SmartSoft is an umbrella term for concepts and tools to build robotics systems. The SmartSoft approach defines a systematic component-based robotics software development methodology and according model-driven tools that support different developer roles in a collaborative design and development of robotic software systems. The SmartSoft World includes (a non-complete list):
There are two main technology clusters in SmartSoft that adhere to the RobMoSys structures. One is the SmartSoft robotics framework that provides a C++ library for programming robotics software components independent of the underlying communication middleware. The other technology is the SmartMDSD Toolchain that directly implements the RobMoSys metamodels and conforms to the RobMoSys structures. It serves as a baseline for model-driven tooling.
The SmartMDSD Toolchain has been introduced in 2009 and has been continuously refined and extended in various public releases and three generations since then. The figure below shows the main generations of the SmartMDSD Toolchain and the SmartSoft robotics framework.
The 3rd generation of the SmartMDSD Toolchain (version 2.x) and the SmartSoft framework (version 2.x) are the current productive versions that – among others – are used by FESTO Robotino.
A novel 4th generation for the SmartMDSD Toolchain (version 3.x) and the SmartSoft framework (version 3.x) are currently under development with a strong focus on specifically conforming to the RobMoSys structures. Both technologies are scheduled to be released and productively usable by the end of 2017.
The SmartMDSD Toolchain has been using various Eclipse Modeling technologies. It started in 2009 with the Itemis Open-Architecture Ware (OAW), then between 2013 and 2016 used Xtext, Xtend and UML Papyrus and is currently moving towards using the latest Eclipse Modeling technologies based on latest Xtext, Xtend and Sirius plugins. The figure below provides a schematic overview of the Eclipse technologies used for version 2.x and the transformation with the recent Eclipse technologies for version 3.x.
Overall, the SmartMDSD Toolchain provides various textual and graphical model editors as well as code generators to generate glue-logic for the SmartSoft framework and to generate configuration files.
The SmartSoft software baseline is continuously evolving to match the latest developments in robotics software engineering methods. While many current SmartSoft structures already now fully conform to the RobMoSys definitions, there are some necessary refinements that are summarized below.
Further differences between the current SmartMARS Metamodel and the RobMoSys composition structures will be described in the same way here.
All SmartSoft framework versions are licensed under the LGPL v3 license. The SmartMDSD Toolchain v2.x uses the LGPL v2.1 license. The SmartMDSD Toolchain v3.x uses a plugin-based mix of licenses as depicted below. The SmartSoft components come in GPL/LGPL (see individual component).
|org.ecore.component||HSU (Alex Lotz)||LGPL|
|org.ecore.system||HSU (Alex Lotz)||LGPL|
|org.ecore.deployment||HSU (Alex Lotz)||LGPL|
|org.xtext.commObj||HSU (Alex Lotz)||LGPL|
|org.xtext.component||HSU (Alex Lotz)||LGPL|
|org.xtext.system||HSU (Alex Lotz)||LGPL|
|org.xtext.deployment||HSU (Alex Lotz)||LGPL|
|org.xtext.param.[definition/compusage/sysusage]||HSU (Alex Lotz)||LGPL|
|org.sirius.component.design||HSU (Alex Lotz)||LGPL|
|org.sirius.system.design||HSU (Alex Lotz)||LGPL|
|org.sirius.deployment.design||HSU (Alex Lotz)||LGPL|
|org.sirius.tools||HSU (Alex Lotz)||LGPL|
|org.project.creation.wizards||HSU (Alex Lotz)||LGPL|
|org.robotics.update.site||HSU (Alex Lotz)||LGPL|
|org.xtend.smartsoft.generator||HSU (Alex Lotz)||LGPL|
|org.ecore.performExtension||HSU (Alex Lotz)||BSD|
|org.ecore.performance||HSU (Alex Lotz)||BSD|
|org.xtext.performance||HSU (Alex Lotz)||BSD|
|org.sirius.performance.design||HSU (Alex Lotz)||BSD|
|org.ecore.[symtaBase/symtaConfig]||HSU (Alex Lotz) + Bosch (Vincent Kessel)||BSD|
|org.xtext.[symtaBase/symtaConfig]||HSU (Alex Lotz) + Bosch (Vincent Kessel)||BSD|
|org.xtend.symta.generator||HSU (Alex Lotz) + Bosch (Vincent Kessel)||BSD|
|action.symtaProject.Run||HSU (Alex Lotz) + Bosch (Vincent Kessel)||BSD|
SmartSoft provides implementations for the individual levels listed in Separation of Levels and Separation of Concerns:
|Level||Available/Accessible in the SmartSoft World|
|Mission||SmartTCL HL Interface|
|Task Plot||SmartTCL Task Block|
|Skill||SmartTCL Skill Block|
|Service|| Service Definitions:
- Communication Object (data structure)
- Communication Patterns (comm. semantics)
|Function||C++ Library (libOpenRave)|
|OS/Middleware||ACE, CORBA, DDS, Linux, Windows, iOS|
|Hardware||UR5, Sick, ARM, x86, Robotino, Segway, MARS|
SmartTCL (and the concept of Dynamic State Charts) are realizations of the Architectural Pattern for Task-Plot Coordination (Robotic Behaviors)
To be extended
Communication Patterns are a set of few but sufficient characteristics for the exchange of information over services for component interaction in SmartSoft. Communication patterns are fix set of software patterns defining recurring communication solutions for robotics software components. SmartSoft provides communication patterns for the sake of composability, for example send, two-way request-response, and publish/subscribe mechanisms on a timely or availability basis. SmartSoft communication patterns are an implementation of the Architectural Pattern for Communication
Abstracts away platform-specific details such as independence of a particular operating-system (OS) and communication middleware by providing a unified and platform independent API.
Quality of Service (QoS) defines the ability of a system to meet application-specific customer needs and expectations while remaining economically competitive. (see Wikipedia service-quality)
All about the SmartSoft World can be found at http://www.servicerobotik-ulm.de. Selected links: