cpee 1.5.24 → 1.5.25

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Files changed (88) hide show
  1. checksums.yaml +4 -4
  2. data/cockpit/index.html +2 -2
  3. data/cockpit/js/instance.js +6 -6
  4. data/cockpit/rngs/attributes.rng +2 -2
  5. data/cockpit/rngs/dataelements.rng +2 -2
  6. data/cockpit/rngs/endpoints.rng +2 -2
  7. data/cockpit/{testsets → templates.legacy}/Async.xml +0 -0
  8. data/cockpit/{testsets → templates.legacy}/BCO.xml +0 -0
  9. data/cockpit/{testsets → templates.legacy}/BCS.xml +0 -0
  10. data/cockpit/{testsets → templates.legacy}/Centurio.xml +0 -0
  11. data/cockpit/{testsets → templates.legacy}/Concurrent.xml +0 -0
  12. data/cockpit/testsets/Coopis Testset.xml b/data/cockpit/templates.legacy/Coopis → Testset.xml +0 -0
  13. data/cockpit/testsets/Endpoints and Data Manipulation.xml b/data/cockpit/templates.legacy/Endpoints and Data → Manipulation.xml +0 -0
  14. data/cockpit/testsets/ICSOC Testset.xml b/data/cockpit/templates.legacy/ICSOC → Testset.xml +0 -0
  15. data/cockpit/{testsets → templates.legacy}/Infinity.xml +0 -0
  16. data/cockpit/testsets/Lego Boxer.xml b/data/cockpit/templates.legacy/Lego → Boxer.xml +0 -0
  17. data/cockpit/testsets/Lego Conveyor.xml b/data/cockpit/templates.legacy/Lego → Conveyor.xml +0 -0
  18. data/cockpit/testsets/Lego Crane.xml b/data/cockpit/templates.legacy/Lego → Crane.xml +0 -0
  19. data/cockpit/testsets/Lego Ejector.xml b/data/cockpit/templates.legacy/Lego → Ejector.xml +0 -0
  20. data/cockpit/testsets/Lego Full.xml b/data/cockpit/templates.legacy/Lego → Full.xml +0 -0
  21. data/cockpit/testsets/Lego Liddy.xml b/data/cockpit/templates.legacy/Lego → Liddy.xml +0 -0
  22. data/cockpit/testsets/Lego Plate.xml b/data/cockpit/templates.legacy/Lego → Plate.xml +0 -0
  23. data/cockpit/testsets/Lego Transporter.xml b/data/cockpit/templates.legacy/Lego → Transporter.xml +0 -0
  24. data/cockpit/{testsets → templates.legacy}/Lego_Part_1.xml +0 -0
  25. data/cockpit/{testsets → templates.legacy}/LgLinear.xml +0 -0
  26. data/cockpit/{testsets → templates.legacy}/Linear.xml +0 -0
  27. data/cockpit/{testsets → templates.legacy}/Log.xml +0 -0
  28. data/cockpit/testsets/Mangler 1.xml b/data/cockpit/templates.legacy/Mangler → 1.xml +0 -0
  29. data/cockpit/testsets/Mangler 2.xml b/data/cockpit/templates.legacy/Mangler → 2.xml +0 -0
  30. data/cockpit/testsets/Manuel Labels.xml b/data/cockpit/templates.legacy/Manuel → Labels.xml +0 -0
  31. data/cockpit/{testsets → templates.legacy}/Promise.xml +0 -0
  32. data/cockpit/testsets/SOPROMO Test Sonification.xml b/data/cockpit/templates.legacy/SOPROMO Test → Sonification.xml +0 -0
  33. data/cockpit/testsets/Syncing P34 1.xml b/data/cockpit/templates.legacy/Syncing P34 → 1.xml +0 -0
  34. data/cockpit/testsets/Syncing P34 2.xml b/data/cockpit/templates.legacy/Syncing P34 → 2.xml +0 -0
  35. data/cockpit/testsets/Syncing P34 3.xml b/data/cockpit/templates.legacy/Syncing P34 → 3.xml +0 -0
  36. data/cockpit/testsets/Syncing P34.xml b/data/cockpit/templates.legacy/Syncing → P34.xml +0 -0
  37. data/cockpit/testsets/TEST - Bad Loop.xml b/data/cockpit/templates.legacy/TEST - Bad → Loop.xml +0 -0
  38. data/cockpit/testsets/TEST - Wrong Positions.xml b/data/cockpit/templates.legacy/TEST - Wrong → Positions.xml +0 -0
  39. data/cockpit/{testsets → templates.legacy}/Update.xml +0 -0
  40. data/cockpit/testsets/Worklist Parallel.xml b/data/cockpit/templates.legacy/Worklist → Parallel.xml +0 -0
  41. data/cockpit/testsets/Worklist Test CPEE.xml b/data/cockpit/templates.legacy/Worklist Test → CPEE.xml +0 -0
  42. data/cockpit/testsets/Worklist Test.xml b/data/cockpit/templates.legacy/Worklist → Test.xml +0 -0
  43. data/cockpit/testsets/Worklist Test2.xml b/data/cockpit/templates.legacy/Worklist → Test2.xml +0 -0
  44. data/cockpit/{testsets → templates.legacy}/convert_preset.rb +0 -0
  45. data/cockpit/{testsets → templates.legacy}/testsets.xml +0 -0
  46. data/cockpit/{testsets → templates.legacy}/transformations.xml +0 -0
  47. data/cockpit/templates/BPM 2020 Manual Adjust.xml +235 -0
  48. data/cockpit/templates/BPM 2020 Solution Baseline.xml +250 -0
  49. data/cockpit/templates/BPM 2020 Solution NN.xml +243 -0
  50. data/cockpit/templates/BPM 2020 Solution View.xml +200 -0
  51. data/cockpit/templates/BPM 2020.xml +15 -0
  52. data/cockpit/templates/Coopis 2010.xml +76 -0
  53. data/cockpit/templates/IUPC arXiv:1104.3609 P34 1.xml +80 -0
  54. data/cockpit/templates/IUPC arXiv:1104.3609 P34 2.xml +80 -0
  55. data/cockpit/templates/IUPC arXiv:1104.3609 P34 3.xml +80 -0
  56. data/cockpit/{testsets/Take_5.xml → templates/Worklist.xml} +15 -21
  57. data/cockpit/templates/convert_preset.rb +32 -0
  58. data/cockpit/templates/testsets.xml +11 -0
  59. data/cockpit/templates/transformations.xml +4 -0
  60. data/cockpit/themes/compact/rngs/call.rng +6 -0
  61. data/cockpit/themes/compact/rngs/callmanipulate.rng +6 -0
  62. data/cockpit/themes/compact/theme.js +1 -1
  63. data/cockpit/themes/default/theme.js +1 -1
  64. data/cockpit/themes/extended/rngs/call.rng +6 -0
  65. data/cockpit/themes/extended/rngs/callmanipulate.rng +6 -0
  66. data/cockpit/themes/extended/theme.js +7 -22
  67. data/cockpit/themes/model/theme.js +1 -1
  68. data/cockpit/themes/packed/rngs/call.rng +6 -0
  69. data/cockpit/themes/packed/rngs/callmanipulate.rng +6 -0
  70. data/cockpit/themes/packed/theme.js +1 -1
  71. data/cockpit/themes/preset/rngs/call.rng +6 -0
  72. data/cockpit/themes/preset/rngs/callmanipulate.rng +6 -0
  73. data/cockpit/themes/preset/theme.js +1 -1
  74. data/cpee.gemspec +1 -1
  75. data/lib/cpee/controller.rb +1 -1
  76. data/log/sic.rb +1 -0
  77. data/server/handlerwrappers/default.rb +1 -1
  78. data/tools/instantiation/instantiation +1 -0
  79. data/tools/server/server.rb +1 -0
  80. metadata +55 -51
  81. data/cockpit/test.html +0 -40
  82. data/cockpit/testsets/Subprocess.xml +0 -56
  83. data/server/resources/notifications/logging/consumer-secret +0 -1
  84. data/server/resources/notifications/logging/producer-secret +0 -1
  85. data/server/resources/notifications/logging/subscription.xml +0 -19
  86. data/server/resources/test1.xml +0 -58
  87. data/server/resources/test2.xml +0 -60
  88. data/server/resources/test3.xml +0 -217
