Merge branch 'StatechartProfiles'

scenarios/CMakeLists.txt

 
 add_subdirectory(tests)
 
-

scenarios/tests/CMakeLists.txt

@@ -2,4 +2,6 @@ add_subdirectory(statecharttestscenario)
 add_subdirectory(WeissHapticSensorsUnitTest)
 add_subdirectory(InertialMeasurementUnit)
 add_subdirectory(DebugDrawerTest)
+add_subdirectory(StatechartProfilesTestArmar3a)
+add_subdirectory(StatechartProfilesTestArmar3Simulation)
 

scenarios/tests/StatechartProfilesTestArmar3Simulation/CMakeLists.txt

+set(SCENARIO_CONFIG_COMPONENTS
+    config/RobotControl.cfg
+    config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg
+	config/SystemObserver.cfg
+	config/ConditionHandler.cfg
+
+
+        #WeissHapticUnitApp
+        #WeissHapticSensorApp
+        #HapticObserverApp
+)
+
+
+# optional 3rd parameter: "path/to/global/config.cfg"
+armarx_scenario_from_configs("StatechartProfilesTest" "${SCENARIO_CONFIG_COMPONENTS}")

scenarios/tests/StatechartProfilesTestArmar3Simulation/config/ConditionHandler.cfg

+# ==================================================================
+# 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.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ConditionHandler.EnableProfiling = 0
+
+
+# ArmarX.ConditionHandler.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {Debug, 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 = ""
+
+
+

scenarios/tests/StatechartProfilesTestArmar3Simulation/config/RobotControl.cfg

+# ==================================================================
+# 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.RobotControlStateOfferer properties
+# ==================================================================
+
+# ArmarX.RobotControlStateOfferer.stateName:  name of the state to load
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.RobotControlStateOfferer.stateName = "TestState"
+
+
+# ArmarX.RobotControlStateOfferer.proxyName:  name of the proxy to load
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.RobotControlStateOfferer.proxyName = "StatechartProfilesTestGroupRemoteStateOfferer"
+
+
+# ArmarX.RobotControlStateOfferer.ProfilingDepth:  Amount of levels (starting from top-level state) in the state hierarchy that will be logged
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.RobotControlStateOfferer.ProfilingDepth = -1
+
+
+# ArmarX.RobotControlStateOfferer.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotControlStateOfferer.EnableProfiling = 0
+
+
+# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {Debug, 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 = ""
+
+
+

scenarios/tests/StatechartProfilesTestArmar3Simulation/config/SystemObserver.cfg

+# ==================================================================
+# 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.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SystemObserver.EnableProfiling = 0
+
+
+# ArmarX.SystemObserver.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {Debug, 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 = ""
+
+
+

scenarios/tests/StatechartProfilesTestArmar3Simulation/config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg

+# ==================================================================
+# 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 = "XMLStateComponentStatechartProfilesTestGroup"
+
+
+# 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/StatechartProfilesTestGroup/StatechartProfilesTestGroup.scgxml
+
+
+# ArmarX.XMLStateComponent.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.XMLStateComponent.EnableProfiling = 0
+
+
+# ArmarX.XMLStateComponent.XMLStatechartProfile:  Profile to use for state execution. Should be the same for all Statechart Groups.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.XMLStateComponent.XMLStatechartProfile = "Armar3Simulation"
+
+
+# ArmarX.XMLStateComponent.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {Debug, 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 = "XMLStateComponentStatechartProfilesTestGroup"
+
+
+

scenarios/tests/StatechartProfilesTestArmar3a/CMakeLists.txt

+set(SCENARIO_CONFIG_COMPONENTS
+    config/RobotControl.cfg
+    config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg
+	config/SystemObserver.cfg
+	config/ConditionHandler.cfg
+
+
+        #WeissHapticUnitApp
+        #WeissHapticSensorApp
+        #HapticObserverApp
+)
+
+
+# optional 3rd parameter: "path/to/global/config.cfg"
+armarx_scenario_from_configs("StatechartProfilesTest" "${SCENARIO_CONFIG_COMPONENTS}")

scenarios/tests/StatechartProfilesTestArmar3a/config/ConditionHandler.cfg

+# ==================================================================
+# 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.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ConditionHandler.EnableProfiling = 0
+
+
+# ArmarX.ConditionHandler.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {Debug, 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 = ""
+
+
+

scenarios/tests/StatechartProfilesTestArmar3a/config/RobotControl.cfg

+# ==================================================================
+# 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.RobotControlStateOfferer properties
+# ==================================================================
+
+# ArmarX.RobotControlStateOfferer.stateName:  name of the state to load
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.RobotControlStateOfferer.stateName = "TestState"
+
+
+# ArmarX.RobotControlStateOfferer.proxyName:  name of the proxy to load
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.RobotControlStateOfferer.proxyName = "StatechartProfilesTestGroupRemoteStateOfferer"
+
+
+# ArmarX.RobotControlStateOfferer.ProfilingDepth:  Amount of levels (starting from top-level state) in the state hierarchy that will be logged
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.RobotControlStateOfferer.ProfilingDepth = -1
+
+
+# ArmarX.RobotControlStateOfferer.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotControlStateOfferer.EnableProfiling = 0
+
+
+# ArmarX.RobotControlStateOfferer.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {Debug, 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 = ""
+
+
+

scenarios/tests/StatechartProfilesTestArmar3a/config/SystemObserver.cfg

+# ==================================================================
+# 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.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SystemObserver.EnableProfiling = 0
+
+
+# ArmarX.SystemObserver.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {Debug, 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 = ""
+
+
+

scenarios/tests/StatechartProfilesTestArmar3a/config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg

