diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index e313b4b308e4baa1c605acc1dcd1490d95afe707..9f817e634b94f4d1c26bc6de522737f8ea626b1a 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -27,11 +27,11 @@ Build Monitoring:
rules:
- if: $CI_COMMIT_REF_NAME == $CI_DEFAULT_BRANCH
changes:
- - src/environment_monitoring/**/*
+ - src/monitoring/**/*
- requirements.txt
- .gitlab-ci.yml
script:
- - docker build -t $CI_REGISTRY/$CI_PROJECT_PATH/monitoring -f ./src/environment_monitoring/Dockerfile --no-cache .
+ - docker build -t $CI_REGISTRY/$CI_PROJECT_PATH/monitoring -f ./src/monitoring/Dockerfile --no-cache .
- docker login -u gitlab-ci-token -p $CI_JOB_TOKEN $CI_REGISTRY
- docker push $CI_REGISTRY/$CI_PROJECT_PATH/monitoring:latest
@@ -77,12 +77,12 @@ Deploy Monitoring:
rules:
- if: $CI_COMMIT_REF_NAME == $CI_DEFAULT_BRANCH
changes:
- - src/environment_monitoring/**/*
+ - src/monitoring/**/*
- requirements.txt
- .gitlab-ci.yml
needs: ["Build Monitoring"]
script:
- - cp ./src/environment_monitoring/docker-compose.yml $app_path/docker-compose-monitoring.yml
+ - cp ./src/monitoring/docker-compose.yml $app_path/docker-compose-monitoring.yml
- cd $app_path
- docker login -u gitlab-ci-token -p $CI_JOB_TOKEN $CI_REGISTRY
- docker-compose -f docker-compose-monitoring.yml pull
diff --git a/assets/interfaces/base_stations.soil b/assets/interfaces/base_stations.soil
index fe3aa45f49bf785804c6df9fd29eed13c59db211..02822b3694725072808a5e1ca1915234ba8989f9 100644
--- a/assets/interfaces/base_stations.soil
+++ b/assets/interfaces/base_stations.soil
@@ -1,39 +1,41 @@
+@prefix quantitykind: <http://qudt.org/vocab/quantitykind/> ;
+@prefix unit: <http://qudt.org/vocab/unit/> ;
+
import utils;
-measurement Azimuth {
+variable Azimuth defines <quantitykind:Angle> {
name: "Azimuth"
description: "Current position of azimuth rotation encoder in Radian."
datatype: float
dimension: []
- unit: Radian
+ unit: <unit:RAD>
range: (0, 3.14)
}
-measurement Elevation {
+variable Elevation defines <quantitykind:Angle> {
name: "Elevation"
description: "Current position of elevation rotation encoder in Radian."
datatype: float
dimension: []
- unit: Radian
+ unit: <unit:RAD>
range: (0, 3.14)
}
-measurement Distance {
+variable Distance defines <quantitykind:Distance> {
name: "Distance"
description: "Measured distance to the currently activate target."
datatype: float
dimension: []
- unit: metre
+ unit: <unit:M>
range: (0, 100)
}
-parameter Interval {
+variable Interval defines <quantitykind:Time> {
name: "Interval"
description: "Interval in seconds."
datatype: float
dimension: []
- default: 10
- unit: seconds
+ unit: <unit:SEC>
range: (0, 360)
}
@@ -59,14 +61,14 @@ component Base {
Jog jog
PointTo point_to
parameters:
- utils.State state
- Interval interval
+ utils.State state = OK
+ Interval interval = 10
measurements:
- utils.Position position
- utils.Quaternion quaternion
- Azimuth azimuth
- Elevation elevation
- Distance distance
+ internal utils.Position position
+ internal utils.Quaternion quaternion
+ internal Azimuth azimuth
+ internal Elevation elevation
+ internal Distance distance
streams:
position: update
diff --git a/assets/interfaces/environment_monitoring.soil b/assets/interfaces/environment_monitoring.soil
deleted file mode 100644
index 9b0112e5c8f42260fdb54ce2339c2d2a7e0dc1ea..0000000000000000000000000000000000000000
--- a/assets/interfaces/environment_monitoring.soil
+++ /dev/null
@@ -1,83 +0,0 @@
-parameter Location {
- name: "Location"
- description: "Human interpretable description of the current location of sensor."
- datatype: string
- dimension: []
-}
-
-measurement BatteryLevel {
- name: "Battery level"
- description: "Battery level"
- datatype: float
- range: (0, 100)
- dimension: []
- unit: Percent
-}
-
-measurement SignalStrength {
- name: "Signal strength"
- description: "Strength of the signal of the wireless environmental sensor."
