Yarp-SmartSoft-Integration

SW components used to integrate YARP modules in SmartSoft

Organization

• Bridges: This folder contains SmartSoft components aimed to work as specialized bridges between pure YARP executable and pure SmartSoft components. They translate a message from a framework to the other one, by following proper communication patterns on each side.

• Systems: Contains the scenario description in form of a RobMoSys System Architecture. This MDSD project contains an instantiation of all the SmartSoft components required to run the demo along with the component connections. In order to run the demo, the robot or the simulator is required along with some additional YARP modules.

• BehaviorTrees: This folder contains a SmartSoft message defining the tick semantic and two SmartSoft components. The first component runs the behaviour trees and send the tick messages by mean of the query pattern. The second component, the TickManager receives the tick requests from the engine and dispatch them to the actual skills. This components acts also as a bridge in case the requested skill is implemented in a different framework.

• Integration: This folder contains the software library based on YARP which reproduce the RobMoSys communication pattern and some examples.

  • libYARP_smartsoft: the library itself. It implements the communication patterns by wrapping YARP components and it mimic SmartSoft API. The library depends on YARP and includes <aceSmartSoft.hh>header for some enum definition.
  • examples: plain executable which instantiate a client / server device and run communication tests. There is an example for each pattern, both client and server. To compile the examples, the COMPILE_examples cmake flag has to be set in the main build folder.
  • SmartSoftComponentsExamples: SmartSoft component using the client/server from the integration library. There is a component for each pattern, both client and server. They can be imported into Eclipse MDSD toolchain and used as a standard component.

Dependencies

libYARP_smartsoft needs a compiler that support c++14

• YARP
  • Installation on Linux:

    $ git clone https://github.com/robotology/yarp.git
    $ cd yarp && mkdir build && cd build
    $ make -j
    $ make install (optional)

• AceSmartSoft
  • Installation on Linux:

    $ git clonehttps://github.com/Servicerobotics-Ulm/AceSmartSoftFramework.git
    $ cd AceSmartSoftFramework && mkdir build && cd build
    $ make -j
    $ make install (optional)

⚠️ If you are not an installer guy remember to export YARP_DIR and AceSmartSoft_DIR pointing to the build directory of yarp and AceSmartSoft respectively.

Installation on Linux

  $ git clone https://github.com/CARVE-ROBMOSYS/Yarp-SmartSoft-Integration
  $ cd Yarp-SmartSoft-Integration
  $ mkdir build && cd build
  $ SET CMAKE_INSTALL_PREFIX to $YARP_DIR
  $ cmake ..
  $ make -j
  $ make install

It is possible to compile the examples running cmake -DCOMPILE_examples=ON ..

⚠️ It is suggested to install this repository, in this way the library will be installed in the same build/install folder as YARP, so it can be easily find by CMake FindPackage directive.

Usage

• libYARP_smartsoft: to include it in your project add this line in your CMakeLists.txt

find_package(YARP COMPONENTS smartsoft)

Documentation

If doxygen is installed, make dox will generate the documentation in the build directory.