From b37e0a784ff24c5c5176fc1bff62add81a7d0867 Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Sun, 3 May 2015 12:20:44 +0200
Subject: [PATCH] added test statechart for Weiss Tactile Sensors
---
data/RobotAPI/VariantInfo-RobotAPI.xml | 17 +++
.../WeissHapticSensorsUnitTest/CMakeLists.txt | 18 +--
.../config/ConditionHandler.cfg | 100 +++++++++++++++
.../config/RobotControl.cfg | 117 +++++++++++++++++
.../config/SystemObserver.cfg | 84 ++++++++++++
.../config/WeissHapticUnitApp.cfg | 2 +-
...XMLRemoteStateOfferer.WeissHapticGroup.cfg | 91 +++++++++++++
.../WeissHapticSensorsUnitTest/startGui.sh | 8 --
.../components/units/HapticObserver.cpp | 1 +
.../components/units/HapticObserver.h | 1 +
source/RobotAPI/statecharts/CMakeLists.txt | 2 +
.../WeissHapticGroup/CMakeLists.txt | 48 +++++++
.../WeissHapticGroup/WeissHapticGroup.scgxml | 9 ++
.../WeissHapticGroupRemoteStateOfferer.cpp | 66 ++++++++++
.../WeissHapticGroupRemoteStateOfferer.h | 54 ++++++++
...ssHapticGroupStatechartContext.generated.h | 59 +++++++++
.../WeissHapticSensorTest.cpp | 112 ++++++++++++++++
.../WeissHapticSensorTest.generated.h | 120 ++++++++++++++++++
.../WeissHapticGroup/WeissHapticSensorTest.h | 55 ++++++++
.../WeissHapticSensorTest.xml | 12 ++
20 files changed, 958 insertions(+), 18 deletions(-)
create mode 100644 scenarios/tests/WeissHapticSensorsUnitTest/config/ConditionHandler.cfg
create mode 100644 scenarios/tests/WeissHapticSensorsUnitTest/config/RobotControl.cfg
create mode 100644 scenarios/tests/WeissHapticSensorsUnitTest/config/SystemObserver.cfg
create mode 100644 scenarios/tests/WeissHapticSensorsUnitTest/config/XMLRemoteStateOfferer.WeissHapticGroup.cfg
delete mode 100755 scenarios/tests/WeissHapticSensorsUnitTest/startGui.sh
create mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/CMakeLists.txt
create mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroup.scgxml
create mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.cpp
create mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h
create mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h
create mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.cpp
create mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h
create mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
create mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.xml
diff --git a/data/RobotAPI/VariantInfo-RobotAPI.xml b/data/RobotAPI/VariantInfo-RobotAPI.xml
index 4060a4ab5..d24635735 100644
--- a/data/RobotAPI/VariantInfo-RobotAPI.xml
+++ b/data/RobotAPI/VariantInfo-RobotAPI.xml
@@ -26,6 +26,23 @@
propertyName="ForceTorqueUnitObserverName"
propertyIsOptional="true"
propertyDefaultValue="ForceTorqueUnitObserver" />
+ <Proxy include="RobotAPI/interface/units/HapticUnit.h"
+ humanName="Haptic Unit Observer"
+ typeName="HapticUnitObserverInterfacePrx"
+ memberName="hapticObserver"
+ getterName="getHapticObserver"
+ propertyName="HapticUnitObserverName"
+ propertyIsOptional="true"
+ propertyDefaultValue="HapticUnitObserver" />
+ <Proxy include="RobotAPI/interface/units/WeissHapticUnit.h"
+ humanName="Weiss Haptic Unit"
+ typeName="WeissHapticUnitInterfacePrx"
+ memberName="weissHapticUnit"
+ getterName="getWeissHapticUnit"
+ propertyName="WeissHapticUnitName"
+ propertyIsOptional="true"
+ propertyDefaultValue="WeissHapticUnit" />
+
<Proxy include="RobotAPI/interface/core/RobotState.h"
humanName="Robot State Component"
typeName="RobotStateComponentInterfacePrx"
diff --git a/scenarios/tests/WeissHapticSensorsUnitTest/CMakeLists.txt b/scenarios/tests/WeissHapticSensorsUnitTest/CMakeLists.txt
