Added the RobotStateMachine as a property in the Robot class

model-UA · Nov 26, 2020 · 82fe01d · 82fe01d
1 parent 049c0b6
commit 82fe01d
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Showing 4 changed files with 70 additions and 56 deletions.
diff --git a/Uml2OpcuaTransformationTests/RobotStateMachineDiagram.PNG b/Uml2OpcuaTransformationTests/RobotStateMachineDiagram.PNG
diff --git a/Uml2OpcuaTransformationTests/Robots.notation b/Uml2OpcuaTransformationTests/Robots.notation
@@ -14,6 +14,10 @@
               <element xmi:type="uml:Property" href="Robots.uml#_E06CwAo8Eeu10fo7E1imQg"/>
               <layoutConstraint xmi:type="notation:Location" xmi:id="_E1bnMQo8Eeu10fo7E1imQg"/>
             </children>
+            <children xmi:type="notation:Shape" xmi:id="_od_tUC_nEeufivA6H7ZsGQ" type="Property_ClassAttributeLabel">
+              <element xmi:type="uml:Property" href="Robots.uml#_odW0IC_nEeufivA6H7ZsGQ"/>
+              <layoutConstraint xmi:type="notation:Location" xmi:id="_od_tUS_nEeufivA6H7ZsGQ"/>
+            </children>
             <styles xmi:type="notation:TitleStyle" xmi:id="_lw2q9AoyEeurM_VmJbT_Ug"/>
             <styles xmi:type="notation:SortingStyle" xmi:id="_lw2q9QoyEeurM_VmJbT_Ug"/>
             <styles xmi:type="notation:FilteringStyle" xmi:id="_lw2q9goyEeurM_VmJbT_Ug"/>
@@ -44,7 +48,7 @@
             <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lw3SBAoyEeurM_VmJbT_Ug"/>
           </children>
           <element xmi:type="uml:Class" href="Robots.uml#_lwoBcAoyEeurM_VmJbT_Ug"/>
-          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lw2D4QoyEeurM_VmJbT_Ug" x="214" y="85" width="361" height="137"/>
+          <layoutConstraint xmi:type="notation:Bounds" xmi:id="_lw2D4QoyEeurM_VmJbT_Ug" x="214" y="85" width="361" height="157"/>
         </children>
         <children xmi:type="notation:Shape" xmi:id="_nMKyYAoyEeurM_VmJbT_Ug" type="Class_Shape_CN">
           <children xmi:type="notation:DecorationNode" xmi:id="_nMLZcAoyEeurM_VmJbT_Ug" type="Class_NameLabel_CN"/>
@@ -149,7 +153,7 @@
       <element xmi:type="uml:Generalization" href="Robots.uml#_qOGSUAoyEeurM_VmJbT_Ug"/>
       <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_qOZ0UgoyEeurM_VmJbT_Ug" points="[401, 400, -643984, -643984]$[550, 320, -643984, -643984]"/>
       <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_qQ02MAoyEeurM_VmJbT_Ug" id="(1.0,0.36)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_qQ02MQoyEeurM_VmJbT_Ug" id="(0.0,0.5547445255474452)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_qQ02MQoyEeurM_VmJbT_Ug" id="(0.0,0.4840764331210191)"/>
     </edges>
     <edges xmi:type="notation:Connector" xmi:id="_re5y4AoyEeurM_VmJbT_Ug" type="Generalization_Edge" source="_nMKyYAoyEeurM_VmJbT_Ug" target="_lw2D4AoyEeurM_VmJbT_Ug">
       <children xmi:type="notation:DecorationNode" xmi:id="_re6Z8goyEeurM_VmJbT_Ug" type="Generalization_StereotypeLabel">
@@ -160,7 +164,7 @@
       <element xmi:type="uml:Generalization" href="Robots.uml#_reotIAoyEeurM_VmJbT_Ug"/>
       <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_re6Z8QoyEeurM_VmJbT_Ug" points="[425, 200, -643984, -643984]$[600, 272, -643984, -643984]"/>
       <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_rfhd8AoyEeurM_VmJbT_Ug" id="(1.0,0.56)"/>
-      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_rfhd8QoyEeurM_VmJbT_Ug" id="(0.0,0.26277372262773724)"/>
+      <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_rfhd8QoyEeurM_VmJbT_Ug" id="(0.0,0.22929936305732485)"/>
