr<RulePackageImpl> RulePackageImpl::createRulePackage( 	service::ruleengine::RuleEngineServiceImpl* parent,
+																		const std::string& name,
+																		const Variant& raw ) {
 	std::shared_ptr<RulePackageImpl> retval;
 	if (!parent->getRulePackage(name).expired()) {
 		std::stringstream ss;
@@ -33,18 +26,28 @@ std::shared_ptr<RulePackageImpl> RulePackageImpl::createRulePackage(service::rul
 		throw std::runtime_error(ss.str());
 	}
 	if (raw.IsMap()) {
+
+		// language
 		std::string language;
 		if (raw.HasPath("language") && raw["language"].IsString()) {
 			language = raw["language"].AsString();
 		} else {
 			throw std::runtime_error("Rule package JSON is missing language parameter or parameter has wrong type.");
 		}
+
+		// create rule package
 		retval = std::make_shared<RulePackageImpl>(parent, name, language, raw);
+
+		// retrieve scripting service
 		retval->executionService = parent->getExecutionBackend(retval->language);
 		if (retval->executionService) {
+
+			// create global script context
 			if (raw.HasPath("globalcontext")) {
 				retval->globalContext = retval->executionService->createGlobalScriptContext(raw["globalcontext"]);
 			}
+
+			// create rules
 			if (raw.HasPath("rules") && raw["rules"].IsMap()) {
 				for (auto r : raw["rules"].AsMap()) {
 					try {
@@ -59,6 +62,7 @@ std::shared_ptr<RulePackageImpl> RulePackageImpl::createRulePackage(service::rul
 				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.");
 			}
@@ -78,18 +82,15 @@ std::weak_ptr<Rule> RulePackageImpl::getRule(const std::string& name) noexcept {
 	return retval;
 }
 
+
 std::vector<std::weak_ptr<Rule>> RulePackageImpl::getRules() noexcept {
 	std::vector<std::weak_ptr<Rule>> retval;
 	for (auto item : this->rules) {
-		retval.push_back(dynamic_pointer_cast<Rule>(item.second));
+		retval.push_back(std::static_pointer_cast<Rule>(item.second));
 	}
 	return retval;
 }
 
-std::shared_ptr<RuleConditionFactory> RulePackageImpl::getConditionFactory(std::string type) {
-	return parent->getRuleConditionFactory(type);
-}
-
 
 void RulePackageImpl::setEnabled(bool enabled) noexcept {
 	if (this->enabled != enabled) {
@@ -107,3 +108,4 @@ void RulePackageImpl::setEnabled(bool enabled) noexcept {
 } /* namespace service */
 } /* namespace cosgi */
 } /* namespace hos */
+

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

@@ -2,93 +2,110 @@
 #pragma once
 
 
-
 #include <hos/cosgi/service/ruleengine/rules/RulePackage.h>
 #include <hos/cosgi/service/scripting/ScriptingService.h>
 #include "../RuleEngineServiceImpl.h"
+#include <Variant/Variant.h>
 #include <vector>
 #include <map>
 #include <memory>
 #include <string>
-#include <Variant/Variant.h>
+
+
+
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace ruleengine {
+namespace rules {
 
 
 // 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;
 
+
+
+/**
+ * Implementation of RulePackage.
+ */
 class RulePackageImpl
-	: public virtual RulePackage {
+	: public virtual RulePackage,
+	  public implementation::Object {
 
 private:
 
 	typedef std::map<std::string, std::shared_ptr<RuleImpl>> ruleMap_t;
 
+
+	service::ruleengine::RuleEngineServiceImpl* parent;
+	std::string name;
+	std::string language;
+	Variant rawValue;
+
 	service::scripting::ScriptingService* executionService = nullptr;
 	std::shared_ptr<scripting::GlobalScriptContext> globalContext;
 	ruleMap_t rules;
-	Variant rawValue;
-	bool enabled = false;
 
+	bool enabled = false;
 
 public:
 
-	static std::shared_ptr<RulePackageImpl> createRulePackage(service::ruleengine::RuleEngineServiceImpl* parent, std::string name, Variant raw);
+	/* Initialization */
-	RulePackageImpl(service::ruleengine::RuleEngineServiceImpl* parent, const std::string name, const std::string language, Variant raw);
-	virtual ~RulePackageImpl();
 
-	service::ruleengine::RuleEngineServiceImpl* const parent;
+	static std::shared_ptr<RulePackageImpl> createRulePackage( 	service::ruleengine::RuleEngineServiceImpl* parent,
-	const std::string name;
+																const std::string& name,
-	const std::string language;
+																const Variant& raw );
+
+	RulePackageImpl( 	service::ruleengine::RuleEngineServiceImpl* parent,
+						const std::string& name,
+						const std::string& language,
+						const Variant& raw )
+			: parent(parent), name(name), language(language), rawValue(raw) {}
+
+
+	/* Public Service Implementations */
 
 	virtual service::ruleengine::RuleEngineService* getParent() noexcept override {
-		return parent->castPtr<service::ruleengine::RuleEngineService>();
+		return 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 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 service::scripting::ScriptingService* getScriptingService() noexcept override {
-	virtual std::weak_ptr<scripting::GlobalScriptContext> getGlobalScriptContext() noexcept override { return globalContext; }
+		return executionService;
-	std::shared_ptr<service::ruleengine::RuleConditionFactory> getConditionFactory(std::string type);
+	}
+
+	virtual std::weak_ptr<scripting::GlobalScriptContext> getGlobalScriptContext() noexcept override {
+		return globalContext;
+	}
+
 };
 