index 09aa30750..b94e56938 100644
--- a/scenarios/tests/WeissHapticSensorsUnitTest/CMakeLists.txt
+++ b/scenarios/tests/WeissHapticSensorsUnitTest/CMakeLists.txt
@@ -1,16 +1,16 @@
+set(SCENARIO_CONFIG_COMPONENTS
+ config/RobotControl.cfg
+ config/WeissHapticUnitApp.cfg
+ config/XMLRemoteStateOfferer.WeissHapticGroup.cfg
+ config/SystemObserver.cfg
+ config/ConditionHandler.cfg
-set(SCENARIO_COMPONENTS
- WeissHapticUnitApp
+
+ #WeissHapticUnitApp
#WeissHapticSensorApp
#HapticObserverApp
)
# optional 3rd parameter: "path/to/global/config.cfg"
-armarx_scenario("WeissHapticSensorsUnitTest" "${SCENARIO_COMPONENTS}")
-
-#set(SCENARIO_CONFIGS
-# config/ComponentName.optionalString.cfg
-# )
-# optional 3rd parameter: "path/to/global/config.cfg"
-#armarx_scenario_from_configs("WeissHapticSensorsUnitTest" "${SCENARIO_CONFIGS}")
+armarx_scenario_from_configs("WeissHapticSensorsUnitTest" "${SCENARIO_CONFIG_COMPONENTS}")
diff --git a/scenarios/tests/WeissHapticSensorsUnitTest/config/ConditionHandler.cfg b/scenarios/tests/WeissHapticSensorsUnitTest/config/ConditionHandler.cfg
new file mode 100644
index 000000000..75f5b78f4
--- /dev/null
+++ b/scenarios/tests/WeissHapticSensorsUnitTest/config/ConditionHandler.cfg
@@ -0,0 +1,100 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.ConditionHandler properties
+# ==================================================================
+
+# ArmarX.ConditionHandler.HistoryLength: Length of condition history kept by the conditionhandler
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ConditionHandler.HistoryLength = 1000
+
+
+# ArmarX.ConditionHandler.Observers: Comma seperated observer list
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ConditionHandler.Observers = ""
+
+
+# ArmarX.ConditionHandler.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.ConditionHandler.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ConditionHandler.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ConditionHandler.ObjectName = ""
+
+
+
diff --git a/scenarios/tests/WeissHapticSensorsUnitTest/config/RobotControl.cfg b/scenarios/tests/WeissHapticSensorsUnitTest/config/RobotControl.cfg
new file mode 100644
index 000000000..08183f785
--- /dev/null
+++ b/scenarios/tests/WeissHapticSensorsUnitTest/config/RobotControl.cfg
@@ -0,0 +1,117 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DatapathConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.RobotControlStateOfferer properties
+# ==================================================================
+
+# ArmarX.RobotControlStateOfferer.stateName: name of the state to load
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.RobotControlStateOfferer.stateName = "WeissHapticSensorTest"
+
+
+# ArmarX.RobotControlStateOfferer.proxyName: name of the proxy to load
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.RobotControlStateOfferer.proxyName = "WeissHapticGroupRemoteStateOfferer"
+
+
+# ArmarX.RobotControlStateOfferer.logstates:
+# Attributes:
+# - Default: Comma seperated list with state names to log. If not set, all transitions will be logged
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RobotControlStateOfferer.logstates = Comma seperated list with state names to log. If not set, all transitions will be logged
+
+
+# ArmarX.RobotControlStateOfferer.enableStatechartLogger: disable/enable statechart logger
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotControlStateOfferer.enableStatechartLogger = 0
+
+
+# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotControlStateOfferer.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RobotControlStateOfferer.ObjectName = ""
+
+
+
diff --git a/scenarios/tests/WeissHapticSensorsUnitTest/config/SystemObserver.cfg b/scenarios/tests/WeissHapticSensorsUnitTest/config/SystemObserver.cfg
new file mode 100644
index 000000000..f8cf074d1
--- /dev/null
+++ b/scenarios/tests/WeissHapticSensorsUnitTest/config/SystemObserver.cfg
@@ -0,0 +1,84 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.SystemObserver properties
+# ==================================================================
+
+# ArmarX.SystemObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.SystemObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.SystemObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.SystemObserver.ObjectName = ""
+
+
+
diff --git a/scenarios/tests/WeissHapticSensorsUnitTest/config/WeissHapticUnitApp.cfg b/scenarios/tests/WeissHapticSensorsUnitTest/config/WeissHapticUnitApp.cfg
index 28eb648f1..b8777df3d 100644
--- a/scenarios/tests/WeissHapticSensorsUnitTest/config/WeissHapticUnitApp.cfg
+++ b/scenarios/tests/WeissHapticSensorsUnitTest/config/WeissHapticUnitApp.cfg
@@ -86,7 +86,7 @@
# - Default: ""
# - Case sensitivity: no
# - Required: no
-# ArmarX.HapticUnit.ObjectName = ""
+ArmarX.HapticUnit.ObjectName = "WeissHapticUnit"
# ==================================================================
diff --git a/scenarios/tests/WeissHapticSensorsUnitTest/config/XMLRemoteStateOfferer.WeissHapticGroup.cfg b/scenarios/tests/WeissHapticSensorsUnitTest/config/XMLRemoteStateOfferer.WeissHapticGroup.cfg
new file mode 100644
index 000000000..caedd0eae
--- /dev/null
+++ b/scenarios/tests/WeissHapticSensorsUnitTest/config/XMLRemoteStateOfferer.WeissHapticGroup.cfg
@@ -0,0 +1,91 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.ApplicationName = "XMLStateComponentWeissHapticGroup"
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.XMLStateComponent properties
+# ==================================================================
+
+# ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile: Path to statechart group definition file (*.scgxml) - relative to projects source dir
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile = RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroup.scgxml
+
+
+# ArmarX.XMLStateComponent.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.XMLStateComponent.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.XMLStateComponent.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.XMLStateComponent.ObjectName = "XMLStateComponentWeissHapticGroup"
+
+
+
diff --git a/scenarios/tests/WeissHapticSensorsUnitTest/startGui.sh b/scenarios/tests/WeissHapticSensorsUnitTest/startGui.sh
deleted file mode 100755
index e2f4b07c6..000000000
--- a/scenarios/tests/WeissHapticSensorsUnitTest/startGui.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-export CORE_PATH=../../../Core
-export GUI_PATH=../../../Gui
-
-export SCRIPT_PATH=$CORE_PATH/build/bin
-export GUI_BIN_PATH=$GUI_PATH/build/bin
-
-# Gui
-$SCRIPT_PATH/startApplication.sh $GUI_BIN_PATH/ArmarXGuiRun &
diff --git a/source/RobotAPI/components/units/HapticObserver.cpp b/source/RobotAPI/components/units/HapticObserver.cpp
index 8f5d82933..9bb402e96 100644
--- a/source/RobotAPI/components/units/HapticObserver.cpp
+++ b/source/RobotAPI/components/units/HapticObserver.cpp
@@ -67,6 +67,7 @@ void HapticObserver::reportSensorValues(const std::string& device, const std::st
offerDataFieldWithDefault(channelName, "mean", Variant(mean), "Mean value");