- datatype: float
- range: (0, 100)
- dimension: []
- unit: Percent
-}
-
-measurement Temperature {
- name: "Ambient temperature"
- description: "The current ambient temperature."
- datatype: float
- range: (-20, 50)
- dimension: []
- unit: Celsius
-}
-
-measurement Pressure {
- name: "Relative air pressure"
- description: "The current air pressure."
- datatype: float
- range: (900, 1200)
- dimension: []
- unit: hPA
-}
-
-measurement Humidity {
- name: "Relative humidity"
- description: "Relative humidity."
- datatype: float
- range: (0, 100)
- dimension: []
- unit: Percent
-}
-
-component EnvironmentalSensor {
- name: "Environmental Sensor"
- description: "A single wireless environmental sensor, measuring temperature, pressure and humidity."
- measurements:
- Temperature temperature
- Pressure pressure
- Humidity humidity
- SignalStrength signalStrength
- BatteryLevel batteryLevel
- parameters:
- Location location
-
- streams:
- temperature: fixed(5)
- pressure: fixed(5)
- humidity: fixed(5)
- signalStrength: fixed(10)
- batteryLevel: fixed(10)
-
- if batteryLevel < 5: warning("Battery level is low, please replace battery. Otherwise the sensor will not send data anymore.")
-
-}
-
-component EnvironmentalSensorManager {
- name: "Manager of environmental sensors"
- description: "Manages a set of environmental sensors"
- components:
- dynamic EnvironmentalSensor sensor(location="Pillar A")
-}
-
-interface EnvironmentalSensorManager monitoring {}
\ No newline at end of file
diff --git a/assets/interfaces/lasertracker.soil b/assets/interfaces/lasertracker.soil
index b6b9c5903e22d9489791a79f4d853e61a656f06d..bde0816e135ac972626ff3ba696b58ae494d5e1c 100644
--- a/assets/interfaces/lasertracker.soil
+++ b/assets/interfaces/lasertracker.soil
@@ -1,29 +1,31 @@
+@prefix schema: <http://schema.org/> ;
+@prefix unit: <http://qudt.org/vocab/unit/> ;
+
+import mobile_entities;
import utils;
import base_stations;
-import mobile_entities;
-parameter Time {
+
+variable Time defines <schema:DateTime> {
name: "Time"
description: "Current system time."
datatype: time
dimension: []
}
-parameter Version {
+variable Version defines <schema:version> {
name: "Version"
description: "Incremental API-Version."
datatype: int
- default: 2
range: (0, 100)
dimension: []
- unit: UNITLESS
+ unit: <unit:UNITLESS>
}
-parameter Manufacturer {
+variable Manufacturer defines <schema:manufacturer> {
name: "Manufacturer"
description: "Name of manufacturing company."
datatype: string
- default: "Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen"
dimension: []
}
@@ -48,7 +50,7 @@ component Lasertracker {
Shutdown shutdown
parameters:
utils.State state = OK
- constant Manufacturer manufacturer = "Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen"
+ constant Manufacturer manufacturer = "API"
constant Version version = 1
Time time
diff --git a/assets/interfaces/mobile_entities.soil b/assets/interfaces/mobile_entities.soil
index 82215adc511e68333d62cdc03bd307a30e386aa4..3eaa17636b451b09e4bd5d57127f00f42c370011 100644
--- a/assets/interfaces/mobile_entities.soil
+++ b/assets/interfaces/mobile_entities.soil
@@ -1,4 +1,5 @@
import utils;
+@prefix unit: <http://qudt.org/vocab/unit/> ;
enum Mode {
CONTINUOUS
@@ -7,26 +8,24 @@ enum Mode {
IDLE
}
-parameter Mode {
+variable Mode {
name: "Mode"
description: "Current state of the entity. In CONTINUOUS mode, values are dispatched as fast as possible. In TRIGGERED mode, values are only dispatches after a software trigger. In EXTERNAL mode, values are dispatched in accordance to an external trigger, e.g. probe or TTL. IDLE means the entity is currently not used."
- default: CONTINUOUS
datatype: enum
range: Mode
dimension: []
}
-parameter Type {
+variable Type {
name: "Type"
description: "System specific identifier of the target Type, e.g. SMR or Active SMR."
datatype: string
dimension: []
- default: "SMR"
}
-measurement Locked {
+variable Locked {
name: "Locked"
- description: "Boolean flag scpecifing whether the target is locked in."
+ description: "Boolean flag specifying whether the target is locked in."
datatype: boolean
dimension: []
}
@@ -36,9 +35,31 @@ function Reset {
description: "Starts the search routine around the current direction."
}
-function Trigger {
+variable Counter {
+ name: "Counter"
+ description: "Natural numeric value."
+ datatype: int
+ dimension: []
+ range: (1,1000)
+ unit: <unit:UNITLESS>
+}
+
+variable Label {
+ name: "Label"
+ description: "A string serving as comment."
