This repository is maintained by Servicerobotik Ulm. For more information see:
- Big picture: relation of repositories: https://wiki.servicerobotik-ulm.de/download
- SRRC Technical Wiki on SmartSoft and SmartMDSD Toolchain: https://wiki.servicerobotik-ulm.de
This repository contains the Component-Developer C++ interface-definition (API) for use of the SmartSoft Framework. Repository covers the API to the SmartSoft Communication Patterns and SmartSoft Component structures. Read more about the SmartSoft World. See also the Doxygen API documentation.
This API defines class hierarchies with pure virtual methods and specified template parameters. These pure virtual interface-definitions can be used to implement a Framework that conforms to the overall SmartSoft structures using any preferred middleware technology and/or operating-system abstraction. The API uses the Standard-Template-Library (STD) and conforms to the C++11 standard. For available implementations of the SmartSoft Framework, please refer to http://www.servicerobotik-ulm.de.
Please find documentation on SmartSoft component structures in [Schlegel2004]. With respect to communication patterns, the API in this repository defines the inside view:
| Pattern-name | Short Description | Outside-view |
|---|---|---|
| SendPattern (Client/Server) | One-way communication | see [Schlegel2004, pp. 85-88] |
| QueryPattern (Client/Server) | Two-way request/response | see [Schlegel2004, pp. 88-96] |
| PushPattern (Client/Server) | 1-n distribution | see [Schlegel2004, pp. 96-99] |
| EventPattern (Client/Server) | 1-n asynchronous conditioned notification | see [Schlegel2004, pp. 103-112] |
| Pattern-name | Short Description | Outside view |
|---|---|---|
| Parameter (Master/Slave) | Run-time configuration of components, see [Stampfer2016] | see [Lutz2014] |
| State (Master/Slave) | Lifecycle management and (de)activation | see [Schlegel2011] |
| DynamicWiring (Master/Slave) | Dynamic connection wiring at run-time | see [Schlegel2004, p. 11] |
| Monitoring (Master/Slave) | Run-time monitoring and introspection of components [Stampfer2016] | see [Lotz2011] |
The API is implemented as headers only. A CMake file is provided that creates an Interface Library Target (i.e. header only target). In order to use CMake, at the minimum the CMake version 3.1 is required. For using the library stand-alone, perform the following steps within the checked-out repository folder:
> mkdir build
> cd build
> cmake ..
> make
The API is shipped with a Doxygen documentation which can be automatically generated and viewed by additionally executing the following commands within the above created build folder:
> make doc
> firefox doc/html/index.html
Read more about the SmartSoft World.
[Schlegel2004] C. Schlegel, Navigation and Execution for Mobile Robots in Dynamic Environments: An Integrated Approach, Ulm: Universität Ulm, 2004.
[Lutz2014] M. Lutz, D. Stampfer, A. Lotz und C. Schlegel, Service Robot Control Architectures for Flexible and Robust Real-World Task Execution: Best Practices and Patterns, Stuttgart: Bonner Köllen Verlag, 2014.
[Stampfer2016] D. Stampfer, A. Lotz, M. Lutz und C. Schlegel, „The SmartMDSD Toolchain: An Integrated MDSD Workflow and Integrated Development Environment (IDE) for Robotics Software,“ in Journal of Software Engineering for Robotics (JOSER), 2016, pp. 3-19.
[Schlegel2011] C. Schlegel, A. Lotz und A. Steck, „SmartSoft: The State Management of a Component. Tech. rep.,“ 2011, University of Applied Sciences Ulm.
[Lotz2011] A. Lotz, A. Steck und C. Schlegel, „Runtime Monitoring of Robotics Software Components: Increasing Robustness of Service Robotic Systems,“ in Proc. 15th Int. Conf. on Advanced Robotics, Tallinn, Estland, 2011.