offerDataFieldWithDefault(channelName, "timestamp", timestampPtr, "Timestamp");
offerDataFieldWithDefault(channelName, "rate", Variant(0.0f), "Sample rate");
+ ARMARX_INFO << "Offering new channel: " << channelName;
}
else
{
diff --git a/source/RobotAPI/components/units/HapticObserver.h b/source/RobotAPI/components/units/HapticObserver.h
index bec65d205..4e167780a 100644
--- a/source/RobotAPI/components/units/HapticObserver.h
+++ b/source/RobotAPI/components/units/HapticObserver.h
@@ -31,6 +31,7 @@
#include <Core/util/variants/eigen3/Eigen3VariantObjectFactories.h>
#include <Core/core/services/tasks/PeriodicTask.h>
+
namespace armarx
{
diff --git a/source/RobotAPI/statecharts/CMakeLists.txt b/source/RobotAPI/statecharts/CMakeLists.txt
index ef16919a0..17fa472e9 100644
--- a/source/RobotAPI/statecharts/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/CMakeLists.txt
@@ -1,2 +1,4 @@
add_subdirectory(operations)
+
+add_subdirectory(WeissHapticGroup)
\ No newline at end of file
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/CMakeLists.txt b/source/RobotAPI/statecharts/WeissHapticGroup/CMakeLists.txt
new file mode 100644
index 000000000..1bb8a3e82
--- /dev/null
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/CMakeLists.txt
@@ -0,0 +1,48 @@
+armarx_component_set_name("WeissHapticGroup")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+find_package(Eigen3 QUIET)
+find_package(Simox QUIET)
+
+
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+
+
+if (Eigen3_FOUND AND Simox_FOUND)
+ include_directories(
+ ${Eigen3_INCLUDE_DIR}
+ ${Simox_INCLUDE_DIRS}
+ )
+endif()
+
+set(COMPONENT_LIBS
+ RobotAPIInterfaces RobotAPICore RobotAPIUnits
+ ArmarXInterfaces ArmarXCore ArmarXCoreStatechart ArmarXCoreObservers)
+
+# Sources
+
+set(SOURCES
+WeissHapticGroupRemoteStateOfferer.cpp
+./WeissHapticSensorTest.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
+)
+
+set(HEADERS
+WeissHapticGroupRemoteStateOfferer.h
+WeissHapticGroupStatechartContext.generated.h
+./WeissHapticSensorTest.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
+./WeissHapticSensorTest.generated.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.generated.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroup.scgxml b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroup.scgxml
new file mode 100644
index 000000000..d030a3d32
--- /dev/null
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroup.scgxml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<StatechartGroup name="WeissHapticGroup" package="RobotAPI" generateContext="true">
+ <Proxies>
+ <Proxy value="RobotAPICore.hapticObserver"/>
+ <Proxy value="RobotAPICore.weissHapticUnit"/>
+ </Proxies>
+ <State filename="WeissHapticSensorTest.xml" visibility="public"/>
+</StatechartGroup>
+
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.cpp b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.cpp
new file mode 100644
index 000000000..a8f0c6b0e
--- /dev/null
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.cpp
@@ -0,0 +1,66 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::WeissHapticGroup::WeissHapticGroupRemoteStateOfferer
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2015
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "WeissHapticGroupRemoteStateOfferer.h"
+
+using namespace armarx;
+using namespace WeissHapticGroup;
+
+// DO NOT EDIT NEXT LINE
+WeissHapticGroupRemoteStateOfferer::SubClassRegistry WeissHapticGroupRemoteStateOfferer::Registry(WeissHapticGroupRemoteStateOfferer::GetName(), &WeissHapticGroupRemoteStateOfferer::CreateInstance);
+
+
+