     </edges>
     <edges xmi:type="notation:Connector" xmi:id="_rE-g4Ao7Eeu10fo7E1imQg" type="Association_Edge" source="_lw2D4AoyEeurM_VmJbT_Ug" target="_mknUEAo7Eeu10fo7E1imQg">
       <children xmi:type="notation:DecorationNode" xmi:id="_rFBkMAo7Eeu10fo7E1imQg" type="Association_StereotypeLabel">
@@ -190,7 +194,7 @@
       <styles xmi:type="notation:FontStyle" xmi:id="_rE-g4Qo7Eeu10fo7E1imQg"/>
       <element xmi:type="uml:Association" href="Robots.uml#_rEOS8Ao7Eeu10fo7E1imQg"/>
       <bendpoints xmi:type="notation:RelativeBendpoints" xmi:id="_rE-g4go7Eeu10fo7E1imQg" points="[650, 320, -643984, -643984]$[782, 300, -643984, -643984]"/>
-      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_rG8PwAo7Eeu10fo7E1imQg" id="(1.0,0.40875912408759124)"/>
+      <sourceAnchor xmi:type="notation:IdentityAnchor" xmi:id="_rG8PwAo7Eeu10fo7E1imQg" id="(1.0,0.35668789808917195)"/>
       <targetAnchor xmi:type="notation:IdentityAnchor" xmi:id="_rG820Ao7Eeu10fo7E1imQg" id="(0.0,0.38461538461538464)"/>
     </edges>
   </notation:Diagram>

diff --git a/Uml2OpcuaTransformationTests/Robots.uml b/Uml2OpcuaTransformationTests/Robots.uml
@@ -11,6 +11,7 @@
       <ownedAttribute xmi:type="uml:Property" xmi:id="_E06CwAo8Eeu10fo7E1imQg" name="number_of_axes">
         <type xmi:type="uml:PrimitiveType" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#Integer"/>
       </ownedAttribute>
+      <ownedAttribute xmi:type="uml:Property" xmi:id="_odW0IC_nEeufivA6H7ZsGQ" name="state" type="_BytCQA37EeuQ042lsnNw9A"/>
       <ownedOperation xmi:type="uml:Operation" xmi:id="_4QaVgAo9Eeu10fo7E1imQg" name="moveToPosition">
         <ownedParameter xmi:type="uml:Parameter" xmi:id="_Cy3AkAo-Eeu10fo7E1imQg" name="position">
           <type xmi:type="uml:PrimitiveType" href="pathmap://UML_LIBRARIES/UMLPrimitiveTypes.library.uml#Real"/>

diff --git a/Uml2OpcuaTransformationTests/Robots.xml b/Uml2OpcuaTransformationTests/Robots.xml
@@ -4,29 +4,36 @@
     <Uri>http://robots.auto.tuwien.ac.at</Uri>
   </NamespaceUris>
   <Aliases>
-    <Alias Alias="TransitionEventType">i=2311</Alias>
-    <Alias Alias="ToState">i=52</Alias>
+    <Alias Alias="FiniteStateMachineType">i=2771</Alias>
+    <Alias Alias="InitialStateType">i=2309</Alias>
+    <Alias Alias="HasProperty">i=46</Alias>
+    <Alias Alias="BaseDataVariableType">i=63</Alias>
     <Alias Alias="ModellingRule_Mandatory">i=78</Alias>
-    <Alias Alias="StateType">i=2307</Alias>
-    <Alias Alias="HasSubtype">i=45</Alias>
-    <Alias Alias="PropertyType">i=68</Alias>
     <Alias Alias="HasComponent">i=47</Alias>
-    <Alias Alias="FromState">i=51</Alias>
-    <Alias Alias="InitialStateType">i=2039</Alias>
-    <Alias Alias="Argument_Encoding_DefaultXml">i=297</Alias>
-    <Alias Alias="HasTypeDefinition">i=40</Alias>
-    <Alias Alias="HasModellingRule">i=37</Alias>
-    <Alias Alias="FiniteStateMachineType">i=2771</Alias>
+    <Alias Alias="HasEffect">i=54</Alias>
+    <Alias Alias="Argument">i=296</Alias>
     <Alias Alias="TransitionType">i=2310</Alias>
-    <Alias Alias="BaseDataVariableType">i=63</Alias>
     <Alias Alias="ModellingRule_MandatoryPlaceholder">i=11510</Alias>
-    <Alias Alias="Argument">i=296</Alias>
+    <Alias Alias="PropertyType">i=68</Alias>
+    <Alias Alias="ToState">i=52</Alias>
+    <Alias Alias="Int32">i=6</Alias>
+    <Alias Alias="FromState">i=51</Alias>
+    <Alias Alias="TransitionEventType">i=2311</Alias>
+    <Alias Alias="HasSubtype">i=45</Alias>
+    <Alias Alias="StateType">i=2307</Alias>