+
+
 } /* namespace rules */
 } /* namespace ruleengine */
 } /* namespace service */

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

@@ -23,7 +23,7 @@ void DeviceMsgCondition::notificationReceived(interface::Observer<devicereposito
 			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);
+				parent->getParent()->getParent()->getDeviceRepository()->deleteObserver(devicerepository::DeviceEventType::DEVICE_ADDED, this);
 				_registerAsListener();
 			}
 			break;
@@ -32,7 +32,7 @@ void DeviceMsgCondition::notificationReceived(interface::Observer<devicereposito
 				ROS_ERROR_STREAM("Rule " << parent->getName() << ": Device " << deviceID << " disappeared.");
 				device->deleteObserver(this);
 				device = nullptr;
-				parent->getDeviceRepository()->addObserver(devicerepository::DeviceEventType::DEVICE_ADDED, this);
+				parent->getParent()->getParent()->getDeviceRepository()->addObserver(devicerepository::DeviceEventType::DEVICE_ADDED, this);
 			}
 			break;
 		default:
@@ -43,21 +43,22 @@ void DeviceMsgCondition::notificationReceived(interface::Observer<devicereposito
 void DeviceMsgCondition::setEnabled(bool enabled) noexcept {
 	if (this->enabled != enabled) {
 		if (enabled) {
-			auto repoService = parent->getDeviceRepository();
+			auto repoService = parent->getParent()->getParent()->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);
+				auto repoService = parent->getParent()->getParent()->getDeviceRepository();
+				repoService->addObserver(devicerepository::DeviceEventType::DEVICE_ADDED, this);
 			}
 		} else {
 			if (device) {
 				device->deleteObserver(this);
 				device = nullptr;
 			}
-			parent->getDeviceRepository()->deleteObserver(this);
+			parent->getParent()->getParent()->getDeviceRepository()->deleteObserver(this);
 		}
 		this->enabled = enabled;
 	}

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

@@ -8,7 +8,7 @@
 #include <set>
 
 
-// main Namespace
+// main namespace
 namespace hos {
 namespace cosgi {
 namespace service {

src/hos_cosgi_ruleengine/test/rulepkg01.json

@@ -1,6 +1,6 @@
 {
 	"language": "python",
-	"globalcontext": { "code": "print \"GlobalContext: Init!\"\nvar1 = 66.6\nvar2 = 0"},
+	"globalcontext": { "code": "print(\"GlobalContext: Init!\")\nvar1 = 66.6\nvar2 = 0"},
 	"rules": {
 		"rule01": {
 			"condition": {
@@ -15,16 +15,16 @@
 					}
 				]
 			},
-			"script": { "code": "global var2\nprint \"Hello World1: \" + str(var2)\nvar2 = var2 + 1\nimport __main__\nprint \"__main__.__dict__: \" + str(__main__.__dict__)\nprint \"event_type: \" + event_type\nprint \"devices: \" + str(Devices.keys())\nprint \"DeviceCount: \" + str(len(Devices))\nprint \"test: \" + str(Devices[\"dummySwitch1\"])" },
+			"script": { "code": "global var2\nprint(\"Hello World1: \" + str(var2))\nvar2 = var2 + 1\nimport __main__\nprint(\"__main__.__dict__: \" + str(__main__.__dict__))\nprint(\"event_type: \" + event_type)\nprint(\"devices: \" + str(Devices.keys()))\nprint(\"DeviceCount: \" + str(len(Devices)))\nprint(\"test: \" + str(Devices[\"dummySwitch1\"]))" },
-			"exitscript": { "code": "print \"Hello from exitscript1\"" }
+			"exitscript": { "code": "print(\"Hello from exitscript1\")" }
 		},
 		"rule02": {
 			"condition": {
 				"type": "devicestatechange",
 				"deviceid": "dummySwitch0"
 			},
-			"script": { "code": "print \"Hello World2: \" + str(var2)\nvar2 = var2 + 1\nimport __main__\nprint \"__main__.__dict__: \" + str(__main__.__dict__)\nprint \"test: \" + event_type" },
+			"script": { "code": "print(\"Hello World2: \" + str(var2))\nvar2 = var2 + 1\nimport __main__\nprint(\"__main__.__dict__: \" + str(__main__.__dict__))\nprint(\"test: \" + event_type)" },
-			"exitscript": { "code": "print \"Hello from exitscript2\"" }
+			"exitscript": { "code": "print(\"Hello from exitscript2\")" }
 		},
 		"rule03": {
 			"condition": {
@@ -37,8 +37,8 @@
 					}
 				]
 			},
-			"script": { "code": "print \"Hello World3: \" + str(var2)\nvar2 = var2 + 1\nimport __main__\nprint \"__main__.__dict__: \" + str(__main__.__dict__)\nprint \"test: \" + event_type" },
+			"script": { "code": "print(\"Hello World3: \" + str(var2))\nvar2 = var2 + 1\nimport __main__\nprint(\"__main__.__dict__: \" + str(__main__.__dict__))\nprint(\"test: \" + event_type)" },
-			"exitscript": { "code": "print \"Hello from exitscript2\"" }
+			"exitscript": { "code": "print(\"Hello from exitscript2\")" }
 		},
 		"rule04": {
 			"condition": {
@@ -53,7 +53,7 @@
 					}
 				]
 			},
-			"script": { "code": "print \"Dimmer 0 reached 100\"\nDevices[\"dummySwitch1\"].sendCommand({\"switch\": {\"set\": True}})" }
+			"script": { "code": "print(\"Dimmer 0 reached 100\")\nDevices[\"dummySwitch1\"].sendCommand({\"switch\": {\"set\": True}})" }
 		},
 		"rule05": {
 			"condition": {
@@ -68,7 +68,7 @@
 					}
 				]
 			},
-			"script": { "code": "print \"Dimmer 0 left 100\"\nDevices[\"dummySwitch1\"].sendCommand({\"switch\": {\"set\": False}})" }
+			"script": { "code": "print(\"Dimmer 0 left 100\")\nDevices[\"dummySwitch1\"].sendCommand({\"switch\": {\"set\": False}})" }
 		}
 	}
 }