+WeissHapticGroupRemoteStateOfferer::WeissHapticGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader) :
+ XMLRemoteStateOfferer < WeissHapticGroupStatechartContext > (reader)
+{
+}
+
+void WeissHapticGroupRemoteStateOfferer::onInitXMLRemoteStateOfferer()
+{
+
+}
+
+void WeissHapticGroupRemoteStateOfferer::onConnectXMLRemoteStateOfferer()
+{
+
+}
+
+void WeissHapticGroupRemoteStateOfferer::onExitXMLRemoteStateOfferer()
+{
+
+}
+
+// DO NOT EDIT NEXT FUNCTION
+std::string WeissHapticGroupRemoteStateOfferer::GetName()
+{
+ return "WeissHapticGroupRemoteStateOfferer";
+}
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateOffererFactoryBasePtr WeissHapticGroupRemoteStateOfferer::CreateInstance(StatechartGroupXmlReaderPtr reader)
+{
+ return XMLStateOffererFactoryBasePtr(new WeissHapticGroupRemoteStateOfferer(reader));
+}
+
+
+
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h
new file mode 100644
index 000000000..232ed4f32
--- /dev/null
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupRemoteStateOfferer.h
@@ -0,0 +1,54 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::WeissHapticGroup
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2015
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_REMOTESTATEOFFERER_H
+#define _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_REMOTESTATEOFFERER_H
+
+#include <Core/statechart/xmlstates/XMLRemoteStateOfferer.h>
+#include "WeissHapticGroupStatechartContext.generated.h"
+
+namespace armarx
+{
+ namespace WeissHapticGroup
+ {
+ class WeissHapticGroupRemoteStateOfferer :
+ virtual public XMLRemoteStateOfferer < WeissHapticGroupStatechartContext > // Change this statechart context if you need another context (dont forget to change in the constructor as well)
+ {
+ public:
+ WeissHapticGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader);
+
+ // inherited from RemoteStateOfferer
+ void onInitXMLRemoteStateOfferer();
+ void onConnectXMLRemoteStateOfferer();
+ void onExitXMLRemoteStateOfferer();
+
+ // static functions for AbstractFactory Method
+ static std::string GetName();
+ static XMLStateOffererFactoryBasePtr CreateInstance(StatechartGroupXmlReaderPtr reader);
+ static SubClassRegistry Registry;
+
+
+ };
+ }
+}
+
+#endif
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h
new file mode 100644
index 000000000..947ae7ed0
--- /dev/null
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h
@@ -0,0 +1,59 @@
+#ifndef ARMARX_COMPONENT_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICGROUPSTATECHARTCONTEXT_H
+#define ARMARX_COMPONENT_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICGROUPSTATECHARTCONTEXT_H
+
+#include <Core/core/Component.h>
+#include <Core/core/system/ImportExportComponent.h>
+#include <Core/statechart/StatechartContext.h>
+#include <RobotAPI/interface/units/HapticUnit.h>
+#include <RobotAPI/interface/units/WeissHapticUnit.h>
+
+namespace armarx
+{
+ namespace WeissHapticGroup
+ {
+ class WeissHapticGroupStatechartContext
+ : virtual public StatechartContext
+ {
+ protected:
+ class PropertyDefinitions
+ : public StatechartContextPropertyDefinitions
+ {
+ public:
+ PropertyDefinitions(std::string prefix)
+ : StatechartContextPropertyDefinitions(prefix)
+ {
+ defineOptionalProperty<std::string>("HapticUnitObserverName", "HapticUnitObserver", "Name of the haptic unit observer that should be used");
+ defineOptionalProperty<std::string>("WeissHapticUnitName", "WeissHapticUnit", "Name of the weiss haptic unit that should be used");
+ }
+ }; // class PropertyDefinitions
+
+ private:
+ HapticUnitObserverInterfacePrx hapticObserver;