+ datatype: string
+ dimension: []
+}
+
+function Trigger streaming {
name: "Trigger"
- description: "Trigger count measurements and set the resulting label. This function is only allowed in triggered acquisition mode."
+ description: "Trigger count variables and set the resulting label. This function is only allowed in triggered acquisition mode."
+ arguments:
+ Counter counter = 100
+ Label label = "test"
+ returns:
+ utils.Position position
+ Label outputLabel
}
component Target {
@@ -50,11 +71,11 @@ component Target {
measurements:
utils.Position position
utils.Quaternion quaternion
- Locked locked
+ internal Locked locked
parameters:
- utils.State state
- Mode mode
- Type type
+ utils.State state = OK
+ Mode mode = CONTINUOUS
+ Type type = "SMR"
streams:
position: update
@@ -68,4 +89,6 @@ component MobileEntities {
description: "Object acting as a list of mobile entities in the metrology system."
components:
dynamic Target target
-}
\ No newline at end of file
+}
+
+interface Target myTarget{}
\ No newline at end of file
diff --git a/assets/semantic_interfaces/environment_monitoring.soil b/assets/interfaces/monitoring.soil
similarity index 87%
rename from assets/semantic_interfaces/environment_monitoring.soil
rename to assets/interfaces/monitoring.soil
index a92a995bf465ee6f5bff927a481bfbcff910a655..b8c5720dfdd2ebf717d781303de2609d5b136e91 100644
--- a/assets/semantic_interfaces/environment_monitoring.soil
+++ b/assets/interfaces/monitoring.soil
@@ -1,14 +1,14 @@
@prefix quantitykind: <http://qudt.org/vocab/quantitykind/> ;
@prefix unit: <http://qudt.org/vocab/unit/> ;
-parameter Location {
+variable Location {
name: "Location"
description: "Human interpretable description of the current location of sensor."
datatype: string
dimension: []
}
-measurement BatteryLevel {
+variable BatteryLevel {
name: "Battery level"
description: "Battery level"
datatype: int
@@ -17,7 +17,7 @@ measurement BatteryLevel {
unit: <unit:PERCENT>
}
-measurement SignalStrength defines <quantitykind:SignalStrength> {
+variable SignalStrength defines <quantitykind:SignalStrength> {
name: "Signal strength"
description: "Strength of the signal of the wireless environmental sensor."
datatype: int
@@ -26,7 +26,7 @@ measurement SignalStrength defines <quantitykind:SignalStrength> {
unit: <unit:PERCENT>
}
-measurement Temperature defines <quantitykind:Temperature> {
+variable Temperature defines <quantitykind:Temperature> {
name: "Ambient temperature"
description: "The current ambient temperature."
datatype: float
@@ -35,7 +35,7 @@ measurement Temperature defines <quantitykind:Temperature> {
unit: <unit:DEG_C>
}
-measurement Pressure defines <quantitykind:AtmosphericPressure> {
+variable Pressure defines <quantitykind:AtmosphericPressure> {
name: "Atmospheric pressure"
description: "The current atmospheric pressure."
datatype: float
@@ -44,7 +44,7 @@ measurement Pressure defines <quantitykind:AtmosphericPressure> {
unit: <unit:HectoPA>
}
-measurement Humidity defines <quantitykind:RelativeHumidity> {
+variable Humidity defines <quantitykind:RelativeHumidity> {
name: "Relative humidity"
description: "Relative humidity."
datatype: float
diff --git a/assets/interfaces/robot.soil b/assets/interfaces/robot.soil
index b7432e99b77301c7473a6ce59c8076cb1e7f620a..5f9f26f766b6570a8af667d1bddf3e2a7993eee6 100644
--- a/assets/interfaces/robot.soil
+++ b/assets/interfaces/robot.soil
@@ -1,51 +1,54 @@
-measurement Position {
+@prefix quantitykind: <http://qudt.org/vocab/quantitykind/> ;
+@prefix unit: <http://qudt.org/vocab/unit/> ;
+@prefix dbo: <http://dbpedia.org/ontology/> ;
+@prefix schema: <http://schema.org/> ;
+
+variable Position defines <quantitykind:CartesianCoordinates> {
name: "Position"
description: "Position in Cartesian coordinates given in metre."
datatype: float
range: (-50, 50)
dimension: [3]
- unit: Metre
+ unit: <unit:M>
}
-measurement TCP {
+variable TCP defines <quantitykind:CartesianCoordinates> {
name: "Tool Center Point"
- description: "Tool center point of a six-arm robot."