src/hos_cosgi_scripting/CMakeLists.txt

@@ -2,91 +2,22 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hos_cosgi_scripting)
 
 ## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   hos_cosgi_core
   hos_deps
 )
 
-
+## System dependencies are found with CMake's conventions
 find_package(libvariant REQUIRED)
 
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
 ###################################
 ## catkin specific configuration ##
 ###################################
-## The catkin_package macro generates cmake config files for your package
+
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-  INCLUDE_DIRS include/${PROJECT_NAME}/
+	INCLUDE_DIRS include/${PROJECT_NAME}/
-#  LIBRARIES hos_cosgi_scripting
+	CATKIN_DEPENDS hos_cosgi_core
-  CATKIN_DEPENDS hos_cosgi_core hos_deps
-#  DEPENDS system_lib
 )
 
 ###########
@@ -99,26 +30,6 @@ include_directories(
 	${libvariant_INCLUDE_DIR}
 )
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-
-## Declare a cpp library
-# add_library(hos_cosgi_scripting
-#   src/${PROJECT_NAME}/hos_cosgi_scripting.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(hos_cosgi_scripting_node src/hos_cosgi_scripting_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(hos_cosgi_scripting_node hos_cosgi_scripting_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(hos_cosgi_scripting_node
-#   ${catkin_LIBRARIES}
-# )
 
 #############
 ## Install ##
@@ -130,46 +41,22 @@ install(DIRECTORY include/${PROJECT_NAME}/
 	FILES_MATCHING PATTERN "*.h"
 )
 
-# all install targets should use catkin DESTINATION variables
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+   OPTIONAL
+)
 
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
 
-## Mark executables and/or libraries for installation
+###################
-# install(TARGETS hos_cosgi_scripting hos_cosgi_scripting_node
+## Documentation ##
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+###################
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
 
-## Mark cpp header files for installation
+find_package(Doxygen)
-# install(DIRECTORY include/${PROJECT_NAME}/
+if(DOXYGEN_FOUND)
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
-#   FILES_MATCHING PATTERN "*.h"
+	add_custom_target(doc
-#   PATTERN ".svn" EXCLUDE
+		${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
-# )
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+	)
+endif(DOXYGEN_FOUND)
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_cosgi_scripting.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

src/hos_cosgi_scripting/Doxyfile.in

@@ -0,0 +1,247 @@
+# Doxyfile 1.8.8
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = hos_cosgi_scripting
+OUTPUT_DIRECTORY       = doc
+CREATE_SUBDIRS         = NO
+ALLOW_UNICODE_NAMES    = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = NO
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 4
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+MARKDOWN_SUPPORT       = YES
+AUTOLINK_SUPPORT       = YES
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+IDL_PROPERTY_SUPPORT   = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+INLINE_GROUPED_CLASSES = NO
+INLINE_SIMPLE_STRUCTS  = NO
+TYPEDEF_HIDES_STRUCT   = NO
+LOOKUP_CACHE_SIZE      = 0
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = NO
+EXTRACT_PACKAGE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = NO
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+SHOW_GROUPED_MEMB_INC  = NO
+FORCE_LOCAL_INCLUDES   = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_MEMBERS_CTORS_1ST = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+STRICT_PROTO_MATCHING  = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_FILES             = YES
+SHOW_NAMESPACES        = YES
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = @CMAKE_CURRENT_SOURCE_DIR@/include
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.f90 \
+                         *.f \
+                         *.for \
+                         *.tcl \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.as \
+                         *.js
+RECURSIVE              = YES
+EXCLUDE_SYMLINKS       = NO
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = NO
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = NO
+REFERENCES_RELATION    = NO
+REFERENCES_LINK_SOURCE = YES
+SOURCE_TOOLTIPS        = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 100
+HTML_COLORSTYLE_GAMMA  = 80
+HTML_TIMESTAMP         = YES
+HTML_DYNAMIC_SECTIONS  = NO
+HTML_INDEX_NUM_ENTRIES = 100
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+DOCSET_PUBLISHER_NAME  = Publisher
+GENERATE_HTMLHELP      = NO
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+GENERATE_QHP           = NO
+QHP_NAMESPACE          = org.doxygen.Project
+QHP_VIRTUAL_FOLDER     = doc
+GENERATE_ECLIPSEHELP   = NO
+ECLIPSE_DOC_ID         = org.doxygen.Project
+DISABLE_INDEX          = NO
+GENERATE_TREEVIEW      = YES
+ENUM_VALUES_PER_LINE   = 4
+TREEVIEW_WIDTH         = 250
+EXT_LINKS_IN_WINDOW    = NO
+FORMULA_FONTSIZE       = 10
+FORMULA_TRANSPARENT    = YES
+USE_MATHJAX            = NO
+MATHJAX_FORMAT         = HTML-CSS
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+SEARCHENGINE           = YES
+SERVER_BASED_SEARCH    = NO
+EXTERNAL_SEARCH        = NO
+SEARCHDATA_FILE        = searchdata.xml
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+EXTERNAL_PAGES         = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = NO
+DOT_NUM_THREADS        = 0
+DOT_FONTNAME           = Helvetica
+DOT_FONTSIZE           = 10
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+UML_LIMIT_NUM_FIELDS   = 10
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = YES
+INCLUDED_BY_GRAPH      = YES
+CALL_GRAPH             = NO
+CALLER_GRAPH           = NO
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+DOT_IMAGE_FORMAT       = png
+INTERACTIVE_SVG        = NO
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 0
+DOT_TRANSPARENT        = NO
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES

src/hos_cosgi_scripting_python/CMakeLists.txt

@@ -2,8 +2,6 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hos_cosgi_scripting_python)
 
 ## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   hos_celix
   hos_cosgi_core
@@ -13,106 +11,63 @@ find_package(catkin REQUIRED COMPONENTS
   hos_deps
 )
 
+set(USE_PYTHON_VERSION 2 CACHE STRING "Use Python version")
+
 ## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
 find_package(APR REQUIRED)
 find_package(CELIX REQUIRED)
-find_package(Boost REQUIRED COMPONENTS python)
 find_package(libvariant REQUIRED)
+find_package(PythonLibs ${USE_PYTHON_VERSION} REQUIRED)
 
+if (USE_PYTHON_VERSION EQUAL 2)
+	find_package(Boost REQUIRED COMPONENTS python)
+elseif(USE_PYTHON_VERSION EQUAL 3)
+	#find_package(Boost REQUIRED COMPONENTS python-py34)
+	
+	# Taken from http://code.metager.de/source/xref/lib/OpenImageIO/src/python/CMakeLists.txt:
+	#Finding the python3 component for boost is a little tricky, since it has
+	#different names on different systems. Try the most common ones
+	#(boost_python3, boost_python-py34, …).
+	foreach (_boost_py3_lib python3 python-py34 python-py33 python-py32)
+		find_package (Boost 1.42 QUIET COMPONENTS ${_boost_py3_lib})
+		string (TOUPPER ${_boost_py3_lib} boost_py3_lib_name)
+		if (Boost_${boost_py3_lib_name}_FOUND)
+			#Not the most beautiful thing to do, but that gets them included in
+			#the target_link_libraries(…) call farther down
+			set (Boost_PYTHON_LIBRARIES ${Boost_${boost_py3_lib_name}_LIBRARIES})
+			break ()
+		endif ()
+	endforeach ()
+	
+else()
+	message( FATAL_ERROR "Unsupported Python version ${USE_PYTHON_VERSION}" )
+endif()
 
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
 
 ###################################
 ## catkin specific configuration ##
 ###################################
-## The catkin_package macro generates cmake config files for your package
+
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
+	CATKIN_DEPENDS hos_celix hos_cosgi_core hos_cosgi_scripting hos_cpp_utils
-#  LIBRARIES hos_cosgi_ruleexecution_python
-  CATKIN_DEPENDS hos_celix hos_cosgi_core hos_cosgi_scripting hos_cpp_utils hos_deps hos_cosgi_devicerepository
-#  DEPENDS system_lib
 )
 
+
 ###########
 ## Build ##
 ###########
 
 add_definitions(
 	-std=c++11
+	-D_PYTHON_${USE_PYTHON_VERSION}_
 )
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
 include_directories(
 	${catkin_INCLUDE_DIRS}
 	${APR_INCLUDE_DIR}
 	${APR_INCLUDE_DIR}/apr-1.0
-	include
 	${libvariant_INCLUDE_DIR}
-	/usr/include/python2.7
+	${PYTHON_INCLUDE_DIRS}
 )
 
 set(BUNDLE_SYMBOLICNAME "hos.hos_scripting_python")
@@ -126,87 +81,41 @@ bundle(hos_cosgi_scripting_python
 	${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}
 	${APR_LIBRARIES}
 	${Boost_LIBRARIES}
-	${libvariant_LIBRARY}
+	${libvariant_LIBRARIES}
-	python2.7
+	${PYTHON_LIBRARIES}
 )
 
-## Declare a cpp library
-# add_library(hos_cosgi_ruleexecution_python
-#   src/${PROJECT_NAME}/hos_cosgi_ruleexecution_python.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(hos_cosgi_ruleexecution_python_node src/hos_cosgi_ruleexecution_python_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(hos_cosgi_ruleexecution_python_node hos_cosgi_ruleexecution_python_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(hos_cosgi_ruleexecution_python_node
-#   ${catkin_LIBRARIES}
-# )
 
 #############
 ## Install ##
 #############
 
-## Mark cpp header files for installation
-#install(DIRECTORY include/${PROJECT_NAME}/
-#	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#	FILES_MATCHING PATTERN "*.h"
-#)
-
 install(FILES
 	${CMAKE_BINARY_DIR}/hos_cosgi_scripting_python.zip
 	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bundles
 )
 
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+   OPTIONAL
+)
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
-## Mark executable scripts (Python etc.) for installation
+###################
-## in contrast to setup.py, you can choose the destination
+## Documentation ##
-# install(PROGRAMS
+###################
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
 
-## Mark executables and/or libraries for installation
+find_package(Doxygen)
-# install(TARGETS hos_cosgi_ruleexecution_python hos_cosgi_ruleexecution_python_node
+if(DOXYGEN_FOUND)
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	add_custom_target(doc
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+		${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
-# )
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+	)
+endif(DOXYGEN_FOUND)
 