+ WeissHapticUnitInterfacePrx weissHapticUnit;
+
+ public:
+ std::string getDefaultName() const
+ {
+ return "WeissHapticGroupStatechartContext";
+ }
+ virtual void onInitStatechartContext()
+ {
+ usingProxy(getProperty<std::string>("HapticUnitObserverName").getValue());
+ usingProxy(getProperty<std::string>("WeissHapticUnitName").getValue());
+ }
+ virtual void onConnectStatechartContext()
+ {
+ hapticObserver = getProxy<HapticUnitObserverInterfacePrx>(getProperty<std::string>("HapticUnitObserverName").getValue());
+ weissHapticUnit = getProxy<WeissHapticUnitInterfacePrx>(getProperty<std::string>("WeissHapticUnitName").getValue());
+ }
+ HapticUnitObserverInterfacePrx getHapticObserver() const { return hapticObserver; }
+ WeissHapticUnitInterfacePrx getWeissHapticUnit() const { return weissHapticUnit; }
+ virtual PropertyDefinitionsPtr createPropertyDefinitions()
+ {
+ return PropertyDefinitionsPtr(new WeissHapticGroupStatechartContext::PropertyDefinitions(getConfigIdentifier()));
+ }
+ }; // class WeissHapticGroupStatechartContext
+ } // namespace WeissHapticGroup
+} // namespace armarx
+
+#endif // ARMARX_COMPONENT_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICGROUPSTATECHARTCONTEXT_H
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.cpp b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.cpp
new file mode 100644
index 000000000..ac0edd945
--- /dev/null
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.cpp
@@ -0,0 +1,112 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::WeissHapticGroup
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2015
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "WeissHapticSensorTest.h"
+
+#include <RobotAPI/libraries/core/observerfilters/MatrixFilters.h>
+#include <RobotAPI/libraries/core/observerfilters/OffsetFilter.h>
+
+using namespace armarx;
+using namespace WeissHapticGroup;
+
+// DO NOT EDIT NEXT LINE
+WeissHapticSensorTest::SubClassRegistry WeissHapticSensorTest::Registry(WeissHapticSensorTest::GetName(), &WeissHapticSensorTest::CreateInstance);
+
+
+
+WeissHapticSensorTest::WeissHapticSensorTest(const XMLStateConstructorParams& stateData) :
+ XMLStateTemplate<WeissHapticSensorTest>(stateData), WeissHapticSensorTestGeneratedBase<WeissHapticSensorTest>(stateData)
+{
+}
+
+void WeissHapticSensorTest::onEnter()
+{
+ WeissHapticGroupStatechartContext* context = getContext<WeissHapticGroupStatechartContext>();
+ HapticUnitObserverInterfacePrx hapticObserver = context->getHapticObserver();
+ ChannelRegistry channels = hapticObserver->getAvailableChannels(false);
+ std::map<std::string, DatafieldRefPtr> tactileDatafields_MaximumValueMap;
+ if(channels.size() == 0)
+ {
+ ARMARX_WARNING << "No tactile pads found";
+ }
+ else
+ {
+ ARMARX_INFO << "Creating tactile channels";
+ for(std::pair<std::string, ChannelRegistryEntry> pair : channels)
+ {
+ std::string tactilePad = pair.first;
+ DatafieldRefBasePtr matrixDatafield = new DatafieldRef(hapticObserver, tactilePad, "matrix");
+ DatafieldRefBasePtr matrixNulled = hapticObserver->createFilteredDatafield(DatafieldFilterBasePtr(new filters::OffsetFilter()), matrixDatafield);
+ DatafieldRefBasePtr matrixMax = hapticObserver->createFilteredDatafield(DatafieldFilterBasePtr(new filters::MatrixMaxFilter()), matrixNulled);
+ tactileDatafields_MaximumValueMap.insert(std::make_pair(tactilePad, DatafieldRefPtr::dynamicCast(matrixMax)));
+ }
+ }
+ local.setTactileDatafields_MaximumValue(tactileDatafields_MaximumValueMap);
+
+
+}
+
+void WeissHapticSensorTest::run()
+{