data/cockpit/templates/BPM 2020 Solution NN.xml ADDED
@@ -0,0 +1,243 @@
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+ <testset>
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+ <dataelements>
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+ <places xmlns="http://riddl.org/ns/common-patterns/properties/1.0">[[0,0],[1,0],[0,1],[1,1],[0,2],[1,2]]</places>
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+ </dataelements>
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+ <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
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+ <endpoints>
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+ <overview xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/overview</overview>
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+ <move_tool xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/point</move_tool>
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+ <move_camera xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/view</move_camera>
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+ <get_items_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/items</get_items_base>
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+ <get_items_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
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+ <get_offset_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/details</get_offset_base>
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+ <get_offset_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
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+ <wait xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://gruppe.wst.univie.ac.at/~mangler/services/timeout.php</wait>
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+ <grip_and_place xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/grip_and_place</grip_and_place>
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+ </endpoints>
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+ <description>
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+ <description xmlns="http://cpee.org/ns/description/1.0">
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+ <loop mode="pre_test" condition="data.places.length &gt; 0">
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+ <_probability>
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+ <_probability_min/>
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+ <_probability_max/>
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+ <_probability_avg/>
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+ </_probability>
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+ <manipulate id="a2" label="Next Place">data.place = data.places.shift</manipulate>
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+ <call id="a1" endpoint="overview">
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+ <parameters>
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+ <label>Move to overview position</label>
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+ <arguments/>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <call id="a7" endpoint="wait">
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+ <parameters>
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+ <label>Wait for camera stream delay</label>
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+ <method>:post</method>
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+ <arguments>
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+ <timeout>5</timeout>
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+ </arguments>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <call id="a3" endpoint="get_items_neural">
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+ <parameters>
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+ <label>Get item positions</label>
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+ <arguments/>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <code>
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+ <prepare/>
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+ <finalize output="result">data.items = result
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+ data.item = result[0]</finalize>
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+ <update output="result"/>
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+ <rescue output="result"/>
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+ </code>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <choose mode="exclusive">
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+ <alternative condition="data.items.length &gt; 0">
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+ <call id="a5" endpoint="move_camera">
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+ <parameters>
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+ <label>Inspect first item</label>
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+ <arguments>
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+ <x>!data.item['x']</x>
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+ <y>!data.item['y']</y>
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+ </arguments>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <call id="a4" endpoint="wait">
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+ <parameters>
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+ <label>Wait for camera stream delay</label>
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+ <method>:post</method>
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+ <arguments>
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+ <timeout>5</timeout>
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+ </arguments>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <call id="a6" endpoint="get_offset_neural">
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+ <parameters>
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+ <label>Get item offset</label>
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+ <arguments/>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <code>
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+ <prepare/>
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+ <finalize output="result">data.adjusted = {