+ description: "Tool center point of a six-joint robot."
datatype: float
range: (-0.5,0.5)
dimension: [3]
- unit: Metre
+ unit: <unit:M>
}
-measurement BatteryLevel {
+variable BatteryLevel {
name: "Battery level"
description: "Battery level"
datatype: int
range: (0, 100)
dimension: []
- unit: Percent
+ unit: <unit:PERCENT>
}
-parameter Open {
+variable Open {
name: "Open"
description: "Flag to specify if something is open."
datatype: boolean
dimension: []
- default: true
}
-parameter AutoMovement {
+variable AutoMovement {
name: "Autonomous Movement"
description: "If true, the robot moves around freely autonomously."
datatype: boolean
dimension: []
- default: true
}
component Gripper {
name: "Gripper"
description: "Gripper of a robot"
parameters:
- Open open
+ Open open = true
}
function GoTo {
@@ -62,11 +65,16 @@ function Step {
Position position
}
-component Robot {
+component Thing {
+ name: "A thing"
+ description: "Some thing."
+}
+
+component Robot defines <dbo:Robot> extends Thing{
name: "Robot"
description: "A robot arm with six axes."
measurements:
- TCP tcp
+ internal TCP tcp
components:
Gripper gripper
functions:
@@ -77,17 +85,17 @@ component Robot {
tcp: fixed(10)
}
-component MobileRobot extends Robot {
+component MobileRobot defines <schema:Vehicle> extends Robot {
name: "Mobile Robot"
- description: "A robot arm with six axis mounted on a movable platform."
+ description: "A robot arm with six axes mounted on a movable platform."
measurements:
- Position position
- BatteryLevel batteryLevel
+ internal Position position
+ internal BatteryLevel batteryLevel
functions:
GoTo gotoRobot
Step stepRobot
parameters:
- AutoMovement auto
+ AutoMovement auto = true
streams:
position: update
diff --git a/assets/interfaces/utils.soil b/assets/interfaces/utils.soil
index 23ffeee745ac3f522ef11263a67e9236c47519bd..9305f9dfffd4fe6e488ab824b50c5dc1fdf6b7e5 100644
--- a/assets/interfaces/utils.soil
+++ b/assets/interfaces/utils.soil
@@ -1,3 +1,7 @@
+@prefix dbo: <http://dbpedia.org/ontology/> ;
+@prefix quantitykind: <http://qudt.org/vocab/quantitykind/> ;
+@prefix unit: <http://qudt.org/vocab/unit/> ;
+
enum State {
OK
WARNING
@@ -5,29 +9,28 @@ enum State {
MAINTENANCE
}
-parameter State {
+variable State defines <dbo:status> {
name: "State"
description: "The current state of the device."
datatype: enum
- default: OK
range: State
dimension: []
}
-measurement Position {
+variable Position defines <quantitykind:CartesianCoordinates> {
name: "Position"
description: "Most recently dispatched measured position."
datatype: float
dimension: [3]
range: (-100, 100)
- unit: METRE
+ unit: <unit:M>
}
-measurement Quaternion {
+variable Quaternion defines <quantitykind:Angle> {
name: "Quaternion"
description: "Most recently dispatched measured orientation as quaternion, if available."
datatype: float
dimension: [4]
range: (0, 1)
- unit: UNITLESS
+ unit: <unit:UNITLESS>
}
\ No newline at end of file
diff --git a/assets/semantic_interfaces/base_stations.soil b/assets/semantic_interfaces/base_stations.soil
deleted file mode 100644
index e6bccf9b4d513927c4868da941b294b725c95063..0000000000000000000000000000000000000000
--- a/assets/semantic_interfaces/base_stations.soil
+++ /dev/null
@@ -1,90 +0,0 @@
-@prefix quantitykind: <http://qudt.org/vocab/quantitykind/> ;
-@prefix unit: <http://qudt.org/vocab/unit/> ;
-
-import utils;
-
-measurement Azimuth defines <quantitykind:Angle> {
- name: "Azimuth"
- description: "Current position of azimuth rotation encoder in Radian."
- datatype: float
- dimension: []
- unit: <unit:RAD>
- range: (0, 3.14)
-}
-
-measurement Elevation defines <quantitykind:Angle> {
- name: "Elevation"
- description: "Current position of elevation rotation encoder in Radian."
- datatype: float
- dimension: []
- unit: <unit:RAD>
- range: (0, 3.14)
-}
-
-measurement Distance defines <quantitykind:Distance> {
- name: "Distance"
- description: "Measured distance to the currently activate target."
- datatype: float
- dimension: []
- unit: <unit:M>
- range: (0, 100)
-}
-
-parameter Interval defines <quantitykind:Time> {
- name: "Interval"
- description: "Interval in seconds."
- datatype: float
- dimension: []
- default: 10
- unit: <unit:SEC>
- range: (0, 360)
-}
-
-function Jog {
- name: "Jog"
- description: "Jogs the tracker head by the given angles for the azimuth and elevation."
- arguments:
- Azimuth azimuth
- Elevation elevation
-}
-
-function PointTo {
- name: "Point to"
- description: "Moves the tracker head so that the laser points to the specified position."
- arguments:
- utils.Position position
-}
-
-component Base {
- name: "Base"
- description: "Represents a base station in a distributed system."
- functions:
- Jog jog
- PointTo point_to
- parameters:
- utils.State state
- Interval interval
- measurements:
- internal utils.Position position
- internal utils.Quaternion quaternion
- internal Azimuth azimuth
- internal Elevation elevation
- internal Distance distance
-
- streams:
- position: update
- quaternion: update
-
- if state == ERROR: error("An error of the trackers base occured.")
- if distance > 50.0: warning("Distance is very high. Measurements have high uncertainty.")
-
- position.description = "Position of the base of the tracker within a global reference frame."
- quaternion.description = "Orientation of the base in relation to the orientation of a global reference frame."
-}
-
-component BaseStations {
- name: "Base Stations"
- description: "Object acting as a list of base stations of the metrology system."
- components:
- Base base
-}
\ No newline at end of file
diff --git a/assets/semantic_interfaces/lasertracker.soil b/assets/semantic_interfaces/lasertracker.soil
deleted file mode 100644
index 7daf8671e494aeec6f2ca0e5d03e8ee2ee340713..0000000000000000000000000000000000000000
--- a/assets/semantic_interfaces/lasertracker.soil
+++ /dev/null
@@ -1,62 +0,0 @@
-@prefix schema: <http://schema.org/> ;
-@prefix unit: <http://qudt.org/vocab/unit/> ;
-
-import mobile_entities;
-import utils;
-import base_stations;
-
-
-parameter Time defines <schema:DateTime> {
- name: "Time"
- description: "Current system time."
- datatype: time
- dimension: []
-}
-
-parameter Version defines <schema:version> {
- name: "Version"
- description: "Incremental API-Version."
- datatype: int
- default: 1
- range: (0, 100)
- dimension: []
- unit: <unit:UNITLESS>
-}
-
-parameter Manufacturer defines <schema:manufacturer> {
- name: "Manufacturer"
- description: "Name of manufacturing company."
- datatype: string
- default: "Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen"
- dimension: []
-}
-
-function Reset {
- name: "Reset"
- description: "Resets the device into the state like directly after start-up."
-}
-
-function Shutdown {
- name: "Shutdown"
- description: "Gracefully shutdown the device."
-}
-
-component Lasertracker {
- name: "Lasertracker"
- description: "Active coordinate measurement device based on laser interferometry for Large-Scale metrology applications."
- components:
- base_stations.BaseStations baseStations
- mobile_entities.MobileEntities mobileEntities
- functions:
- Reset reset
- Shutdown shutdown
- parameters:
- utils.State state = OK
- constant Manufacturer manufacturer = "Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen"
- constant Version version = 1
- Time time
-
- if state == ERROR: error("An error occured!")
-}
-
-interface Lasertracker APIRadian {}
\ No newline at end of file
diff --git a/assets/semantic_interfaces/mobile_entities.soil b/assets/semantic_interfaces/mobile_entities.soil
deleted file mode 100644
index 69bd24811fbb89153e1b962e355dd340989f03e1..0000000000000000000000000000000000000000
--- a/assets/semantic_interfaces/mobile_entities.soil
+++ /dev/null
@@ -1,73 +0,0 @@
-import utils;
-
-enum Mode {
- CONTINUOUS
- TRIGGERED
- EXTERNAL
- IDLE
-}
-
-parameter Mode {
- name: "Mode"
- description: "Current state of the entity. In CONTINUOUS mode, values are dispatched as fast as possible. In TRIGGERED mode, values are only dispatches after a software trigger. In EXTERNAL mode, values are dispatched in accordance to an external trigger, e.g. probe or TTL. IDLE means the entity is currently not used."
- default: CONTINUOUS
- datatype: enum
- range: Mode
- dimension: []
-}
-
-parameter Type {
- name: "Type"
- description: "System specific identifier of the target Type, e.g. SMR or Active SMR."
- datatype: string
- dimension: []
- default: "SMR"
-}
-
-measurement Locked {
- name: "Locked"
- description: "Boolean flag specifying whether the target is locked in."
- datatype: boolean
- dimension: []
-}
-
-function Reset {
- name: "Reset"
- description: "Starts the search routine around the current direction."
-}
-
-function Trigger {
- name: "Trigger"
- description: "Trigger count measurements and set the resulting label. This function is only allowed in triggered acquisition mode."
-}
-
-component Target {
- name: "Target"
- description: "Represents an individual mobile entity."
- functions:
- Reset reset
- Trigger trigger
- measurements:
- utils.Position position
- utils.Quaternion quaternion
- internal Locked locked
- parameters:
- utils.State state
- Mode mode
- Type type
-
- streams:
- position: update
- quaternion: update
-
- state.description = "Reflects the current state of the target. If logged in: OK. If not stable: WARNING. If lost: ERROR."
-}
-
-component MobileEntities {
- name: "Mobile Entities"
- description: "Object acting as a list of mobile entities in the metrology system."
- components:
- dynamic Target target
-}
-
-interface Target myTarget{}
\ No newline at end of file
diff --git a/assets/semantic_interfaces/robot.soil b/assets/semantic_interfaces/robot.soil
deleted file mode 100644
index 47fe4fcb1bb20f0f855aa94bd42b18b7c9119dd0..0000000000000000000000000000000000000000
--- a/assets/semantic_interfaces/robot.soil
+++ /dev/null
@@ -1,109 +0,0 @@
-@prefix quantitykind: <http://qudt.org/vocab/quantitykind/> ;
-@prefix unit: <http://qudt.org/vocab/unit/> ;
-@prefix dbo: <http://dbpedia.org/ontology/> ;
-@prefix schema: <http://schema.org/> ;
-
-measurement Position defines <quantitykind:CartesianCoordinates> {
- name: "Position"
- description: "Position in Cartesian coordinates given in metre."
- datatype: float
- range: (-50, 50)
- dimension: [3]
- unit: <unit:M>
-}
-
-measurement TCP defines <quantitykind:CartesianCoordinates> {
- name: "Tool Center Point"
- description: "Tool center point of a six-joint robot."
- datatype: float
- range: (-0.5,0.5)
- dimension: [3]
- unit: <unit:M>
-}
-
-measurement BatteryLevel {
- name: "Battery level"
- description: "Battery level"
- datatype: int
- range: (0, 100)
- dimension: []
- unit: <unit:PERCENT>
-}
-
-parameter Open {
- name: "Open"
- description: "Flag to specify if something is open."
- datatype: boolean
- dimension: []
- default: true
-}
-
-parameter AutoMovement {
- name: "Autonomous Movement"
- description: "If true, the robot moves around freely autonomously."
- datatype: boolean
- dimension: []
- default: true
-}
-
-component Gripper {
- name: "Gripper"
- description: "Gripper of a robot"
- parameters:
- Open open
-}
-
-function GoTo {
- name: "GoTo"
- description: "Moves something to an absolute given position"
- arguments:
- Position position
-}
-
-function Step {
- name: "Step"
- description: "Moves something to relatively from the current position to the given position"
- arguments:
- Position position
-}
-
-component Robot defines <dbo:Robot> {
- name: "Robot"
- description: "A robot arm with six axes."
- measurements:
- internal TCP tcp
- components:
- Gripper gripper
- functions:
- GoTo goto
- Step step
-
- streams:
- tcp: fixed(10)
-}
-
-component MobileRobot defines <schema:Vehicle> extends Robot {
- name: "Mobile Robot"
- description: "A robot arm with six axes mounted on a movable platform."
- measurements:
- internal Position position
- internal BatteryLevel batteryLevel
- functions:
- GoTo gotoRobot
- Step stepRobot
- parameters:
- AutoMovement auto
-
- streams:
- position: update
- batteryLevel: update
-
- gotoRobot.name = "AVG GoTo"
- stepRobot.name = "AVG Step"
-
- if batteryLevel < 20: warning("Battery level is below 20%. Load shortly.")
- if batteryLevel < 10: error("Battery level is below 10%. Please load the battery immediately.")
-
-}
-
-interface MobileRobot WallE {}
\ No newline at end of file
diff --git a/assets/semantic_interfaces/utils.soil b/assets/semantic_interfaces/utils.soil
deleted file mode 100644
index 279728f3b3ca13785a9fc2354585c0e981c0c662..0000000000000000000000000000000000000000
--- a/assets/semantic_interfaces/utils.soil
+++ /dev/null
@@ -1,37 +0,0 @@
-@prefix dbo: <http://dbpedia.org/ontology/> ;
-@prefix quantitykind: <http://qudt.org/vocab/quantitykind/> ;
-@prefix unit: <http://qudt.org/vocab/unit/> ;
-
-enum State {
- OK
- WARNING
- ERROR
- MAINTENANCE
-}
-
-parameter State defines <dbo:status> {
- name: "State"
- description: "The current state of the device."
- datatype: enum
- default: OK
- range: State
- dimension: []
-}
-
-measurement Position defines <quantitykind:CartesianCoordinates> {
- name: "Position"
- description: "Most recently dispatched measured position."