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_cosgi_ruleexecution_python.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

src/hos_cosgi_scripting_python/Doxyfile.in

@@ -0,0 +1,247 @@
+# Doxyfile 1.8.8
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = hos_cosgi_scripting_python
+OUTPUT_DIRECTORY       = doc
+CREATE_SUBDIRS         = NO
+ALLOW_UNICODE_NAMES    = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = NO
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 4
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+MARKDOWN_SUPPORT       = YES
+AUTOLINK_SUPPORT       = YES
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+IDL_PROPERTY_SUPPORT   = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+INLINE_GROUPED_CLASSES = NO
+INLINE_SIMPLE_STRUCTS  = NO
+TYPEDEF_HIDES_STRUCT   = NO
+LOOKUP_CACHE_SIZE      = 0
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = NO
+EXTRACT_PACKAGE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = NO
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+SHOW_GROUPED_MEMB_INC  = NO
+FORCE_LOCAL_INCLUDES   = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_MEMBERS_CTORS_1ST = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+STRICT_PROTO_MATCHING  = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_FILES             = YES
+SHOW_NAMESPACES        = YES
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = @CMAKE_CURRENT_SOURCE_DIR@/src
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.f90 \
+                         *.f \
+                         *.for \
+                         *.tcl \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.as \
+                         *.js
+RECURSIVE              = YES
+EXCLUDE_SYMLINKS       = NO
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = NO
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = NO
+REFERENCES_RELATION    = NO
+REFERENCES_LINK_SOURCE = YES
+SOURCE_TOOLTIPS        = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 100
+HTML_COLORSTYLE_GAMMA  = 80
+HTML_TIMESTAMP         = YES
+HTML_DYNAMIC_SECTIONS  = NO
+HTML_INDEX_NUM_ENTRIES = 100
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+DOCSET_PUBLISHER_NAME  = Publisher
+GENERATE_HTMLHELP      = NO
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+GENERATE_QHP           = NO
+QHP_NAMESPACE          = org.doxygen.Project
+QHP_VIRTUAL_FOLDER     = doc
+GENERATE_ECLIPSEHELP   = NO
+ECLIPSE_DOC_ID         = org.doxygen.Project
+DISABLE_INDEX          = NO
+GENERATE_TREEVIEW      = YES
+ENUM_VALUES_PER_LINE   = 4
+TREEVIEW_WIDTH         = 250
+EXT_LINKS_IN_WINDOW    = NO
+FORMULA_FONTSIZE       = 10
+FORMULA_TRANSPARENT    = YES
+USE_MATHJAX            = NO
+MATHJAX_FORMAT         = HTML-CSS
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+SEARCHENGINE           = YES
+SERVER_BASED_SEARCH    = NO
+EXTERNAL_SEARCH        = NO
+SEARCHDATA_FILE        = searchdata.xml
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+EXTERNAL_PAGES         = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = NO
+DOT_NUM_THREADS        = 0
+DOT_FONTNAME           = Helvetica
+DOT_FONTSIZE           = 10
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+UML_LIMIT_NUM_FIELDS   = 10
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = YES
+INCLUDED_BY_GRAPH      = YES
+CALL_GRAPH             = NO
+CALLER_GRAPH           = NO
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+DOT_IMAGE_FORMAT       = png
+INTERACTIVE_SVG        = NO
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 0
+DOT_TRANSPARENT        = NO
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES

src/hos_cosgi_scripting_python/src/BundleActivator.cpp

@@ -46,7 +46,7 @@ celix_status_t cb_serviceChanged(void* listener, service_event_pt event) {
 			myUserData->serviceImpl->setRepoService(service);
 			checkReg = true;
 		}
-		// Register hos-devicerepository-service
+		// Register python scripting service
 		if (checkReg && !myUserData->serviceReg && myUserData->serviceImpl->isInitialized()) {
 			bundleContext_registerService(myUserData->bundleContext, (char*)PyScriptingService::SERVICE_NAME, myUserData->serviceImpl.get(), nullptr, &myUserData->serviceReg);
 		}

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

@@ -64,7 +64,13 @@ void PyScriptingService::init() noexcept {
 	ROS_INFO_STREAM("PyScriptingService: Python Version: " << version);
 
 	// Initialize HOS Python API
-	inithos();
+	#if defined ( _PYTHON_2_ )
+		inithos();
+	#elif defined ( _PYTHON_3_ )
+		init_module_hos();
+	#else
+		#error "Python version not defined"
+	#endif
 	deviceService.reset(new hosapi::PyDeviceRepositoryWrapper(repoService));
 
 	initialized = true;
@@ -109,12 +115,12 @@ std::shared_ptr<service::scripting::Script> PyScriptingService::createScript(con
 
 void PyScript::execute( std::shared_ptr<GlobalScriptContext> gContext, const libvariant::Variant& lContext )  {
 	try {
-		auto gCont = dynamic_pointer_cast<PyGlobalScriptContext>(gContext);
 
 		// Get global scope
 		boost::python::object* gscope;
 		if (gContext) {
-			gscope = &dynamic_pointer_cast<PyGlobalScriptContext>(gContext)->getPyObject();
+			auto gCont = dynamic_pointer_cast<PyGlobalScriptContext>(gContext);
+			gscope = &gCont->getPyObject();
 		} else {
 			gscope = &service->getPyDefaultScrope();
 		}