     <Alias Alias="Double">i=11</Alias>
-    <Alias Alias="HasProperty">i=46</Alias>
+    <Alias Alias="Argument_Encoding_DefaultXml">i=297</Alias>
     <Alias Alias="BaseObjectType">i=58</Alias>
-    <Alias Alias="Int32">i=6</Alias>
-    <Alias Alias="HasEffect">i=54</Alias>
+    <Alias Alias="HasModellingRule">i=37</Alias>
+    <Alias Alias="HasTypeDefinition">i=40</Alias>
   </Aliases>
+  <UAMethod BrowseName="stop" NodeId="ns=1;s=stop" ParentNodeId="ns=1;s=AxisType">
+    <DisplayName>stop</DisplayName>
+    <References>
+      <Reference ReferenceType="HasModellingRule">ModellingRule_Mandatory</Reference>
+      <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=AxisType</Reference>
+    </References>
+  </UAMethod>
   <UAVariable BrowseName="number_of_axes" NodeId="ns=1;s=number_of_axes" ParentNodeId="ns=1;s=RobotType" DataType="Int32">
     <DisplayName>number_of_axes</DisplayName>
     <References>
@@ -35,6 +42,14 @@
       <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=RobotType</Reference>
     </References>
   </UAVariable>
+  <UAObject BrowseName="state" NodeId="ns=1;s=state" ParentNodeId="ns=1;s=RobotType">
+    <DisplayName>state</DisplayName>
+    <References>
+      <Reference ReferenceType="HasTypeDefinition">ns=1;s=RobotStateMachineType</Reference>
+      <Reference ReferenceType="HasModellingRule">ModellingRule_Mandatory</Reference>
+      <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=RobotType</Reference>
+    </References>
+  </UAObject>
   <UAObject BrowseName="axis" NodeId="ns=1;s=axis" ParentNodeId="ns=1;s=RobotType">
     <DisplayName>axis</DisplayName>
     <References>
@@ -43,11 +58,11 @@
       <Reference ReferenceType="HasModellingRule">ModellingRule_MandatoryPlaceholder</Reference>
     </References>
   </UAObject>
-  <UAVariable BrowseName="OutputArguments" NodeId="ns=1;s=getCurrentPositionOutputArguments" ParentNodeId="ns=1;s=getCurrentPosition" ArrayDimensions="1" DataType="Argument" ValueRank="1">
-    <DisplayName>OutputArguments</DisplayName>
+  <UAVariable BrowseName="InputArguments" NodeId="ns=1;s=moveToPositionInputArguments" ParentNodeId="ns=1;s=moveToPosition" ArrayDimensions="1" DataType="Argument" ValueRank="1">
+    <DisplayName>InputArguments</DisplayName>
     <References>
       <Reference ReferenceType="HasModellingRule">ModellingRule_Mandatory</Reference>
-      <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=getCurrentPosition</Reference>
+      <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=moveToPosition</Reference>
       <Reference ReferenceType="HasTypeDefinition">PropertyType</Reference>
     </References>
     <Value>
@@ -58,7 +73,7 @@
           </types:TypeId>
           <types:Body>
             <types:Argument>
-              <types:Name>currentPosition</types:Name>
+              <types:Name>position</types:Name>
               <types:DataType>
                 <types:Identifier>Double</types:Identifier>
               </types:DataType>
@@ -69,11 +84,11 @@
       </types:ListOfExtensionObject>
     </Value>
   </UAVariable>
-  <UAVariable BrowseName="InputArguments" NodeId="ns=1;s=moveToPositionInputArguments" ParentNodeId="ns=1;s=moveToPosition" ArrayDimensions="1" DataType="Argument" ValueRank="1">
-    <DisplayName>InputArguments</DisplayName>
+  <UAVariable BrowseName="OutputArguments" NodeId="ns=1;s=getCurrentPositionOutputArguments" ParentNodeId="ns=1;s=getCurrentPosition" ArrayDimensions="1" DataType="Argument" ValueRank="1">
+    <DisplayName>OutputArguments</DisplayName>
