Ein Prozess lernt laufen: LEGO Mindstorms Steuerung mit BPMN

Ein Prozess lernt laufenLEGO® MINDSTORMS® Steuerung mit BPMN

Oliver Hock

Videa Project Services GmbH

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videa-services.comwww.videa.services oliver.hock@videa.services

JUG Hamburg Kids4IT Hamburg kids4it.de

@oliver_hockOliver_Hock3

olihock / bepemind

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Die Firma

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Die Idee

PE

Geschäftsprozesse

Neugier

SpaßPräzision

Know-how

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Der Roboter

Definition

Steuerung

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Die Schnittstellen

Momentaufnahmen9V Ausgang

Zustände

Abfragen

Motoren Sensoren

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Das Modell

CubeFinder

GRIPP3R

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Die Architektur

PC/Remote API

Sensor/Motor Port APIleJOS

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BPM Plattform

BusinessDevelopers

Admins Framework

BPMN 2 Process Engine for Java

JARWorkflowsJava Application

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Business Process Modeling Notation

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Business Process Modeling Notation

up

down

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Process DesignMain Process

Name Value

Subprocess

Name Value

EL

EL

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CubeFinder Process Design

CubeFinder Main

Walk

SearchWalk Right And

DownWalk Right And Up

TurnWalk And Scan

Scan

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Suchmuster

x

y

2m

3m

turnwalk

walk up

right

down

scanscan

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CubeFinder Project Design

Robot Access Delegate Layer

EV3 Brick Access Singleton

Service Task Processes

«JavaDelegate»

Data Objects

CubeFinder Functions RotateDelegateFetchSampleDelegate

Brick.getInstance()

Very Static Model getRegulatedMotor(p)

getSampleProvider(p)

Host = “192.168.173.67”

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Service Tasks Java DelegatesProcess

public class RotateDelegate implements JavaDelegate {

private FixedValue port;private JuelExpression angle;

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Java Implementation

@Overridepublic 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

}

Process Execution

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public class ProcessTestCubeFinderMain {

@Test public void startProcess()

throws RemoteException { repositoryService

.createDeployment()

.addInputStream(

"cubeFinderMain.bpmn20.xml", mainPath))

.addInputStream( "scan.bpmn20.xml", scanPath)

.deploy();}}

Run as …

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leJOS Remote API

Brick.java

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leJOS Motor API

RotateDelegate.java

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leJOS RegulatedMotor API

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leJOS RegulatedMotor API

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leJOS Sensor API

FetchSampleDelegate.java

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leJOS SampleProvider API

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Demo

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Ausblick

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QuellenTilted Twister 2.0

Cube Finder

Engine / DesignerEclipse Mars.1 for Java Developers

GitHub

Eclipse Juno Java Dev

CubeTwister (Randelshofer)KCube 1.0 by Greg SchmidtKociemba two-phase solver 

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Danke schön