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+ 'x' =&gt; data.item['x'] + result['adjust_x'],
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+ 'y' =&gt; data.item['y'] + result['adjust_y']
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+ }</finalize>
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+ <update output="result"/>
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+ <rescue output="result"/>
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+ </code>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <call id="a8" endpoint="grip_and_place">
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+ <parameters>
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+ <label>Grip and Place</label>
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+ <arguments>
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+ <x>!data.adjusted['x']</x>
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+ <y>!data.adjusted['y']</y>
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+ <place_x>!data.place[0]</place_x>
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+ <place_y>!data.place[1]</place_y>
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+ </arguments>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <_probability>
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+ <_probability_min/>
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+ <_probability_max/>
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+ <_probability_avg/>
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+ </_probability>
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+ </alternative>
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+ <otherwise>
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+ <terminate/>
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+ </otherwise>
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+ </choose>
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+ </loop>
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+ </description>
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+ </description>
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+ <transformation>
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+ <description type="copy"/>
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+ <dataelements type="none"/>
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+ <endpoints type="none"/>
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+ </transformation>
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+ <attributes>
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+ <info xmlns="http://riddl.org/ns/common-patterns/properties/1.0">BPM 2020 Solution NN</info>
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+ <modeltype xmlns="http://riddl.org/ns/common-patterns/properties/1.0">CPEE</modeltype>
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+ <theme xmlns="http://riddl.org/ns/common-patterns/properties/1.0">preset</theme>
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+ <resource xmlns="http://riddl.org/ns/common-patterns/properties/1.0">ur51</resource>
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+ </attributes>
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+ </testset>
data/cockpit/templates/BPM 2020 Solution View.xml ADDED
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+ <testset>
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+ <dataelements/>
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+ <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
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+ <endpoints>
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+ <overview xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/overview</overview>
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+ <move_tool xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/point</move_tool>
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+ <move_camera xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/view</move_camera>
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+ <get_items_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/items</get_items_base>
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+ <get_items_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
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+ <get_offset_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/details</get_offset_base>
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+ <get_offset_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
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+ <wait xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://gruppe.wst.univie.ac.at/~mangler/services/timeout.php</wait>
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+ </endpoints>
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+ <description>
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+ <description xmlns="http://cpee.org/ns/description/1.0">
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+ <loop mode="pre_test" condition="true">
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+ <_probability>
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+ <_probability_min/>
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+ <_probability_max/>
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+ <_probability_avg/>
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+ </_probability>
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+ <call id="a1" endpoint="overview">
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+ <parameters>
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+ <label>Move to overview position</label>
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+ <arguments/>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <call id="a7" endpoint="wait">
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+ <parameters>
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+ <label>Wait for camera stream delay</label>
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+ <method>:post</method>
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+ <arguments>
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+ <timeout>5</timeout>
