Changes

Bonsai Legacy Changes

Modules

Bonsai uses a new module layout

• Bonsai Core

  • Core Implementation: object configuration, skill configuration, runner

• Bonsai Interfaces

  • Object Interfaces: Actuators,Sensors Old core

  • Data Definitions: Old BTL-Core

• Bonsai Skills

  • Core Skills: Old bonsaiBehavior skills

• Bonsai SCXML

  • SCXML statemachine Implementation : old bonsaiBehavior engine

  • SCXML guis/server

• Bonsai Adapter

  • Interface Implementations: Objects and Data

  • Old btl-mw and core-mw-actuator/sensor

This results in the Dependency Graph:

Core -> Interfaces -> Skills
Core -> SCXML-common
Interfaces -> Adapter-mw

(SCXML-mw implementations depends on the corresponding adapter)

• SCXML has a Server+Gui implementation that runs without any middleware (single binary)

• To use different adapter or skill packages you have to add them to the classpath of your scxml-binaries - the easiest way to do this is creating a ‘dist’ project that uses appassembler and depends on the needed packages

SCXML

Sourcing

sourcing can now utilize defined mappings instead of relative paths

<state id="consume" src="${TEST}/memorySlots.xml"/>

the mappings can be set with the -m option example:

-m TEST=/tmp/statemachines -m BEHAVIORS=/tmp/statemachines/behaviors

Core

Skills

• Skills no longer have variables (getVariables/MapReader)

  • instead you can request parameter during configuration

  • this results in better verification: missing/obsolete parameter, optional parameter with the defaults and parameter types

Sensors

• Wire type is now a required attribute for Sensors

<Sensor key="SpeechSensor"
    dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance"
    factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory"
    sensorClass="de.unibi.citec.clf.bonsai.ros.sensors.RosBtlMsgSensor"
    wireTypeClass="std_msgs.String">