+# ==================================================================
+# 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 = "XMLStateComponentStatechartProfilesTestGroup"
+
+
+# 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/StatechartProfilesTestGroup/StatechartProfilesTestGroup.scgxml
+
+
+# ArmarX.XMLStateComponent.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.XMLStateComponent.EnableProfiling = 0
+
+
+# ArmarX.XMLStateComponent.XMLStatechartProfile:  Profile to use for state execution. Should be the same for all Statechart Groups.
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.XMLStateComponent.XMLStatechartProfile = "Armar3a"
+
+
+# ArmarX.XMLStateComponent.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+#  - Possible values: {Debug, 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 = "XMLStateComponentStatechartProfilesTestGroup"
+
+
+

source/RobotAPI/statecharts/CMakeLists.txt

 
 add_subdirectory(operations)
 
-add_subdirectory(WeissHapticGroup)
\ No newline at end of file
+add_subdirectory(WeissHapticGroup)
+add_subdirectory(StatechartProfilesTestGroup)
\ No newline at end of file

source/RobotAPI/statecharts/StatechartProfilesTestGroup/CMakeLists.txt

+armarx_component_set_name("StatechartProfilesTestGroup")
+
+#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}
+#        ${Simox_INCLUDE_DIRS}
+#    )
+#endif()
+
+set(COMPONENT_LIBS
+#   RobotAPIInterfaces RobotAPICore
+    ArmarXInterfaces ArmarXCore ArmarXCoreStatechart ArmarXCoreObservers)
+
+# Sources
+
+set(SOURCES
+StatechartProfilesTestGroupRemoteStateOfferer.cpp
+./TestState.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
+)
+
+set(HEADERS
+StatechartProfilesTestGroupRemoteStateOfferer.h
+StatechartProfilesTestGroup.scgxml
+./TestState.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
+./TestState.xml
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.xml
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")

source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroup.scgxml

+<?xml version="1.0" encoding="utf-8"?>
+<StatechartGroup name="StatechartProfilesTestGroup" package="RobotAPI" generateContext="true">
+	<Proxies/>
+	<State filename="TestState.xml" visibility="public"/>
+</StatechartGroup>
+

source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.cpp

+/*
+ * 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::StatechartProfilesTestGroup::StatechartProfilesTestGroupRemoteStateOfferer
+ * @author     Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#include "StatechartProfilesTestGroupRemoteStateOfferer.h"
+
+using namespace armarx;
+using namespace StatechartProfilesTestGroup;
+
+// DO NOT EDIT NEXT LINE
+StatechartProfilesTestGroupRemoteStateOfferer::SubClassRegistry StatechartProfilesTestGroupRemoteStateOfferer::Registry(StatechartProfilesTestGroupRemoteStateOfferer::GetName(), &StatechartProfilesTestGroupRemoteStateOfferer::CreateInstance);
+
+
+
+StatechartProfilesTestGroupRemoteStateOfferer::StatechartProfilesTestGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader) :
+    XMLRemoteStateOfferer < StatechartProfilesTestGroupStatechartContext > (reader)
+{
+}
+
+void StatechartProfilesTestGroupRemoteStateOfferer::onInitXMLRemoteStateOfferer()
+{
+
+}
+
+void StatechartProfilesTestGroupRemoteStateOfferer::onConnectXMLRemoteStateOfferer()
+{
+
+}
+
+void StatechartProfilesTestGroupRemoteStateOfferer::onExitXMLRemoteStateOfferer()
+{
+
+}
+
+// DO NOT EDIT NEXT FUNCTION
+std::string StatechartProfilesTestGroupRemoteStateOfferer::GetName()
+{
+    return "StatechartProfilesTestGroupRemoteStateOfferer";
+}
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateOffererFactoryBasePtr StatechartProfilesTestGroupRemoteStateOfferer::CreateInstance(StatechartGroupXmlReaderPtr reader)
+{
+    return XMLStateOffererFactoryBasePtr(new StatechartProfilesTestGroupRemoteStateOfferer(reader));
+}
+
+
+

source/RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroupRemoteStateOfferer.h

