BPMCon 2016: LEGO Mindstorms Steuerung mit BPMN, Oliver Hock, Videa

PECuriosity

FunPrecision

Knowledge

SnapshotsOutput

States

Motors

Queries

Sensors

TiltedTwister 2.0 *

* Source: Hans Andersson - http://tiltedtwister.com/tiltedtwister2.html

CubeSolving

public class ScanBrickListener implements ExecutionListener {

public void notify(DelegateExecution execution) throws Exception {Number brickNo = (Number) execution.getVariable("brickNo");

String brickColor = (String) execution.getVariable("brickColor");

Turn Table

Cube Tilter

Brick

Color Sensor

PC/Remote API

Sensor/Motor Port API

JAR

Java Application

Main Process

Name Value

Subprocess

Name Value

Main Process

Scan single Brick

React on Cube

Walk CubeScan Face

Face

DMNScan all Bricks

Rotate Motor

Scan Cube Calculate Solve Cube

Face to

Face

Move

Face

Move

DMN

TwistTiltTurn

Robot Access Delegate Layer

Brick Access Factory

«JavaDelegate»

Data Objects

CubeFinder Functions RotateDelegate

FetchSampleDelegate

new MotorFactory()

new SensorFactory()

Very Static Model static Motor.A

static SensorPort.S1

Process

public class RotateDelegate implements JavaDelegate {

private FixedValue port;

private JuelExpression angle;

@Override

public void execute(DelegateExecution execution)

throws Exception {

String portValue = (String) port.getValue(execution);

Long angleValue = (Long) angle.getValue(execution);

String hostVar = ""+execution.getVariable("Host");

// leJOS API stuff here

}

public class

ProcessTestCubeFinderMain {

@Test

public void startProcess()

throws RemoteException {

repositoryService

.createDeployment()

.addInputStream(

"cubeFinderMain.bpmn20.xml",

mainPath))

.addInputStream(

"scan.bpmn20.xml",

scanPath)

.deploy();

}}

Run as …

Brick.java

RotateDelegate.java

FetchSampleDelegate.java