- datatype: float
- dimension: [3]
- range: (-100, 100)
- unit: <unit:M>
-}
-
-measurement Quaternion defines <quantitykind:Angle> {
- name: "Quaternion"
- description: "Most recently dispatched measured orientation as quaternion, if available."
- datatype: float
- dimension: [4]
- range: (0, 1)
- unit: <unit:UNITLESS>
-}
\ No newline at end of file
diff --git a/docker-compose-dev.yml b/docker-compose-dev.yml
index c208b79eb8f0ce856c73791215f0f2c15ae89f10..e01473cf2c9d9a6ef580998a3c7682cbbe3f5ee9 100644
--- a/docker-compose-dev.yml
+++ b/docker-compose-dev.yml
@@ -26,7 +26,7 @@ services:
dummy-monitoring:
build:
context: .
- dockerfile: ./src/environment_monitoring/Dockerfile
+ dockerfile: src/monitoring/Dockerfile
container_name: dummy-monitoring
volumes:
- ./assets/config/environment_monitoring.toml:/home/dummy/src/environment_monitoring/config.toml
diff --git a/init.bat b/init.bat
index e1aafdb323e34cd13c10b8889a6399e5b7ba070b..90138bb0df0ad5c34e763f9a5e2a1ebf7acce212 100644
--- a/init.bat
+++ b/init.bat
@@ -1,5 +1,5 @@
cd scripts
-python generate.py robot.soil -g remote -s -hwc
-python generate.py lasertracker.soil -g remote -s -hwc
-python generate.py environment_monitoring.soil -g remote -s -hwc
+python generate.py robot.soil -g shell -s -hwc
+python generate.py lasertracker.soil -g shell -s -hwc
+python generate.py monitoring.soil -g shell -s -hwc
cd ..
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
index a771946421d366ebd1c6a6344a742456764be8a4..734edea44eed2d57ea42fef99bd2b095036f56b2 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,4 +1,4 @@
numpy
requests
toml
-wzl-udi==9.1.2
+wzl-udi==9.3.1
diff --git a/scripts/fair-checker-assessment.py b/scripts/fair-checker-assessment.py
new file mode 100644
index 0000000000000000000000000000000000000000..c573c26aa9beecd6c6d9482f6117865c296a4863
--- /dev/null
+++ b/scripts/fair-checker-assessment.py
@@ -0,0 +1,42 @@
+import argparse
+import json
+import os
+import subprocess
+import sys
+import zipfile
+
+import multidict
+import requests
+import toml
+
+SRC = os.path.join('..', 'src')
+OUT = os.path.join('..', 'out')
+
+if __name__ == '__main__':
+ parser = argparse.ArgumentParser(prog='SOIL dummy FAIR-checker assessment')
+ parser.add_argument('dummy', type=str, choices=['lasertracker', 'monitoring', 'robot'])
+
+ args = parser.parse_args()
+
+ config = toml.load(os.path.join(SRC,args.dummy,'config.toml'))
+
+ if not os.path.exists(os.path.join(OUT,args.dummy)):
+ os.mkdir(os.path.join(OUT,args.dummy))
+
+ # Test profiles
+
+ profiles_path = f'{SRC}/{args.dummy}/{config["semantic"]["profiles"]}'
+ prefix_url = config["semantic"]["url"]
+
+ for filename in os.listdir(profiles_path):
+ profilename = f'{filename[:-10]}Profile'
+
+ request_url = f"https://fair-checker.france-bioinformatique.fr/api/check/metrics_all?url={prefix_url}{profilename}"
+
+ print(request_url)
+
+ response = requests.get(request_url)
+ if response.status_code == 200:
+ with open(os.path.join(OUT,args.dummy,f'{profilename}.json'), 'w') as reportfile:
+ json.dump(json.loads(response.content.decode('UTF-8')), reportfile)
+ break
diff --git a/scripts/generate.py b/scripts/generate.py
index 61f7e10c9f3c7f1ed37e4cabeda1c88c3c647d24..70aeb9fa48f794a8a378d4d7b2e2d7da3d35bc54 100644
--- a/scripts/generate.py
+++ b/scripts/generate.py
@@ -7,11 +7,9 @@ import zipfile
import multidict
import requests
-# generator = 'shell'
-# semantic = True
-# HWC = True
INTERFACES_PATH = os.path.join('..', 'assets', 'interfaces')
+JAR_PATH = '../../soil-text/target/libs/soil.jar'
if __name__ == '__main__':
parser = argparse.ArgumentParser(prog='SOIL dummy generator')
@@ -24,17 +22,6 @@ if __name__ == '__main__':
soil_model = args.filename[:-5]
- if args.semantic:
- INTERFACES_PATH = os.path.join('..', 'assets', 'semantic_interfaces')
-
- # try:
- # soil_model = sys.argv[1][:-5]
- # if not os.path.exists(os.path.join(INTERFACES_PATH, f'{soil_model}.soil')):
- # raise Exception()
- # except Exception as e:
- # print('You must provide a file from the folder "interfaces" to be used as root file of the generation, e.g., "python generate.py lasertracker.soil".')