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

@@ -39,7 +39,8 @@ using namespace libvariant;
  * Python implementation of GlobalScriptContext.
  */
 class PyGlobalScriptContext
-	: public virtual service::scripting::GlobalScriptContext {
+	: public virtual service::scripting::GlobalScriptContext,
+	  public implementation::Object {
 
 private:
 
@@ -70,7 +71,8 @@ public:
  * Python implementation of Script.
  */
 class PyScript
-	: public virtual service::scripting::Script {
+	: public virtual service::scripting::Script,
+	  public implementation::Object {
 
 private:
 

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

@@ -12,7 +12,13 @@
 /**
  * This function declares the python hos module.
  */
-extern "C" void inithos();
+#if defined ( _PYTHON_2_ )
+	extern "C" void inithos();
+#elif defined ( _PYTHON_3_ )
+	extern "C" void init_module_hos();
+#else
+	#error "Python version not defined"
+#endif
 
 
 

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

@@ -48,14 +48,14 @@ boost::python::object convertVariantToBoostPython(const libvariant::Variant& var
 libvariant::Variant convertBoostPythonTovariant(const boost::python::object& obj) noexcept {
 	libvariant::Variant retval;
 	if (!obj.is_none()) {
-		if (PyObject_TypeCheck(obj.ptr(), &PyString_Type)) {
+		if (PyObject_TypeCheck(obj.ptr(), &PyUnicode_Type)) {
 			retval = libvariant::Variant(boost::python::extract<std::string>(obj));
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyBool_Type)) {
 			retval = libvariant::Variant(boost::python::extract<bool>(obj));
 		} else if (PyObject_TypeCheck(obj.ptr(), &PyFloat_Type)) {
 			retval = libvariant::Variant(boost::python::extract<double>(obj));
-		} else if (PyObject_TypeCheck(obj.ptr(), &PyInt_Type)) {
+		} else if (PyObject_TypeCheck(obj.ptr(), &PyLong_Type)) {
-			retval = libvariant::Variant(boost::python::extract<int>(obj));
+			retval = libvariant::Variant(boost::python::extract<long>(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++) {

src/hos_cosgi_webserver/CMakeLists.txt

@@ -2,8 +2,6 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hos_cosgi_webserver)
 
 ## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   hos_celix
   hos_cosgi_devicerepository
@@ -14,87 +12,23 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 ## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
 find_package(APR REQUIRED)
 find_package(CELIX REQUIRED)
 find_package(Boost REQUIRED)
 find_package(libvariant REQUIRED)
 find_package(libhttpserver REQUIRED)
 
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
 
 ###################################
 ## catkin specific configuration ##
 ###################################
-## The catkin_package macro generates cmake config files for your package
+
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
+	INCLUDE_DIRS include/${PROJECT_NAME}/
-#  LIBRARIES hos_cosgi_webserver
+	CATKIN_DEPENDS hos_celix hos_cosgi_core hos_cpp_utils roscpp
-#  CATKIN_DEPENDS hos_celix hos_cosgi_devicerepository hos_cosgi_core hos_cpp_utils hos_libhttpserver hos_libvariant roscpp
-#  DEPENDS system_lib
 )
 
+
 ###########
 ## Build ##
 ###########
@@ -103,15 +37,12 @@ add_definitions(
 	-std=c++11
 )
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
 include_directories(
+	include/${PROJECT_NAME}/
 	${catkin_INCLUDE_DIRS}
 	${APR_INCLUDE_DIR}
 	${APR_INCLUDE_DIR}/apr-1.0
-	include/${PROJECT_NAME}/
+	${libvariant_INCLUDE_DIRS}
-	${libvariant_INCLUDE_DIR}
 	${libhttpserver_INCLUDE_DIRS}
 )
 
@@ -126,6 +57,7 @@ bundle(hos_cosgi_webserver
 	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/resources/DevicesHTTPResource
 	${PROJECT_SOURCE_DIR}/src/hos/cosgi/service/webserver/resources/SchemaHTTPResource
 )
+
 target_link_libraries(hos_cosgi_webserver
 	${catkin_LIBRARIES}
 	${APR_LIBRARIES}
@@ -134,23 +66,6 @@ target_link_libraries(hos_cosgi_webserver
 )
 
 
-## Declare a cpp library
-# add_library(hos_cosgi_webserver
-#   src/${PROJECT_NAME}/hos_cosgi_webserver.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(hos_cosgi_webserver_node src/hos_cosgi_webserver_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(hos_cosgi_webserver_node hos_cosgi_webserver_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(hos_cosgi_webserver_node
-#   ${catkin_LIBRARIES}
-# )
-
 #############
 ## Install ##
 #############
@@ -166,47 +81,22 @@ install(FILES
 	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/bundles
 )
 
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+   OPTIONAL
+)
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
-## Mark executable scripts (Python etc.) for installation
+###################
-## in contrast to setup.py, you can choose the destination
+## Documentation ##
-# install(PROGRAMS
+###################
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
 
-## Mark executables and/or libraries for installation
+find_package(Doxygen)
-# install(TARGETS hos_cosgi_webserver hos_cosgi_webserver_node
+if(DOXYGEN_FOUND)
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	add_custom_target(doc
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+		${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
-# )
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+	)
+endif(DOXYGEN_FOUND)
 
