From 85a23b1352fbaf31d156d80ebe52601fb9accda3 Mon Sep 17 00:00:00 2001
From: yenon <bhogm4@gmail.com>
Date: Mon, 19 Jun 2023 14:26:36 +0200
Subject: [PATCH] Changes on tower

---
 .kile/mechforsch.kilepr.gui     |   30 +-
 tex/4_Umsetzung.tex             |   14 +-
 uml/actor_server_activity.puml  |   13 +
 uml/animation_states.puml       |   43 +-
 uml/out/animation_states.eps    | 2175 +++++++++++
 uml/out/plugin_connectivity.eps | 6268 +++++++++++++++++++++++++++++++
 uml/plugin_connectivity.png     |  Bin 25492 -> 0 bytes
 uml/plugin_connectivity.puml    |   40 +-
 uml/subtree_deposit.puml        |   25 +
 uml/subtree_work.puml           |    0
 10 files changed, 8547 insertions(+), 61 deletions(-)
 create mode 100644 uml/actor_server_activity.puml
 create mode 100644 uml/out/animation_states.eps
 create mode 100644 uml/out/plugin_connectivity.eps
 delete mode 100644 uml/plugin_connectivity.png
 create mode 100644 uml/subtree_deposit.puml
 create mode 100644 uml/subtree_work.puml

diff --git a/.kile/mechforsch.kilepr.gui b/.kile/mechforsch.kilepr.gui
index 9194459..edc7a5a 100644
--- a/.kile/mechforsch.kilepr.gui
+++ b/.kile/mechforsch.kilepr.gui
@@ -121,43 +121,43 @@ TextFolding={"checksum":"cf8b2614fde9a70da69bd9296f0dc1ae50c584e2","ranges":[]}
 ViMarks=
 
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-CursorColumn=68
-CursorLine=32
+CursorColumn=89
+CursorLine=117
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-TextFolding={"checksum":"88153af05e2be709e828e4e8a1a9f54b756bcefe","ranges":[]}
+TextFolding={"checksum":"5c50dc53ef39690810318af01f4ba4d3cb14fab0","ranges":[]}
 ViMarks=
 
 [view-settings,view=0,item:tex/1_Einleitung.tex]
-CursorColumn=114
-CursorLine=46
+CursorColumn=28
+CursorLine=41
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-TextFolding={"checksum":"052cc01250adb0f5e3ea2eff211696be3fc560ae","ranges":[]}
+TextFolding={"checksum":"72da509f7bb04dfaf40002d46af28410e2acb580","ranges":[]}
 ViMarks=
 
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+TextFolding={"checksum":"21b8ecf4269d0711922f5a58a25d2691a2aebc7f","ranges":[]}
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+TextFolding={"checksum":"ee9b56159ddf3293cde4120dfc5d90bbd2f0759a","ranges":[]}
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+TextFolding={"checksum":"3e818d80aa0680fb9664cb90786bb0abf72bfd24","ranges":[]}
 ViMarks=
 
 [view-settings,view=0,item:tex/Einleitung.tex]
diff --git a/tex/4_Umsetzung.tex b/tex/4_Umsetzung.tex
index 4295e30..3e818d8 100644
--- a/tex/4_Umsetzung.tex
+++ b/tex/4_Umsetzung.tex
@@ -48,7 +48,7 @@ Hierbei ist zu beachten, dass der SSH-Server im Container auf Port 2222 antworte
 
 Nach der Verbindung wird automatisch die ROS2-Umgebung eingerichtet.
 Diese kann ohne weitere Befehle nach Verbindungsaufbau genutzt werden.
-Um die erstellten Pakete zu kompillieren, wurde das Skript \code{build.sh} im \code{workspace}-Verzeichnis erstellt.
+Um die erstellten Pakete zu kompilieren, wurde das Skript \code{build.sh} im \code{workspace}-Verzeichnis erstellt.
 
 \begin{minted}[breaklines,frame=single]{bash}
 #!/bin/bash
@@ -71,7 +71,7 @@ Dadurch befindet sich der Fehlers immer im letzten Paket der Ausgabe, da alle an
 