- # exit()
-
if args.generator in ['local', 'remote']:
files = multidict.MultiDict()
for filename in os.listdir(INTERFACES_PATH):
@@ -57,12 +44,6 @@ if __name__ == '__main__':
if args.semantic:
url = f'{url}&semantic=True'
- # # url = f'https://iot.wzl-mq.rwth-aachen.de/soil-backend/generate?model={soil_model}.soil&target=visual'
- # url = f'https://iot.wzl-mq.rwth-aachen.de/soil-backend/translateToVisual'
- # # url = f'http://localhost:8001/generate?model={soil_model}.soil&target=python'
- # # if HWC:
- # # url = f'{url}'
-
response = requests.post(url, files=files)
if response.status_code == 200:
if not os.path.exists(os.path.join('..', 'src', soil_model)):
@@ -79,7 +60,7 @@ if __name__ == '__main__':
print(response.status_code)
elif args.generator == 'shell':
- command = f'java -jar ../../soil-text/target/libs/soil.jar soil.MainSoilTool -i {INTERFACES_PATH}/{soil_model}.soil -t python'
+ command = f'java -jar {JAR_PATH} soil.MainSoilTool -i {INTERFACES_PATH}/{soil_model}.soil -t python'
if args.handwritten:
command += f' -hwc ../src/{soil_model}/hwc'
if args.semantic:
diff --git a/src/lasertracker/hwc/com_target.py b/src/lasertracker/hwc/com_target.py
index 942c0b678930830144d5ecf0516f797f748574a0..0c0d817b6272910927221a8c88c6d7059fe71216 100644
--- a/src/lasertracker/hwc/com_target.py
+++ b/src/lasertracker/hwc/com_target.py
@@ -1,3 +1,6 @@
+import time
+from typing import List
+
from hwc.device import Device
from mobile_entities.com_target import COMTargetTOP
from mobile_entities.enum_mode import Mode
@@ -12,12 +15,10 @@ class COMTarget(COMTargetTOP):
def fun_reset(self):
self._device.reset_target()
- def fun_trigger(self, par_count=1, par_nonce=""):
- pass
- # for i in range(par_count):
- # publish('OBJ-Lasertracker/OBJ-MobileEntities/OBJ-Home-Target/VAR-Position',
- # json.dumps({'value': self.get_mea_position(), 'nonce': par_nonce}))
- # time.sleep(0.1)
+ def fun_trigger(self, arg_counter: int = 100, arg_label: str = "test") -> List[float]:
+ for i in range(arg_counter):
+ time.sleep(0.1)
+ yield self.get_mea_position(), arg_label
def get_mea_position(self):
return self._device.target.position
diff --git a/src/environment_monitoring/Dockerfile b/src/monitoring/Dockerfile
similarity index 100%
rename from src/environment_monitoring/Dockerfile
rename to src/monitoring/Dockerfile
diff --git a/src/environment_monitoring/docker-compose.yml b/src/monitoring/docker-compose.yml
similarity index 100%
rename from src/environment_monitoring/docker-compose.yml
rename to src/monitoring/docker-compose.yml
diff --git a/src/environment_monitoring/hwc/__init__.py b/src/monitoring/hwc/__init__.py
similarity index 100%
rename from src/environment_monitoring/hwc/__init__.py
rename to src/monitoring/hwc/__init__.py
diff --git a/src/environment_monitoring/hwc/com_environmentalsensor.py b/src/monitoring/hwc/com_environmentalsensor.py
similarity index 100%
rename from src/environment_monitoring/hwc/com_environmentalsensor.py
rename to src/monitoring/hwc/com_environmentalsensor.py
diff --git a/src/environment_monitoring/hwc/com_environmentalsensormanager.py b/src/monitoring/hwc/com_environmentalsensormanager.py
similarity index 100%
rename from src/environment_monitoring/hwc/com_environmentalsensormanager.py
rename to src/monitoring/hwc/com_environmentalsensormanager.py
diff --git a/src/environment_monitoring/hwc/device.py b/src/monitoring/hwc/device.py
similarity index 100%
rename from src/environment_monitoring/hwc/device.py
rename to src/monitoring/hwc/device.py
diff --git a/src/environment_monitoring/main.py b/src/monitoring/main.py
similarity index 100%
rename from src/environment_monitoring/main.py
rename to src/monitoring/main.py