IFF case study changes

Author: mortenhaahr

examples/iff_dsu.lola

@@ -0,0 +1,13 @@
+in rawHuman
+in useNucOne // Not used yet - comment out to show bug
+out numberOfHumans
+out bugPrevent // TC bug...
+out hasError
+out hadError
+aux cameraChange
+numberOfHumans = Map.get(rawHuman, "number_of_humans")
+bugPrevent = useNucOne
+// Camera starts as being true
+cameraChange = !(default(useNucOne[1], true) == useNucOne)
+hasError = !(!cameraChange || numberOfHumans == 0) // Negated implication
+hadError = hasError == true || default(hadError[1], false) // Globally

examples/iff_dsu_map.json

@@ -0,0 +1,10 @@
+{
+    "rawHuman": {
+        "topic": "/human_safety_volume",
+        "msg_type": "HumanModelList"
+    },
+    "useNucOne": {
+        "topic": "/use_nuc_1",
+        "msg_type": "Bool"
+    }
+}

ros_interfaces/robo_sapiens_interfaces/CMakeLists.txt

@@ -8,23 +8,19 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/HumanBodyPart.msg"
-  "msg/Human.msg"
-  "msg/HumanList.msg"
- )
+  "msg/HumanModelList.msg"
+  "msg/HumanModel.msg"
+  "msg/HumanModelPart.msg"
+  DEPENDENCIES builtin_interfaces std_msgs geometry_msgs
+)
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
+ament_export_dependencies(rosidl_default_runtime)
 
 ament_package()
+

ros_interfaces/robo_sapiens_interfaces/msg/Human.msg

@@ -0,0 +1,2 @@
+int64 human_id
+HumanModelPart[] human_model_parts

ros_interfaces/robo_sapiens_interfaces/msg/HumanModel.msg

@@ -1,4 +1,4 @@
 int64 number_of_humans
 int64 time
 float64 start_time
-Human[] humans
+HumanModel[] human_models

…obo_sapiens_interfaces/msg/HumanList.msg …apiens_interfaces/msg/HumanModelList.msgros_interfaces/robo_sapiens_interfaces/msg/HumanList.msg renamed to ros_interfaces/robo_sapiens_interfaces/msg/HumanModelList.msg ros_interfaces/robo_sapiens_interfaces/msg/HumanList.msg renamed to ros_interfaces/robo_sapiens_interfaces/msg/HumanModelList.msg

@@ -1,13 +1,13 @@
-string body_part
-float64 x # Transoformation von Roboter Base zu Kamera
+string human_model_part
+float64 x 
 float64 y
 float64 z
 float64 q_x
 float64 q_y
 float64 q_z
 float64 q_w
 string geometry # Sphere (Ellypsoid) , Box, Kegel
-float64 p_1
+float64 p_1  
 float64 p_2
 float64 p_3
-bool collision
+bool collision

…sapiens_interfaces/msg/HumanBodyPart.msg …apiens_interfaces/msg/HumanModelPart.msgros_interfaces/robo_sapiens_interfaces/msg/HumanBodyPart.msg renamed to ros_interfaces/robo_sapiens_interfaces/msg/HumanModelPart.msg ros_interfaces/robo_sapiens_interfaces/msg/HumanBodyPart.msg renamed to ros_interfaces/robo_sapiens_interfaces/msg/HumanModelPart.msg

@@ -84,31 +84,31 @@ impl ROSMsgType {
                         node.subscribe::<r2r::std_msgs::msg::Float32>(topic, qos)?
                             .map(|val| Value::Float(val.data.into())),
                     ),
-            ROSMsgType::Human => Box::pin(
-                        node.subscribe::<r2r::robo_sapiens_interfaces::msg::Human>(topic, qos)?
+            ROSMsgType::HumanModelPart => Box::pin(
+                        node.subscribe::<r2r::robo_sapiens_interfaces::msg::HumanModelPart>(topic, qos)?
                             .map(|val| {
                                 serde_json::to_value(val)
-                                    .expect("Failed to serialize ROS2 Human msg to JSON")
+                                    .expect("Failed to serialize ROS2 HumanModelPart msg to JSON")
                                     .try_into()
-                                    .expect("Failed to serialize ROS2 Human msg to internal representation")
+                                    .expect("Failed to serialize ROS2 HumanModelPart msg to internal representation")
                             }),
                     ),
-            ROSMsgType::HumanList => Box::pin(
-                        node.subscribe::<r2r::robo_sapiens_interfaces::msg::HumanList>(topic, qos)?
+            ROSMsgType::HumanModel => Box::pin(
+                        node.subscribe::<r2r::robo_sapiens_interfaces::msg::HumanModel>(topic, qos)?
                             .map(|val| {
                                 serde_json::to_value(val)
-                                    .expect("Failed to serialize ROS2 HumanList msg to JSON")
+                                    .expect("Failed to serialize ROS2 HumanModel msg to JSON")
                                     .try_into()
-                                    .expect("Failed to serialize ROS2 HumanList msg to internal representation")
+                                    .expect("Failed to serialize ROS2 HumanModel msg to internal representation")
                             }),
                     ),
-            ROSMsgType::HumanBodyPart => Box::pin(
-                        node.subscribe::<r2r::robo_sapiens_interfaces::msg::HumanBodyPart>(topic, qos)?
+            ROSMsgType::HumanModelList => Box::pin(
+                        node.subscribe::<r2r::robo_sapiens_interfaces::msg::HumanModelList >(topic, qos)?
                             .map(|val| {
                                 serde_json::to_value(val)
-                                    .expect("Failed to serialize ROS2 HumanBodyPart msg to JSON")
+                                    .expect("Failed to serialize ROS2 HumanModelList msg to JSON")
                                     .try_into()
-                                    .expect("Failed to serialize ROS2 HumanBodyPart msg to internal representation")
+                                    .expect("Failed to serialize ROS2 HumanModelList msg to internal representation")
                             }),
                     ),
         })

src/io/ros/input_provider.rs

@@ -15,9 +15,9 @@ pub enum ROSMsgType {
     Int8,
     Float64,
     Float32,
-    Human,
-    HumanList,
-    HumanBodyPart,
+    HumanModelPart,
+    HumanModel,
+    HumanModelList,
 }
 
 #[derive(Serialize, Deserialize, PartialEq, Eq, Debug)]
@@ -38,9 +38,9 @@ pub fn string_to_ros_msg_type(typ: &str) -> Result<ROSMsgType, anyhow::Error> {
         "Int8" => Ok(ROSMsgType::Int8),
         "Float64" => Ok(ROSMsgType::Float64),
         "Float32" => Ok(ROSMsgType::Float32),
-        "Human" => Ok(ROSMsgType::Human),
-        "HumanList" => Ok(ROSMsgType::HumanList),
-        "HumanBodyPart" => Ok(ROSMsgType::HumanBodyPart),
+        "HumanModelPart" => Ok(ROSMsgType::HumanModelPart),
+        "HumanModel" => Ok(ROSMsgType::HumanModel),
+        "HumanModelList" => Ok(ROSMsgType::HumanModelList),
         typ => Err(anyhow!("Unsupported type {}", typ)),
     }
 }