 \section{Entwicklungsumgebung}
 
-Ein einfacher Texteditor ist für das Schreiben von ROS-Packages ausreichend und bietet bei der Arbeit mit Containern sogar einen großen Vorteil.
+Ein Texteditor ist für das Schreiben von ROS-Packages ausreichend und bietet bei der Arbeit mit Containern sogar einen großen Vorteil.
 Das Editieren von Dateien ist mit einem Texteditor auch von außerhalb des Containers möglich.
 Jedoch besitzt ein Texteditor nur wenige Funktionen einer vollständigen Entwicklungsumgebung, die den Prozess der Softwareentwicklung beschleunigen.
 Um diese Funktionen bieten zu können, analysieren Entwicklungsumgebungen den geschriebenen Code.
@@ -534,10 +534,12 @@ Der ActorServer ist die Brücke zwischen ROS und dem ActorPlugin.
 Er ist als das Programm \code{ros_actor_action_server} im gleichnamigen Paket enthalten.
 Dieser weitere Dienst bindet das ActorPlugin an ROS an.
 
-Dafür werden zwei ROS-ActionServer gestartet, die jeweils Bewegungen oder Animationen des simulierten Menschen auslösen können.
-Beide ActionServer prüfen bei dem Empfang eines neuen Ziels zuerst, ob bereits eine andere Aktion ausgeführt wird.
-Wird bereits eine andere Aktion ausgeführt, kommt es zur Ablehnung weiterer Anfragen.
-Im anderen Fall wird die Aufgabe akzeptiert und in das MessageQueue-Format übersetzt und an das ActorPlugin gesandt.
+Nach dem Start des ActorServers werden zwei ROS-ActionServer gestartet.
+Diese können jeweils zum Abspielen von Animationen oder zum Starten von Bewegungen des simulierten Menschen genutzt werden.
+Wenn ein Client eine dieser Aktionen startet, überträgt er die Zieldaten an den entsprechenden ActionServer.
+Beide ActionServer prüfen bei dem Empfang eines neuen Ziels als erstes, ob bereits eine andere Aktion ausgeführt wird.
+Wird bereits eine andere Aktion ausgeführt, kommt es zur Ablehnung der aktuellen Anfrage.
+Im anderen Fall wird die Anfrage akzeptiert und in das MessageQueue-Format übersetzt und an das ActorPlugin gesandt.
 
 Um das Starten mehrerer gleichzeitiger Aktionen zu unterbinden, muss der Empfang einer neuen Anfrage bestätigt werden, bevor weitere Befehle über den ROS-ActionServer entgegen genommen werden können.
 Hierzu wird ein Mutex verwendet, der die Auswertung neuer Nachrichten verhindert, so lange der aktuelle Befehl noch nicht durch das Plugin bestätigt wurde.
diff --git a/uml/actor_server_activity.puml b/uml/actor_server_activity.puml
new file mode 100644
index 0000000..167bbcc
--- /dev/null
+++ b/uml/actor_server_activity.puml
@@ -0,0 +1,13 @@
+@startuml
+start
+
+:Initialisiere MessageQueue;
+if (Graphviz installed?) then (yes)
+  :process all\ndiagrams;
+else (no)
+  :process only
+  __sequence__ and __activity__ diagrams;
+endif
+
+stop
+@enduml
\ No newline at end of file
diff --git a/uml/animation_states.puml b/uml/animation_states.puml
index 684e5f3..280bd74 100644
--- a/uml/animation_states.puml
+++ b/uml/animation_states.puml
@@ -1,32 +1,39 @@
 @startuml animation_states
 hide empty description
+skinparam Shadowing true
 
 [*] --> Standing
 
 state Standing{
-    [*] --> StandingIdle
-    StandingIdle --> [*]
-    StandingIdle --> ExtendArm
-    ExtendArm --> RetractArm
-    RetractArm --> StandingIdle
+    [*] --> [*]
+    [*] --> standing_extend_arm
+    standing_extend_arm --> standing_retract_arm
+    standing_retract_arm --> [*]
 