     <References>
       <Reference ReferenceType="HasModellingRule">ModellingRule_Mandatory</Reference>
-      <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=moveToPosition</Reference>
+      <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=getCurrentPosition</Reference>
       <Reference ReferenceType="HasTypeDefinition">PropertyType</Reference>
     </References>
     <Value>
@@ -84,7 +99,7 @@
           </types:TypeId>
           <types:Body>
             <types:Argument>
-              <types:Name>position</types:Name>
+              <types:Name>currentPosition</types:Name>
               <types:DataType>
                 <types:Identifier>Double</types:Identifier>
               </types:DataType>
@@ -95,11 +110,12 @@
       </types:ListOfExtensionObject>
     </Value>
   </UAVariable>
-  <UAMethod BrowseName="stopMovement" NodeId="ns=1;s=stopMovement" ParentNodeId="ns=1;s=RobotType">
-    <DisplayName>stopMovement</DisplayName>
+  <UAMethod BrowseName="moveToPosition" NodeId="ns=1;s=moveToPosition" ParentNodeId="ns=1;s=RobotType">
+    <DisplayName>moveToPosition</DisplayName>
     <References>
       <Reference ReferenceType="HasModellingRule">ModellingRule_Mandatory</Reference>
       <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=RobotType</Reference>
+      <Reference ReferenceType="HasProperty">ns=1;s=moveToPositionInputArguments</Reference>
     </References>
   </UAMethod>
   <UAMethod BrowseName="getCurrentPosition" NodeId="ns=1;s=getCurrentPosition" ParentNodeId="ns=1;s=RobotType">
@@ -110,19 +126,11 @@
       <Reference ReferenceType="HasProperty">ns=1;s=getCurrentPositionOutputArguments</Reference>
     </References>
   </UAMethod>
-  <UAMethod BrowseName="moveToPosition" NodeId="ns=1;s=moveToPosition" ParentNodeId="ns=1;s=RobotType">
-    <DisplayName>moveToPosition</DisplayName>
+  <UAMethod BrowseName="stopMovement" NodeId="ns=1;s=stopMovement" ParentNodeId="ns=1;s=RobotType">
+    <DisplayName>stopMovement</DisplayName>
     <References>
       <Reference ReferenceType="HasModellingRule">ModellingRule_Mandatory</Reference>
       <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=RobotType</Reference>
-      <Reference ReferenceType="HasProperty">ns=1;s=moveToPositionInputArguments</Reference>
-    </References>
-  </UAMethod>
-  <UAMethod BrowseName="stop" NodeId="ns=1;s=stop" ParentNodeId="ns=1;s=AxisType">
-    <DisplayName>stop</DisplayName>
-    <References>
-      <Reference ReferenceType="HasModellingRule">ModellingRule_Mandatory</Reference>
-      <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=AxisType</Reference>
     </References>
   </UAMethod>
   <UAObjectType BrowseName="AxisType" NodeId="ns=1;s=AxisType">
@@ -143,9 +151,10 @@
     <References>
       <Reference IsForward="false" ReferenceType="HasSubtype">BaseObjectType</Reference>
       <Reference ReferenceType="HasComponent">ns=1;s=number_of_axes</Reference>
+      <Reference ReferenceType="HasComponent">ns=1;s=state</Reference>
       <Reference ReferenceType="HasComponent">ns=1;s=axis</Reference>
-      <Reference ReferenceType="HasComponent">ns=1;s=getCurrentPosition</Reference>
       <Reference ReferenceType="HasComponent">ns=1;s=moveToPosition</Reference>
+      <Reference ReferenceType="HasComponent">ns=1;s=getCurrentPosition</Reference>
       <Reference ReferenceType="HasComponent">ns=1;s=stopMovement</Reference>
     </References>
   </UAObjectType>
@@ -163,6 +172,14 @@
       <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=RobotStateMachineType</Reference>
