Commit 2b5d1b2b authored by Mathias Haage's avatar Mathias Haage
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parent 3bcb96e1
......@@ -4,20 +4,155 @@ JGrafchart utilities
This repository contains commands and ROS nodes for executing a SFC statemachine defined in KIF using the KIF_utils package by means of the JGrafchart tool (
This package relies on a number of tools for installation.
For execution
dot (graphviz)
The instructions below assume the installation takes place in the home folder on a linux system. The `dev` folder below can be exchanged for a name of choice.
The first step is to clone the repository. The latest version is located in master HEAD.
`mkdir ~/dev`
`cd ~/dev`
`git clone`
The software is partially packaged as a Java maven project. It therefore needs compilation of the software into a jar package.
`cd ~/dev/grafchart_utils/utils`
`mvn package shade:shade`
There should now be an automatically generated `~/dev/grafchart_utils/utils/target` folder containing a jar file `grafchart_utils-0.0.1-SNAPSHOT.jar`.
Before using the software some environment variables need to be set. In the `~/dev/grafchart_utils/utils/scripts/scripts` folder there is a file `setup.bash` that should be edited. It contains:
# Source this file to setup environment
# Environment for grafchart tools
# Edit below:
export JGRAFCHART_HOME=/home/mathias/dev/grafchart/JGrafchart-2.6.1
export JGRAFCHART_UTILS_HOME=/home/mathias/dev/grafchart_utils/utils
The `JGRAFCHART_UTILS_HOME` environment variable should point to the utils folder of the repository. All commands are available in the scripts folder which is added to the `PATH` environment variable.
The `JGRAFCHART_HOME` environment variable should point to the root of a JGrafChart installation.
After updating the `setup.bash` file it can be sourced in the local shell to make KIF commands available.
`source setup.bash`
### sfc2dot
sfc2dot creates an input file to the graphviz dot program to perform graphical layout of the statemachine.
usage: sfc2dot statemachine-file
#### Sample usage
`sfc2dot statemachine.txt >statemachine.txt.gv` where *statemachine.txt* is the output from the the *sfclist* command in the kif_utils package.
This should be followed by the layout step
`dot -Tplain statemachine.txt.gv >statemachine.txt.gv.plain` where *statemachine.txt.gv.plain* contains the layout output from dot.
### dot2jgrafchart
dot2jgrafchart creates a xml file suitable as input to jgrafchart.
usage: dot2jgrafchart statemachine-file plain-file
#### Sample usage
`dot2jgrafchart statemachine.txt statemachine.txt.gv.plain >statemachine.xml`
### jgrafchart
jgrafchart loads, compiles and/or starts executing a statemachine.
usage: jgrafchart [-lcs] [file]
#### Sample usage
`jgrafchart -s statemachine.xml`. Load, compile and start the statemachine contained in the *statemachine.xml* file.
The statemachine, when started, will connect to localhost port 4242 for communication with external entities.
If needed, for instance for debugging of the statemachine, the following command can be issued before jgrafchart is started
`nc -l 4242`
This command allows direct interaction with the statemachine through the keyboard:
where Output lines are written by the statemachine and *initial_result_1|yes* is written by the operator.
ROS nodes
ROS node and bridge
This repository contains utilities related to using the JGrafchart SFC editing
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