-    StandingIdle --> Walk
-    Walk --> StandingIdle
+    [*] --> standing_walk
+    standing_walk --> [*]
 }
+Standing -> Standing
 
 state Low{
-    [*] --> LowIdle
-    LowIdle --> [*]
-    LowIdle --> InspectLow
-    InspectLow --> PutBackLow
-    InspectLow --> GrabLow
-    PutBackLow --> LowIdle
-    GrabLow --> LowIdle
+    [*] --> [*]
+    [*] --> low_inspect
+    low_inspect --> low_put_back
+    low_inspect --> low_grab
+    low_put_back --> [*]
+    low_grab --> [*]
 }
 
-Standing -> ToLow
-ToLow -> Low
-Low --> ToStanding
-ToStanding --> Standing
+Low -> Low
+
+'Spacer :D
+state a #transparent;line:transparent;text:transparent
+Low -up[hidden]-> a
+
+Standing -up-> standing_to_low
+standing_to_low -down-> Low
+Low -up-> low_to_standing
+low_to_standing -down-> Standing
+
 
 @enduml
\ No newline at end of file
diff --git a/uml/out/animation_states.eps b/uml/out/animation_states.eps
new file mode 100644
index 0000000..d7a00cd
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diff --git a/uml/plugin_connectivity.puml b/uml/plugin_connectivity.puml
index 363c6fe..1060f59 100644
--- a/uml/plugin_connectivity.puml
+++ b/uml/plugin_connectivity.puml
@@ -8,38 +8,34 @@ skinparam ArrowColor #404040
 participant "ROS ActionClient" as client
 participant ActorServer as server
 participant ActorPlugin as plugin
-
-note left of client: Protocol:
-/note left of server: ros_action
-/note left of plugin: MessageQueue
-
-
-==Goal==
 activate server
 activate plugin
 
-[-> client: create ActionClient
+==Goal==
+
+[-> client: neuer ActionClient
 activate client
 
-client -> server: goal request
-server -->> client: goal response
+client -> server: Goal-Anfrage
+server -->> client: Antwort auf Anfrage
 
-alt goal accepted
-server ->> plugin: set state and target
-plugin -->> server: state change
+alt Anfrage akzeptiert?
+server ->> plugin: neuen Status und Ziel setzen
+plugin -->> server: Zustandswechsel bei\nnächstem Simulationsschritt
 == Feedback==
-group opt par [abort of current action]
-client->server: abort request
-server->plugin: set state to Idle
-server-->>client: abort response
+group opt par [Abbruch der Aktion]
+client->server: Cancel-Anfrage
+server->plugin: Status auf Idle setzen
+plugin -->> server: Zustandswechsel auf Idle
+server-->>client: positive Abbruchantwort
 end
-loop until action is completed or aborted
-plugin -->> server: feedback
-server -->> client: feedback callback
+loop Bis Aktion vollständig ausgeführt oder abgebrochen ist
+plugin -->> server: Feedback
+server -->> client: Feedback
 end
 ==Result==
-plugin -->> server: state change
-server -->> client: result callback 
+plugin -->> server: Zustandswechsel auf Idle
+server -->> client: Result-Antwort
 end
 destroy client
 @enduml
\ No newline at end of file
diff --git a/uml/subtree_deposit.puml b/uml/subtree_deposit.puml
new file mode 100644
index 0000000..ae32918
--- /dev/null
+++ b/uml/subtree_deposit.puml
@@ -0,0 +1,25 @@
+@startmindmap
+
+
+skinparam Linetype ortho
+skinparam defaultTextAlignment center
+top to bottom direction
+
+* Sequence
+** WeightedRandom\nWichtung 1:1:1
+*** Laufe zu 1. Regal
+*** Laufe zu 2. Regal
+*** Laufe zu 3. Regal
+
+** WeightedRandom\nWichtung 1:1
+*** Sequence
+**** Animation\nstanding_extend_arm
+**** Animation\nstanding_retract_arm
+
+*** Sequence
+**** Animation\nstanding_to_low
+**** Animation\nlow_inspect
+**** Animation\nlow_put_back
+**** Animation\nlow_to_standing
+
+@endmindmap
\ No newline at end of file
diff --git a/uml/subtree_work.puml b/uml/subtree_work.puml
new file mode 100644
index 0000000..e69de29