+ std::map<std::string, DatafieldRefPtr> tactileDatafields_MaximumValueMap = local.getTactileDatafields_MaximumValue();
+
+ while (!isRunningTaskStopped()) // stop run function if returning true
+ {
+ std::stringstream ss;
+ std::stringstream ssNames;
+ int max = 0;
+ for(std::pair<std::string, DatafieldRefPtr> pair : tactileDatafields_MaximumValueMap)
+ {
+ std::string tactilePad = pair.first;
+ DatafieldRefPtr matrixMax = pair.second;
+ int padMax = (int)matrixMax->getDataField()->getFloat();
+ ss << padMax << "; ";
+ ssNames << tactilePad << "; ";
+ max = std::max(max, padMax);
+ }
+ ARMARX_IMPORTANT << "tactile max value: " << max << "; \n\n" << ss.str() << "\n" << ssNames.str();
+
+ usleep(10000); // 100ms
+ }
+
+}
+
+void WeissHapticSensorTest::onBreak()
+{
+ // put your user code for the breaking point here
+ // execution time should be short (<100ms)
+}
+
+void WeissHapticSensorTest::onExit()
+{
+ // put your user code for the exit point here
+ // execution time should be short (<100ms)
+
+}
+
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateFactoryBasePtr WeissHapticSensorTest::CreateInstance(XMLStateConstructorParams stateData)
+{
+ return XMLStateFactoryBasePtr(new WeissHapticSensorTest(stateData));
+}
+
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h
new file mode 100644
index 000000000..a4cd708d5
--- /dev/null
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h
@@ -0,0 +1,120 @@
+#ifndef _ARMARX_XMLUSERCODE_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICSENSORTESTGENERATEDBASE_H
+#define _ARMARX_XMLUSERCODE_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICSENSORTESTGENERATEDBASE_H
+
+#include <Core/statechart/xmlstates/XMLState.h>
+#include "WeissHapticGroupStatechartContext.generated.h"
+#include <Core/observers/ObserverObjectFactories.h>
+#include <RobotAPI/interface/units/HapticUnit.h>
+#include <RobotAPI/interface/units/WeissHapticUnit.h>
+
+namespace armarx
+{
+ namespace WeissHapticGroup
+ {
+ template<typename StateType>
+ class WeissHapticSensorTestGeneratedBase
+ : virtual public XMLStateTemplate < StateType >,
+ public XMLStateFactoryBase
+ {
+ protected:
+ class WeissHapticSensorTestIn
+ {
+ private:
+ WeissHapticSensorTestGeneratedBase<StateType> *parent;
+
+ public:
+ WeissHapticSensorTestIn(WeissHapticSensorTestGeneratedBase<StateType> *parent)
+ : parent(parent)
+ {
+ }
+ }; // class WeissHapticSensorTestIn
+
+ class WeissHapticSensorTestLocal
+ {
+ private:
+ WeissHapticSensorTestGeneratedBase<StateType> *parent;
+
+ public:
+ WeissHapticSensorTestLocal(WeissHapticSensorTestGeneratedBase<StateType> *parent)
+ : parent(parent)
+ {
+ }
+
+ public:
+ std::map<std::string, ::armarx::DatafieldRefPtr> getTactileDatafields_MaximumValue() const
+ {
+ return parent->State::getLocal< ::armarx::StringValueMap>("TactileDatafields_MaximumValue")->::armarx::StringValueMap::toStdMap< ::armarx::DatafieldRefPtr>();
+ }
+ void setTactileDatafields_MaximumValue(const std::map<std::string, ::armarx::DatafieldRefPtr> & value) const
+ {
+ ::armarx::StringValueMapPtr container = ::armarx::StringValueMap::FromStdMap< ::armarx::DatafieldRefPtr>(value);
+ parent->State::setLocal("TactileDatafields_MaximumValue", *container);
+ }
+ bool isTactileDatafields_MaximumValueSet() const
+ {
+ return parent->State::isLocalParameterSet("TactileDatafields_MaximumValue");
+ }
+ }; // class WeissHapticSensorTestLocal
+
+ class WeissHapticSensorTestOut
+ {
+ private:
+ WeissHapticSensorTestGeneratedBase<StateType> *parent;
+
+ public:
+ WeissHapticSensorTestOut(WeissHapticSensorTestGeneratedBase<StateType> *parent)