+/*
+ * 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::StatechartProfilesTestGroup
+ * @author     Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_REMOTESTATEOFFERER_H
+#define _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_REMOTESTATEOFFERER_H
+
+#include <Core/statechart/xmlstates/XMLRemoteStateOfferer.h>
+#include "StatechartProfilesTestGroupStatechartContext.generated.h"
+
+namespace armarx
+{
+    namespace StatechartProfilesTestGroup
+    {
+        class StatechartProfilesTestGroupRemoteStateOfferer :
+            virtual public XMLRemoteStateOfferer < StatechartProfilesTestGroupStatechartContext > // Change this statechart context if you need another context (dont forget to change in the constructor as well)
+        {
+        public:
+            StatechartProfilesTestGroupRemoteStateOfferer(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

source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.cpp

+/*
+ * 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::StatechartProfilesTestGroup
+ * @author     Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#include "TestState.h"
+
+using namespace armarx;
+using namespace StatechartProfilesTestGroup;
+
+// DO NOT EDIT NEXT LINE
+TestState::SubClassRegistry TestState::Registry(TestState::GetName(), &TestState::CreateInstance);
+
+
+
+TestState::TestState(const XMLStateConstructorParams& stateData) :
+    XMLStateTemplate<TestState>(stateData),  TestStateGeneratedBase<TestState>(stateData)
+{
+}
+
+void TestState::onEnter()
+{
+    std::string emptyString = in.getEmptyStringTest();
+    std::string TestParam1 = in.getTestParam1();
+    std::string TestParam2 = in.getTestParam2();
+    std::string TestParam3 = in.getTestParam3();
+
+    ARMARX_IMPORTANT << "TestParam1: " << TestParam1;
+    ARMARX_IMPORTANT << "TestParam2: " << TestParam2;
+    ARMARX_IMPORTANT << "TestParam3: " << TestParam3;
+
+    ARMARX_CHECK_EXPRESSION_W_HINT(emptyString == "", "EmptyStringTest is not empty.");
+    ARMARX_CHECK_EXPRESSION(TestParam1 == "OnlyRootSet");
+    ARMARX_CHECK_EXPRESSION(TestParam2 == "Armar3BaseSet");
+    ARMARX_CHECK_EXPRESSION(TestParam3 == "Armar3aSet" || TestParam3 == "Armar3SimulationSet");
+    ARMARX_IMPORTANT << "All tests passed.";
+}
+
+void TestState::run()
+{
+    // put your user code for the execution-phase here
+    // runs in seperate thread, thus can do complex operations
+    // should check constantly whether isRunningTaskStopped() returns true
+
+// uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
+//    while (!isRunningTaskStopped()) // stop run function if returning true
+//    {
+//        // do your calculations
+//    }
+
+}
+
+void TestState::onBreak()
+{
+    // put your user code for the breaking point here
+    // execution time should be short (<100ms)
+}
+
+void TestState::onExit()
+{
+    // put your user code for the exit point here
+    // execution time should be short (<100ms)
+
+}
+
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateFactoryBasePtr TestState::CreateInstance(XMLStateConstructorParams stateData)
+{
+    return XMLStateFactoryBasePtr(new TestState(stateData));
+}
+

source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.h

+/*
+ * 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::StatechartProfilesTestGroup
+ * @author     Valerij Wittenbeck ( valerij dot wittenbeck at student dot kit dot edu )
+ * @date       2015
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_TestState_H
+#define _ARMARX_XMLUSERCODE_RobotAPI_StatechartProfilesTestGroup_TestState_H
+
+#include "TestState.generated.h"
+
+namespace armarx
+{
+    namespace StatechartProfilesTestGroup
+    {
+        class TestState :
+            public TestStateGeneratedBase<TestState>
+        {
+        public:
+            TestState(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

source/RobotAPI/statecharts/StatechartProfilesTestGroup/TestState.xml

+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="TestState" uuid="84AE0A5A-9F6A-4CD7-B185-2173009CB87C" width="800" height="600" type="Normal State">
+	<InputParameters>
+		<Parameter name="EmptyStringTest" type="::armarx::StringVariantData" optional="no">
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":""}}'/>
+		</Parameter>
+		<Parameter name="TestParam1" type="::armarx::StringVariantData" optional="no">
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"OnlyRootSet"}}'/>
+		</Parameter>
+		<Parameter name="TestParam2" type="::armarx::StringVariantData" optional="no">
+			<DefaultValue profile="Armar3Base" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Armar3BaseSet"}}'/>
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"RootSet"}}'/>
+		</Parameter>
+		<Parameter name="TestParam3" type="::armarx::StringVariantData" optional="no">
+			<DefaultValue profile="Armar3Simulation" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Armar3SimulationSet"}}'/>
+			<DefaultValue profile="Armar3a" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Armar3aSet"}}'/>
+			<DefaultValue profile="Armar3b" value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Armar3bSet"}}'/>
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"RootSet"}}'/>
+		</Parameter>
+	</InputParameters>
+	<OutputParameters/>
+	<LocalParameters/>
+	<Substates/>
+	<Events/>
+	<Transitions/>
+</State>
+