From ccf39ccd0428f30e8e9a9dfea19caedc6484851a Mon Sep 17 00:00:00 2001
From: Manfred Kroehnert <Manfred.Kroehnert@kit.edu>
Date: Tue, 9 Sep 2014 16:15:37 +0200
Subject: [PATCH] initial skeleton for MotionControlTest statechart
The intention of this statechart is to contain all MotionControl states
to make them testable in a common scenario.
The scenario should contain a Gui and the startup of all required
components and make the single MotionControl States executable/selectable
via Gui buttons.
---
.../MotionControlGroup/CMakeLists.txt | 2 +
.../MotionControlGroup.scgxml | 1 +
.../testing/MotionControlTest.cpp | 83 +++++++++++++++++++
.../testing/MotionControlTest.h | 58 +++++++++++++
.../testing/MotionControlTest.xml | 34 ++++++++
5 files changed, 178 insertions(+)
create mode 100644 source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.cpp
create mode 100644 source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.h
create mode 100644 source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.xml
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/CMakeLists.txt b/source/RobotAPI/statecharts/MotionControlGroup/CMakeLists.txt
index 63722b666..1206cb89a 100644
--- a/source/RobotAPI/statecharts/MotionControlGroup/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/MotionControlGroup/CMakeLists.txt
@@ -21,6 +21,7 @@ MotionControlGroupRemoteStateOfferer.cpp
./MoveJoints.cpp
testing/testMoveJoints.cpp
./StopRobot.cpp
+testing/MotionControlTest.cpp
#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
)
@@ -29,6 +30,7 @@ MotionControlGroupRemoteStateOfferer.h
./MoveJoints.h
testing/testMoveJoints.h
./StopRobot.h
+testing/MotionControlTest.h
#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
)
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroup.scgxml b/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroup.scgxml
index 5bb6eae95..624d0bb5a 100644
--- a/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroup.scgxml
+++ b/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroup.scgxml
@@ -1,6 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<StatechartGroup name="MotionControlGroup" package="RobotAPI">
<Folder basename="testing">
+ <State filename="MotionControlTest.xml"/>
<State filename="testMoveJoints.xml"/>
</Folder>
<State filename="MoveJoints.xml" visibility="public"/>
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.cpp b/source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.cpp
new file mode 100644
index 000000000..45ae85719
--- /dev/null
+++ b/source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.cpp
@@ -0,0 +1,83 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * 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 Lesser 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::MotionControlGroup
+ * @author Manfred Kroehnert ( Manfred dot Kroehnert at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "MotionControlTest.h"
+
+using namespace armarx;
+using namespace MotionControlGroup;
+
+// DO NOT EDIT NEXT LINE
+MotionControlTest::SubClassRegistry MotionControlTest::Registry(MotionControlTest::GetName(), &MotionControlTest::CreateInstance);
+
+
+
+MotionControlTest::MotionControlTest(XMLStateConstructorParams stateData) :
+ XMLStateTemplate < MotionControlTest > (stateData)
+{
+}
+
+void MotionControlTest::onEnter()
+{
+ // put your user code for the enter-point here
+ // execution time should be short (<100ms)
+}
+
+void MotionControlTest::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
+
+
+ while (!isRunningTaskStopped()) // stop run function if returning true
+ {
+ // do your calculations
+ }
+
+}
+
+void MotionControlTest::onBreak()
+{
+ // put your user code for the breaking point here
+ // execution time should be short (<100ms)
+}
+
+void MotionControlTest::onExit()
+{
+ // put your user code for the exit point here
+ // execution time should be short (<100ms)
+
+}
+
+// DO NOT EDIT NEXT FUNCTION
+std::string MotionControlTest::GetName()
+{
+ return "MotionControlTest";
+}
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateFactoryBasePtr MotionControlTest::CreateInstance(XMLStateConstructorParams stateData)
+{
+ return XMLStateFactoryBasePtr(new MotionControlTest(stateData));
+}
+
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.h b/source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.h
new file mode 100644
index 000000000..62f572792
--- /dev/null
+++ b/source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.h
@@ -0,0 +1,58 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * 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 Lesser 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::MotionControlGroup
+ * @author Manfred Kroehnert ( Manfred dot Kroehnert at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_XMLUSERCODE_RobotAPI_MotionControlGroup_MotionControlTest_H
+#define _ARMARX_XMLUSERCODE_RobotAPI_MotionControlGroup_MotionControlTest_H
+
+#include <Core/statechart/xmlstates/XMLState.h>
+
+namespace armarx
+{
+ namespace MotionControlGroup
+ {
+ class MotionControlTest :
+ virtual public XMLStateTemplate < MotionControlTest > ,
+ public XMLStateFactoryBase
+ {
+ public:
+ MotionControlTest(XMLStateConstructorParams stateData);
+
+ // inherited from StateBase
+ void onEnter();
+ void run();
+ void onBreak();
+ void onExit();
+
+ // static functions for AbstractFactory Method
+ static std::string GetName();
+ 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/MotionControlGroup/testing/MotionControlTest.xml b/source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.xml
new file mode 100644
index 000000000..a495c9c67
--- /dev/null
+++ b/source/RobotAPI/statecharts/MotionControlGroup/testing/MotionControlTest.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.0" name="MotionControlTest" uuid="244F76B3-ADCC-44EF-8FC0-E4029F7409C9" width="800" height="600">
+ <InputParameters/>
+ <OutputParameters/>
+ <LocalParameters/>
+ <Substates>
+ <EndState name="EvFailure" event="EvFailure" left="673.229" top="345.17" boundingSquareSize="76.5658"/>
+ <EndState name="EvSuccess" event="EvSuccess" left="671.09" top="217.3" boundingSquareSize="75.8092"/>
+ <LocalState name="MoveJoints" refuuid="1A25B687-CFBC-4CA3-A1C7-32EEAF004C45" left="419.489" top="322.048" boundingSquareSize="72.6746"/>
+ <LocalState name="StopRobot" refuuid="A88DB279-17A6-4776-A3C0-114B775609C9" left="417.837" top="242.775" boundingSquareSize="74.0754"/>
+ </Substates>
+ <Events/>
+ <Transitions>
+ <Transition from="StopRobot" to="EvSuccess" eventName="EvSuccess">
+ <ParameterMappings/>
+ <SupportPoints>
+ <SupportPoint posX="701.9" posY="267.548"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="MoveJoints" to="EvSuccess" eventName="EvJointTargetReached">
+ <ParameterMappings/>
+ <SupportPoints>
+ <SupportPoint posX="687.036" posY="255.987"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="MoveJoints" to="EvFailure" eventName="EvTimeout">
+ <ParameterMappings/>
+ <SupportPoints>
+ <SupportPoint posX="695.294" posY="383.155"/>
+ </SupportPoints>
+ </Transition>
+ </Transitions>
+</State>
+
--
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