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+ </arguments>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <call id="a3" endpoint="get_items_neural">
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+ <parameters>
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+ <label>Get item positions</label>
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+ <arguments/>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <code>
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+ <prepare/>
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+ <finalize output="result">data.items = result
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+ data.item = result[0]</finalize>
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+ <update output="result"/>
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+ <rescue output="result"/>
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+ </code>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <call id="a5" endpoint="move_camera">
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+ <parameters>
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+ <label>Inspect first item</label>
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+ <arguments>
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+ <x>!data.item['x']</x>
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+ <y>!data.item['y']</y>
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+ </arguments>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
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+ <_timing_threshold/>
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+ <_timing_min/>
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+ <_timing_max/>
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+ <_timing_avg/>
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+ </_timing>
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+ <_notes>
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+ <_notes_general/>
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+ </_notes>
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+ </annotations>
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+ </call>
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+ <call id="a4" endpoint="wait">
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+ <parameters>
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+ <label>Wait for camera stream delay</label>
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+ <method>:post</method>
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+ <arguments>
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+ <timeout>5</timeout>
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+ </arguments>
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+ <stream>
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+ <sensors/>
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+ <aggregators/>
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+ <costs/>
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+ </stream>
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+ </parameters>
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+ <annotations>
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+ <_timing>
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+ <_timing_wait/>
143
+ <_timing_threshold/>
144
+ <_timing_min/>
145
+ <_timing_max/>
146
+ <_timing_avg/>
147
+ </_timing>
148
+ <_notes>
149
+ <_notes_general/>
150
+ </_notes>
151
+ </annotations>
152
+ </call>
153
+ <call id="a6" endpoint="get_offset_neural">
154
+ <parameters>
155
+ <label>Get item offset</label>
156
+ <arguments/>
157
+ <stream>
158
+ <sensors/>
159
+ <aggregators/>
160
+ <costs/>
161
+ </stream>
162
+ </parameters>
163
+ <code>
164
+ <prepare/>
165
+ <finalize output="result">data.adjusted = {
166
+ 'x' =&gt; data.item['x'] + result['adjust_x'],
167
+ 'y' =&gt; data.item['y'] + result['adjust_y']
168
+ }</finalize>
169
+ <update output="result"/>
170
+ <rescue output="result"/>
171
+ </code>
172
+ <annotations>
173
+ <_timing>
174
+ <_timing_wait/>
175
+ <_timing_threshold/>
176
+ <_timing_min/>
177
+ <_timing_max/>
178
+ <_timing_avg/>
179
+ </_timing>
180
+ <_notes>
181
+ <_notes_general/>
182
+ </_notes>
183
+ </annotations>
184
+ </call>
185
+ <stop id="a2"/>
186
+ </loop>
187
+ </description>
188
+ </description>
189
+ <transformation>
190
+ <description type="copy"/>
191
+ <dataelements type="none"/>
192
+ <endpoints type="none"/>
193
+ </transformation>
194
+ <attributes>
195
+ <info xmlns="http://riddl.org/ns/common-patterns/properties/1.0">BPM 2020 Solution View</info>
196
+ <modeltype xmlns="http://riddl.org/ns/common-patterns/properties/1.0">CPEE</modeltype>
197
+ <theme xmlns="http://riddl.org/ns/common-patterns/properties/1.0">preset</theme>
198
+ <resource xmlns="http://riddl.org/ns/common-patterns/properties/1.0">ur51</resource>
199
+ </attributes>
200
+ </testset>
data/cockpit/templates/BPM 2020.xml ADDED
@@ -0,0 +1,15 @@
1
+ <testset>
2
+ <handlerwrapper>DefaultHandlerWrapper</handlerwrapper>
3
+ <endpoints>
4
+ <overview xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/overview</overview>
5
+ <move_tool xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/point</move_tool>
6
+ <move_camera xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/position/view</move_camera>
7
+ <get_items_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/items</get_items_base>
8
+ <get_items_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/items</get_items_neural>
9
+ <get_offset_base xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://tango.wst.univie.ac.at:9329/view/details</get_offset_base>
10
+ <get_offset_neural xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-get://ryloth.wst.univie.ac.at:9330/view/details</get_offset_neural>
11
+ <wait xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://gruppe.wst.univie.ac.at/~mangler/services/timeout.php</wait>
12
+ <grip_and_place xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http-put://tango.wst.univie.ac.at:9329/move/grip_and_place</grip_and_place>
13
+ <subprocess xmlns="http://riddl.org/ns/common-patterns/properties/1.0">http://cpee.org:9296/url/</subprocess>
14
+ </endpoints>
15
+ </testset>