     </References>
   </UAObject>
+  <UAObject BrowseName="Moving" NodeId="ns=1;s=Moving" ParentNodeId="ns=1;s=RobotStateMachineType">
+    <DisplayName>Moving</DisplayName>
+    <References>
+      <Reference ReferenceType="HasTypeDefinition">StateType</Reference>
+      <Reference ReferenceType="HasModellingRule">ModellingRule_Mandatory</Reference>
+      <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=RobotStateMachineType</Reference>
+    </References>
+  </UAObject>
   <UAObject BrowseName="Stopped" NodeId="ns=1;s=Stopped" ParentNodeId="ns=1;s=RobotStateMachineType">
     <DisplayName>Stopped</DisplayName>
     <References>
@@ -171,12 +188,15 @@
       <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=RobotStateMachineType</Reference>
     </References>
   </UAObject>
-  <UAObject BrowseName="Moving" NodeId="ns=1;s=Moving" ParentNodeId="ns=1;s=RobotStateMachineType">
-    <DisplayName>Moving</DisplayName>
+  <UAObject BrowseName="Stopped_to_Moving" NodeId="ns=1;s=Stopped_to_Moving" ParentNodeId="ns=1;s=RobotStateMachineType">
+    <DisplayName>Stopped_to_Moving</DisplayName>
     <References>
-      <Reference ReferenceType="HasTypeDefinition">StateType</Reference>
+      <Reference ReferenceType="HasTypeDefinition">TransitionType</Reference>
       <Reference ReferenceType="HasModellingRule">ModellingRule_Mandatory</Reference>
       <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=RobotStateMachineType</Reference>
+      <Reference ReferenceType="FromState">ns=1;s=Stopped</Reference>
+      <Reference ReferenceType="ToState">ns=1;s=Moving</Reference>
+      <Reference ReferenceType="HasEffect">TransitionEventType</Reference>
     </References>
   </UAObject>
   <UAObject BrowseName="InitialState_to_Stopped" NodeId="ns=1;s=InitialState_to_Stopped" ParentNodeId="ns=1;s=RobotStateMachineType">
@@ -201,24 +221,13 @@
       <Reference ReferenceType="HasEffect">TransitionEventType</Reference>
     </References>
   </UAObject>
-  <UAObject BrowseName="Stopped_to_Moving" NodeId="ns=1;s=Stopped_to_Moving" ParentNodeId="ns=1;s=RobotStateMachineType">
-    <DisplayName>Stopped_to_Moving</DisplayName>
-    <References>
-      <Reference ReferenceType="HasTypeDefinition">TransitionType</Reference>
-      <Reference ReferenceType="HasModellingRule">ModellingRule_Mandatory</Reference>
-      <Reference IsForward="false" ReferenceType="HasComponent">ns=1;s=RobotStateMachineType</Reference>
-      <Reference ReferenceType="FromState">ns=1;s=Stopped</Reference>
-      <Reference ReferenceType="ToState">ns=1;s=Moving</Reference>
-      <Reference ReferenceType="HasEffect">TransitionEventType</Reference>
-    </References>
-  </UAObject>
   <UAObjectType BrowseName="RobotStateMachineType" NodeId="ns=1;s=RobotStateMachineType">
     <DisplayName>RobotStateMachineType</DisplayName>
     <References>
       <Reference IsForward="false" ReferenceType="HasSubtype">FiniteStateMachineType</Reference>
       <Reference ReferenceType="HasComponent">ns=1;s=InitialState</Reference>
-      <Reference ReferenceType="HasComponent">ns=1;s=Moving</Reference>
       <Reference ReferenceType="HasComponent">ns=1;s=Stopped</Reference>
+      <Reference ReferenceType="HasComponent">ns=1;s=Moving</Reference>
       <Reference ReferenceType="HasComponent">ns=1;s=Moving_to_Stopped</Reference>
       <Reference ReferenceType="HasComponent">ns=1;s=Stopped_to_Moving</Reference>
       <Reference ReferenceType="HasComponent">ns=1;s=InitialState_to_Stopped</Reference>