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Update for the SmartMDSD Toolchain version 3.11 (#4)
This update requires the SmartMDSD Toolchain version 3.11, the SmartSoft API version 1.1 and the ACE/SmartSoft Kernel version 3.2.
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‎ComponentGMapping/model/ComponentGMappingComponentDefinition.jpg‎

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‎ComponentGMapping/opcua-backend/src-gen/ComponentGMappingOpcUaBackendPortFactory.cc‎

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//--------------------------------------------------------------------------
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// Code generated by the SmartSoft MDSD Toolchain
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// The SmartSoft Toolchain has been developed by:
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//
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// Service Robotics Research Center
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// University of Applied Sciences Ulm
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// Prittwitzstr. 10
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// 89075 Ulm (Germany)
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//
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// Information about the SmartSoft MDSD Toolchain is available at:
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// www.servicerobotik-ulm.de
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//
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// Please do not modify this file. It will be re-generated
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// running the code generator.
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//--------------------------------------------------------------------------
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#include "ComponentGMappingOpcUaBackendPortFactory.hh"
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// include all potentially required pattern implementations
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#include <SeRoNetSDK/SeRoNet/OPCUA/Client/PushClient.hpp>
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#include <SeRoNetSDK/SeRoNet/OPCUA/Client/EventClient.hpp>
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#include <SeRoNetSDK/SeRoNet/OPCUA/Client/QClientOPCUA.hpp>
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#include <SeRoNetSDK/SeRoNet/OPCUA/Client/SendClient.hpp>
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#include <SeRoNetSDK/SeRoNet/OPCUA/Client/QueryClient.hpp>
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#include <SeRoNetSDK/SeRoNet/OPCUA/Server/PushServer.hpp>
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#include <SeRoNetSDK/SeRoNet/OPCUA/Server/EventServer.hpp>
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#include <SeRoNetSDK/SeRoNet/OPCUA/Server/SendServer.hpp>
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#include <SeRoNetSDK/SeRoNet/OPCUA/Server/QueryServer.hpp>
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// include referenced CommunicationObject SeRoNetSDK self description implementations
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#include "CommNavigationObjectsOpcUa/CommGridMapOpcUa.hh"
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#include "CommBasicObjectsOpcUa/CommMobileLaserScanOpcUa.hh"
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#include "CommBasicObjectsOpcUa/CommBasePositionUpdateOpcUa.hh"
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// create a static instance of the OpcUaBackendPortFactory
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static ComponentGMappingOpcUaBackendPortFactory OpcUaBackendPortFactory;
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ComponentGMappingOpcUaBackendPortFactory::ComponentGMappingOpcUaBackendPortFactory()
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{
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componentImpl = 0;
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ComponentGMapping::instance()->addPortFactory("OpcUa_SeRoNet", this);
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}
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ComponentGMappingOpcUaBackendPortFactory::~ComponentGMappingOpcUaBackendPortFactory()
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{ }
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void ComponentGMappingOpcUaBackendPortFactory::initialize(ComponentGMapping *component, int argc, char* argv[])
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{
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componentImpl = new SeRoNet::Utils::Component(component->connections.component.name);
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}
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int ComponentGMappingOpcUaBackendPortFactory::onStartup()
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{
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if (!component_thread.joinable()) {
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component_thread = std::thread(&ComponentGMappingOpcUaBackendPortFactory::task_execution, this);
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return 0;
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}
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return -1;
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}
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Smart::IPushClientPattern<CommBasicObjects::CommMobileLaserScan> * ComponentGMappingOpcUaBackendPortFactory::createLaserClient()
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{
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return new SeRoNet::OPCUA::Client::PushClient<CommBasicObjects::CommMobileLaserScan>(componentImpl);
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}
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Smart::ISendClientPattern<CommBasicObjects::CommBasePositionUpdate> * ComponentGMappingOpcUaBackendPortFactory::createBasePositionUpdateClient()
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{
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return new SeRoNet::OPCUA::Client::SendClient<CommBasicObjects::CommBasePositionUpdate>(componentImpl);
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}
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Smart::IPushServerPattern<CommNavigationObjects::CommGridMap> * ComponentGMappingOpcUaBackendPortFactory::createNewestMapPushServer(const std::string &serviceName)
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{
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return new SeRoNet::OPCUA::Server::PushServer<CommNavigationObjects::CommGridMap>(componentImpl, serviceName);
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}
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int ComponentGMappingOpcUaBackendPortFactory::task_execution()
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{
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componentImpl->run();
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return 0;
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}
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int ComponentGMappingOpcUaBackendPortFactory::onShutdown(const std::chrono::steady_clock::duration &timeoutTime)
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{
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// stop component-internal infrastructure
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componentImpl->stopRunning();
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// wait on component thread to exit
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if (component_thread.joinable()) {
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// FIXME: don't wait infinetly (use timeoutTime here)
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component_thread.join();
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}
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return 0;
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}
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void ComponentGMappingOpcUaBackendPortFactory::destroy()
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{
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// clean-up component's internally used resources
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delete componentImpl;
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}