+ : parent(parent)
+ {
+ }
+ }; // class WeissHapticSensorTestOut
+
+ protected:
+ const WeissHapticSensorTestIn in;
+ const WeissHapticSensorTestLocal local;
+ const WeissHapticSensorTestOut out;
+
+ public:
+ WeissHapticSensorTestGeneratedBase(const XMLStateConstructorParams& stateData)
+ : XMLStateTemplate < StateType > (stateData),
+ in(WeissHapticSensorTestIn(this)),
+ local(WeissHapticSensorTestLocal(this)),
+ out(WeissHapticSensorTestOut(this))
+ {
+ }
+ WeissHapticSensorTestGeneratedBase(const WeissHapticSensorTestGeneratedBase &source)
+ : IceUtil::Shared(source),
+ armarx::StateIceBase(source),
+ armarx::StateBase(source),
+ armarx::StateController(source),
+ armarx::State(source),
+ XMLStateTemplate < StateType > (source),
+ in(WeissHapticSensorTestIn(this)),
+ local(WeissHapticSensorTestLocal(this)),
+ out(WeissHapticSensorTestOut(this))
+ {
+ }
+
+ public:
+ HapticUnitObserverInterfacePrx getHapticObserver() const
+ {
+ return StateBase::getContext<WeissHapticGroupStatechartContext>()->getHapticObserver();
+ }
+ WeissHapticUnitInterfacePrx getWeissHapticUnit() const
+ {
+ return StateBase::getContext<WeissHapticGroupStatechartContext>()->getWeissHapticUnit();
+ }
+ static std::string GetName()
+ {
+ return "WeissHapticSensorTest";
+ }
+ void __forceLibLoading()
+ {
+ // Do not call this method.
+ // The sole purpose of this method is to force the compiler/linker to include all libraries.
+ ::armarx::DatafieldRef type1;
+ }
+ }; // class WeissHapticSensorTestGeneratedBase
+ } // namespace WeissHapticGroup
+} // namespace armarx
+
+#endif // _ARMARX_XMLUSERCODE_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICSENSORTESTGENERATEDBASE_H
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
new file mode 100644
index 000000000..34b84f989
--- /dev/null
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
@@ -0,0 +1,55 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::WeissHapticGroup
+ * @author Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date 2015
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_WeissHapticSensorTest_H
+#define _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_WeissHapticSensorTest_H
+
+#include "WeissHapticSensorTest.generated.h"
+
+namespace armarx
+{
+ namespace WeissHapticGroup
+ {
+ class WeissHapticSensorTest :
+ public WeissHapticSensorTestGeneratedBase<WeissHapticSensorTest>
+ {
+ public:
+ WeissHapticSensorTest(const XMLStateConstructorParams& stateData);
+
+ // inherited from StateBase
+ void onEnter();
+ void run();
+ void onBreak();
+ void onExit();
+
+ // static functions for AbstractFactory Method
+ static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
+ static SubClassRegistry Registry;
+
+ // DO NOT INSERT ANY CLASS MEMBERS,
+ // use stateparameters instead,
+ // if classmember are neccessary nonetheless, reset them in onEnter
+ };
+ }
+}
+
+#endif
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.xml b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.xml
new file mode 100644
index 000000000..d44dc26ac
--- /dev/null
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.0" name="WeissHapticSensorTest" uuid="B8841E3D-97C6-468F-86D9-6370D5F89BB4" width="800" height="600">
+ <InputParameters/>
+ <OutputParameters/>
+ <LocalParameters>
+ <Parameter name="TactileDatafields_MaximumValue" type="::armarx::StringValueMapBase(::armarx::DatafieldRefBase)" optional="no"/>
+ </LocalParameters>
+ <Substates/>
+ <Events/>
+ <Transitions/>
+</State>
+
--
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