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_cosgi_webserver.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

src/hos_cosgi_webserver/Doxyfile.in

@@ -0,0 +1,248 @@
+# Doxyfile 1.8.8
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = hos_cosgi_webserver
+OUTPUT_DIRECTORY       = doc
+CREATE_SUBDIRS         = NO
+ALLOW_UNICODE_NAMES    = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = NO
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 4
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+MARKDOWN_SUPPORT       = YES
+AUTOLINK_SUPPORT       = YES
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+IDL_PROPERTY_SUPPORT   = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+INLINE_GROUPED_CLASSES = NO
+INLINE_SIMPLE_STRUCTS  = NO
+TYPEDEF_HIDES_STRUCT   = NO
+LOOKUP_CACHE_SIZE      = 0
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = NO
+EXTRACT_PACKAGE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = NO
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+SHOW_GROUPED_MEMB_INC  = NO
+FORCE_LOCAL_INCLUDES   = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_MEMBERS_CTORS_1ST = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+STRICT_PROTO_MATCHING  = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_FILES             = YES
+SHOW_NAMESPACES        = YES
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = @CMAKE_CURRENT_SOURCE_DIR@/include \
+                         @CMAKE_CURRENT_SOURCE_DIR@/src
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.f90 \
+                         *.f \
+                         *.for \
+                         *.tcl \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.as \
+                         *.js
+RECURSIVE              = YES
+EXCLUDE_SYMLINKS       = NO
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = NO
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = NO
+REFERENCES_RELATION    = NO
+REFERENCES_LINK_SOURCE = YES
+SOURCE_TOOLTIPS        = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 100
+HTML_COLORSTYLE_GAMMA  = 80
+HTML_TIMESTAMP         = YES
+HTML_DYNAMIC_SECTIONS  = NO
+HTML_INDEX_NUM_ENTRIES = 100
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+DOCSET_PUBLISHER_NAME  = Publisher
+GENERATE_HTMLHELP      = NO
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+GENERATE_QHP           = NO
+QHP_NAMESPACE          = org.doxygen.Project
+QHP_VIRTUAL_FOLDER     = doc
+GENERATE_ECLIPSEHELP   = NO
+ECLIPSE_DOC_ID         = org.doxygen.Project
+DISABLE_INDEX          = NO
+GENERATE_TREEVIEW      = YES
+ENUM_VALUES_PER_LINE   = 4
+TREEVIEW_WIDTH         = 250
+EXT_LINKS_IN_WINDOW    = NO
+FORMULA_FONTSIZE       = 10
+FORMULA_TRANSPARENT    = YES
+USE_MATHJAX            = NO
+MATHJAX_FORMAT         = HTML-CSS
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+SEARCHENGINE           = YES
+SERVER_BASED_SEARCH    = NO
+EXTERNAL_SEARCH        = NO
+SEARCHDATA_FILE        = searchdata.xml
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+EXTERNAL_PAGES         = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = NO
+DOT_NUM_THREADS        = 0
+DOT_FONTNAME           = Helvetica
+DOT_FONTSIZE           = 10
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+UML_LIMIT_NUM_FIELDS   = 10
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = YES
+INCLUDED_BY_GRAPH      = YES
+CALL_GRAPH             = NO
+CALLER_GRAPH           = NO
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+DOT_IMAGE_FORMAT       = png
+INTERACTIVE_SVG        = NO
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 0
+DOT_TRANSPARENT        = NO
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES

src/hos_cpp_cron/CMakeLists.txt

@@ -160,3 +160,16 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+
+###################
+## Documentation ##
+###################
+
+# We have no documentation, so we create an empty target
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+	add_custom_target(doc)
+endif(DOXYGEN_FOUND)
+
+

src/hos_cpp_utils/CMakeLists.txt

@@ -2,90 +2,22 @@ cmake_minimum_required(VERSION 2.8.3)
 project(hos_cpp_utils)
 
 ## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   hos_deps
 )
 
-message("CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
-find_package(libvariant REQUIRED)
-message("libvariant_INCLUDE_DIR: ${libvariant_INCLUDE_DIR}")
-message("libvariant_LIBRARY: ${libvariant_LIBRARY}")
-
 ## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
+find_package(libvariant REQUIRED)
 
 
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
-
 ###################################
 ## catkin specific configuration ##
 ###################################
-## The catkin_package macro generates cmake config files for your package
+
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-   INCLUDE_DIRS include/${PROJECT_NAME}/
+	INCLUDE_DIRS include/${PROJECT_NAME}/
-   LIBRARIES hos_cpp_utils
+	LIBRARIES hos_cpp_utils
 )
 
 ###########
@@ -98,40 +30,21 @@ add_definitions(
 )
 
 include_directories(
+	include/${PROJECT_NAME}/
 	${catkin_INCLUDE_DIRS}
 	${libvariant_INCLUDE_DIR}
-	include/hos_cpp_utils
 )
 
 ## Declare a cpp library
 add_library(hos_cpp_utils STATIC
    src/hos/utils/SchemaLoader.cpp
 )
+
 target_link_libraries(hos_cpp_utils
    ${catkin_LIBRARIES}
    ${libvariant_LIBRARY}
 )
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-
-## Declare a cpp library
-# add_library(hos_cpp_common
-#   src/${PROJECT_NAME}/hos_cpp_common.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(hos_cpp_common_node src/hos_cpp_common_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(hos_cpp_common_node hos_cpp_common_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(hos_cpp_common_node
-#   ${catkin_LIBRARIES}
-# )
 
 #############
 ## Install ##
@@ -144,46 +57,28 @@ install(TARGETS hos_cpp_utils
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS hos_cpp_common hos_cpp_common_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
 ## Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    FILES_MATCHING PATTERN "*.h"
-   PATTERN ".svn" EXCLUDE
 )
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc
-# install(FILES
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-#   # myfile1
+   OPTIONAL
-#   # myfile2
+)
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
 
-#############
-## Testing ##
-#############
 
-## Add gtest based cpp test target and link libraries
+###################
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_cpp_common.cpp)
+## Documentation ##
-# if(TARGET ${PROJECT_NAME}-test)
+###################
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+
-# endif()
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
+	add_custom_target(doc
+		${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+	)
+endif(DOXYGEN_FOUND)
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

src/hos_cpp_utils/Doxyfile.in

@@ -0,0 +1,248 @@
+# Doxyfile 1.8.8
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = hos_cpp_utils
+OUTPUT_DIRECTORY       = doc
+CREATE_SUBDIRS         = NO
+ALLOW_UNICODE_NAMES    = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = NO
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 4
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+MARKDOWN_SUPPORT       = YES
+AUTOLINK_SUPPORT       = YES
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+IDL_PROPERTY_SUPPORT   = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+INLINE_GROUPED_CLASSES = NO
+INLINE_SIMPLE_STRUCTS  = NO
+TYPEDEF_HIDES_STRUCT   = NO
+LOOKUP_CACHE_SIZE      = 0
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = NO
+EXTRACT_PACKAGE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = NO
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+SHOW_GROUPED_MEMB_INC  = NO
+FORCE_LOCAL_INCLUDES   = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_MEMBERS_CTORS_1ST = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+STRICT_PROTO_MATCHING  = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_FILES             = YES
+SHOW_NAMESPACES        = YES
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = @CMAKE_CURRENT_SOURCE_DIR@/include \
+                         @CMAKE_CURRENT_SOURCE_DIR@/src
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.f90 \
+                         *.f \
+                         *.for \
+                         *.tcl \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.as \
+                         *.js
+RECURSIVE              = YES
+EXCLUDE_SYMLINKS       = NO
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = NO
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = NO
+REFERENCES_RELATION    = NO
+REFERENCES_LINK_SOURCE = YES
+SOURCE_TOOLTIPS        = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 100
+HTML_COLORSTYLE_GAMMA  = 80
+HTML_TIMESTAMP         = YES
+HTML_DYNAMIC_SECTIONS  = NO
+HTML_INDEX_NUM_ENTRIES = 100
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+DOCSET_PUBLISHER_NAME  = Publisher
+GENERATE_HTMLHELP      = NO
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+GENERATE_QHP           = NO
+QHP_NAMESPACE          = org.doxygen.Project
+QHP_VIRTUAL_FOLDER     = doc
+GENERATE_ECLIPSEHELP   = NO
+ECLIPSE_DOC_ID         = org.doxygen.Project
+DISABLE_INDEX          = NO
+GENERATE_TREEVIEW      = YES
+ENUM_VALUES_PER_LINE   = 4
+TREEVIEW_WIDTH         = 250
+EXT_LINKS_IN_WINDOW    = NO
+FORMULA_FONTSIZE       = 10
+FORMULA_TRANSPARENT    = YES
+USE_MATHJAX            = NO
+MATHJAX_FORMAT         = HTML-CSS
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+SEARCHENGINE           = YES
+SERVER_BASED_SEARCH    = NO
+EXTERNAL_SEARCH        = NO
+SEARCHDATA_FILE        = searchdata.xml
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+EXTERNAL_PAGES         = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = NO
+DOT_NUM_THREADS        = 0
+DOT_FONTNAME           = Helvetica
+DOT_FONTSIZE           = 10
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+UML_LIMIT_NUM_FIELDS   = 10
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = YES
+INCLUDED_BY_GRAPH      = YES
+CALL_GRAPH             = NO
+CALLER_GRAPH           = NO
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+DOT_IMAGE_FORMAT       = png
+INTERACTIVE_SVG        = NO
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 0
+DOT_TRANSPARENT        = NO
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES

src/hos_deps/CMakeLists.txt

@@ -21,4 +21,16 @@ catkin_package(
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules
 	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cmake/
 #	FILES_MATCHING PATTERN "*.cmake"
-)
+)
+
+
+###################
+## Documentation ##
+###################
+
+# We have no documentation, so we create an empty target
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+	add_custom_target(doc)
+endif(DOXYGEN_FOUND)
+

src/hos_dummy/CMakeLists.txt

@@ -168,3 +168,15 @@ catkin_install_python(PROGRAMS
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+
+###################
+## Documentation ##
+###################
+
+# We have no documentation, so we create an empty target
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+	add_custom_target(doc)
+endif(DOXYGEN_FOUND)
+

src/hos_launch/CMakeLists.txt

@@ -168,3 +168,15 @@ install(DIRECTORY launch
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+
+###################
+## Documentation ##
+###################
+
+# We have no documentation, so we create an empty target
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+	add_custom_target(doc)
+endif(DOXYGEN_FOUND)
+

src/hos_philips_hue/CMakeLists.txt

@@ -167,3 +167,16 @@ catkin_install_python(PROGRAMS
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+
+###################
+## Documentation ##
+###################
+
+# We have no documentation, so we create an empty target
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+	add_custom_target(doc)
+endif(DOXYGEN_FOUND)
+
+

src/hos_python_utils/CMakeLists.txt

@@ -160,3 +160,15 @@ include_directories(
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+
+###################
+## Documentation ##
+###################
+
+# We have no documentation, so we create an empty target
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+	add_custom_target(doc)
+endif(DOXYGEN_FOUND)
+