‎ComponentGMapping/opcua-backend/src-gen/ComponentGMappingOpcUaBackendPortFactory.hh‎

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//--------------------------------------------------------------------------
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// Code generated by the SmartSoft MDSD Toolchain
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// The SmartSoft Toolchain has been developed by:
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//
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// Service Robotics Research Center
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// University of Applied Sciences Ulm
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// Prittwitzstr. 10
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// 89075 Ulm (Germany)
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//
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// Information about the SmartSoft MDSD Toolchain is available at:
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// www.servicerobotik-ulm.de
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//
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// Please do not modify this file. It will be re-generated
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// running the code generator.
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//--------------------------------------------------------------------------
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#ifndef COMPONENTGMAPPING_OPC_UA_BACKEND_PORTFACTORY_HH_
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#define COMPONENTGMAPPING_OPC_UA_BACKEND_PORTFACTORY_HH_
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// include the main component-definition class
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#include "ComponentGMappingPortFactoryInterface.hh"
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#include <thread>
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#include <chrono>
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// include SeRoNetSDK library
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#include <SeRoNetSDK/SeRoNet/Utils/Task.hpp>
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#include <SeRoNetSDK/SeRoNet/Utils/Component.hpp>
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class ComponentGMappingOpcUaBackendPortFactory: public ComponentGMappingPortFactoryInterface
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{
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private:
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// internal component instance
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SeRoNet::Utils::Component *componentImpl;
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// component thread
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std::thread component_thread;
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// internal component thread method
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int task_execution();
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public:
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ComponentGMappingOpcUaBackendPortFactory();
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virtual ~ComponentGMappingOpcUaBackendPortFactory();
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virtual void initialize(ComponentGMapping *component, int argc, char* argv[]) override;
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virtual int onStartup() override;
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virtual Smart::IPushClientPattern<CommBasicObjects::CommMobileLaserScan> * createLaserClient() override;
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virtual Smart::ISendClientPattern<CommBasicObjects::CommBasePositionUpdate> * createBasePositionUpdateClient() override;
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virtual Smart::IPushServerPattern<CommNavigationObjects::CommGridMap> * createNewestMapPushServer(const std::string &serviceName) override;
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virtual int onShutdown(const std::chrono::steady_clock::duration &timeoutTime=std::chrono::seconds(2)) override;
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virtual void destroy() override;
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};
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#endif /* COMPONENTGMAPPING_SERONET_SDK_PORTFACTORY_HH_ */

‎ComponentGMapping/opcua-backend/src-gen/OpcUaBackend.cmake‎

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CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
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FIND_PACKAGE(Open62541Cpp QUIET)
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SET(SmartSoft_CD_API_DIR $ENV{SMART_ROOT_ACE}/modules)
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FIND_PACKAGE(SeRoNetSDK QUIET)
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IF(SeRoNetSDK_FOUND)
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FIND_PACKAGE(CommBasicObjectsOpcUa PATHS $ENV{SMART_ROOT_ACE}/modules)
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FIND_PACKAGE(CommNavigationObjectsOpcUa PATHS $ENV{SMART_ROOT_ACE}/modules)
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SET(CMAKE_CXX_STANDARD 14)
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INCLUDE_DIRECTORIES(${CMAKE_CURRENT_LIST_DIR})
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SET(OPC_UA_BACKEND_SRCS "${CMAKE_CURRENT_LIST_DIR}/ComponentGMappingOpcUaBackendPortFactory.cc")
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ENDIF(SeRoNetSDK_FOUND)

‎ComponentGMapping/opcua-backend/src-gen/info.txt‎

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//--------------------------------------------------------------------------
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// Code generated by the SmartSoft MDSD Toolchain
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// The SmartSoft Toolchain has been developed by:
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//
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// Service Robotics Research Center
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// University of Applied Sciences Ulm
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// Prittwitzstr. 10
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// 89075 Ulm (Germany)
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//
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// Information about the SmartSoft MDSD Toolchain is available at:
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// www.servicerobotik-ulm.de
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//
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// Please do not modify this file. It will be re-generated
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// running the code generator.
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//--------------------------------------------------------------------------
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// Generated with SmartMDSD Toolchain Version 3.11.0.201911291144

‎ComponentGMapping/representations.aird‎

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</edges>
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</data>
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</ownedAnnotationEntries>
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<ownedDiagramElements xmi:type="diagram:DNodeContainer" uid="_eptNhFatEemGTONLu6jrqw" name="ComponentGMapping" tooltipText="ComponentDefinition">
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<ownedDiagramElements xmi:type="diagram:DNodeContainer" uid="_eptNhFatEemGTONLu6jrqw" name="ComponentGMapping" tooltipText="ComponentDefinition: ComponentGMapping&#xA;">
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<target xmi:type="ComponentDefinition:ComponentDefinition" href="model/ComponentGMapping.component#//@component"/>
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<semanticElements xmi:type="ComponentDefinition:ComponentDefinition" href="model/ComponentGMapping.component#//@component"/>
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<ownedBorderedNodes xmi:type="diagram:DNode" uid="_mFBIgFatEemGTONLu6jrqw" name="laserClient" tooltipText="InputPort" width="3" height="3" resizeKind="NSEW">
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<ownedBorderedNodes xmi:type="diagram:DNode" uid="_mFBIgFatEemGTONLu6jrqw" name="laserClient" tooltipText="InputPort: laserClient&#xA;" width="3" height="3" resizeKind="NSEW">
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<target xmi:type="ComponentDefinition:InputPort" href="model/ComponentGMapping.component#//@component/@elements.0"/>
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<semanticElements xmi:type="ComponentDefinition:InputPort" href="model/ComponentGMapping.component#//@component/@elements.0"/>
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<arrangeConstraints>KEEP_LOCATION</arrangeConstraints>

‎ComponentGMapping/smartsoft/src-gen/ComponentGMapping.cc‎

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connections.gMappingTask.priority = -1;
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connections.gMappingTask.cpuAffinity = -1;
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// initialize members of OpcUaBackendComponentGeneratorExtension
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// initialize members of ComponentGMappingROSExtension
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// initialize members of PlainOpcUaComponentGMappingExtension
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// print out the actual parameters which are used to initialize the component
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std::cout << " \nComponentDefinition Initial-Parameters:\n" << COMP->getParameters() << std::endl;
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// initializations of OpcUaBackendComponentGeneratorExtension
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// initializations of ComponentGMappingROSExtension
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// initializations of PlainOpcUaComponentGMappingExtension
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portFactory->second->destroy();
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}
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// destruction of OpcUaBackendComponentGeneratorExtension
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// destruction of ComponentGMappingROSExtension
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// destruction of PlainOpcUaComponentGMappingExtension
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parameter.getInteger("GMappingTask", "cpuAffinity", connections.gMappingTask.cpuAffinity);
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}
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// load parameters for OpcUaBackendComponentGeneratorExtension
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// load parameters for ComponentGMappingROSExtension
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// load parameters for PlainOpcUaComponentGMappingExtension

‎ComponentGMapping/smartsoft/src-gen/ComponentGMapping.hh‎

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class ComponentGMappingPortFactoryInterface;
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class ComponentGMappingExtension;
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// includes for OpcUaBackendComponentGeneratorExtension
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// includes for ComponentGMappingROSExtension
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// includes for PlainOpcUaComponentGMappingExtension
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// include UpcallManagers
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#include "LaserClientUpcallManager.hh"
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// include input-handler
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// include input-handler
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// include input-handler(s)
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// include request-handler(s)
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// include handler
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#include "CompHandler.hh"
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// define request-handlers
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// definitions of OpcUaBackendComponentGeneratorExtension
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// definitions of ComponentGMappingROSExtension
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// definitions of PlainOpcUaComponentGMappingExtension
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std::string roboticMiddleware;
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} laserClient;
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// -- parameters for OpcUaBackendComponentGeneratorExtension
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// -- parameters for ComponentGMappingROSExtension
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// -- parameters for PlainOpcUaComponentGMappingExtension

‎ComponentGMapping/smartsoft/src-gen/ComponentGMapping.ini.head‎

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interval 1
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roboticMiddleware ACE_SmartSoft
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##########################
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## parameters of OpcUaBackendComponentGeneratorExtension
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##########################
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## parameters of ComponentGMappingROSExtension
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‎ComponentGMapping/smartsoft/src-gen/ComponentGMapping.ini.template‎

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interval 1
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roboticMiddleware ACE_SmartSoft
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##########################
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## parameters of OpcUaBackendComponentGeneratorExtension
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##########################
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## parameters of ComponentGMappingROSExtension
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