added a client service for PowerPlantManager

currently this service supports only one battery

iop_client_power_plant_fkie/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(iop_client_power_plant_fkie)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+             iop_component_fkie
+             iop_ocu_slavelib_fkie
+             roscpp
+             std_msgs)
+iop_init(COMPONENT_ID 0)
+iop_export_service(urn_jaus_jss_ugv_PowerPlantManagerClient)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+#    INCLUDE_DIRS include/public
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS
+        iop_component_fkie
+        iop_ocu_slavelib_fkie
+        std_msgs
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+iop_code_generator(
+  IDLS
+    urn.jaus.jss.core-v1.1/AccessControlClient.xml
+    urn.jaus.jss.core-v1.1/EventsClient.xml
+    urn.jaus.jss.core-v1.1/Transport.xml
+    urn.jaus.jss.ugv/power_plantClient.xml
+  OWN_IDLS
+  OVERRIDES
+    include/urn_jaus_jss_ugv_PowerPlantManagerClient/PowerPlantManagerClient_ReceiveFSM.h
+    src/urn_jaus_jss_ugv_PowerPlantManagerClient/PowerPlantManagerClient_ReceiveFSM.cpp
+    src/main.cpp
+  EXTERN_SERVICES
+    urn_jaus_jss_core_AccessControlClient
+    urn_jaus_jss_core_EventsClient
+    urn_jaus_jss_core_Transport
+  GENERATED_SOURCES cppfiles
+)
+include_directories(${catkin_INCLUDE_DIRS}
+#                    include/public
+)
+
+## Declare a cpp executable
+add_library(${PROJECT_NAME}
+            src/PowerPlantManagerClientPlugin.cpp
+            ${cppfiles}
+)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}
+                      ${catkin_LIBRARIES}
+)
+
+install(
+  DIRECTORY ${IOP_INSTALL_INCLUDE_DIRS} DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+  PATTERN "*.old" EXCLUDE
+  PATTERN "*.gen" EXCLUDE
+)
+
+#install(
+#  DIRECTORY include/public/${PROJECT_NAME} DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+#  PATTERN "*.old" EXCLUDE
+#  PATTERN "*.gen" EXCLUDE
+#)
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+install(
+   FILES ./plugin_iop.xml
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+

iop_client_power_plant_fkie/README.md

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+This package is part of [ROS/IOP Bridge](https://github.com/fkie/iop_core/blob/master/README.md).
+
+
+## _iop_client_power_plant_fkie:_ PowerPlantManagerClient
+
+Currently publish reports the status of one battery.
+
+
+#### Parameter:
+
+_hz (int_ Default: 0.0)
+
+> Sets how often the reports are requested. If [use_queries](https://github.com/fkie/iop_core/blob/master/iop_ocu_slavelib_fkie/README.md#parameter) is ```True``` hz must be greather then 0. In this case each time a ```Query``` message is sent to get a report. If ```use_queries``` is ```False``` an event is created to get Reports. In this case 0 disables the rate and an event of type ```on_change``` will be created.
+
+
+#### Publisher:
+
+_powerplant\_`ID`/voltage (std_msgs::Float32)_
+
+> Current voltage.
+
+_powerplant\_`ID`/capacity_percent (std_msgs::Int8)_
+
+> Percent of maximum.
+
+
+#### Subscriber:
+
+> None
+

iop_client_power_plant_fkie/include/urn_jaus_jss_ugv_PowerPlantManagerClient/PowerPlantManagerClient_ReceiveFSM.h

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+
+
+#ifndef POWERPLANTMANAGERCLIENT_RECEIVEFSM_H
+#define POWERPLANTMANAGERCLIENT_RECEIVEFSM_H
+
+#include "JausUtils.h"
+#include "InternalEvents/InternalEventHandler.h"
+#include "Transport/JausTransport.h"
+#include "JTSStateMachine.h"
+#include "urn_jaus_jss_ugv_PowerPlantManagerClient/Messages/MessageSet.h"
+#include "urn_jaus_jss_ugv_PowerPlantManagerClient/InternalEvents/InternalEventsSet.h"
+
+#include "InternalEvents/Receive.h"
+#include "InternalEvents/Send.h"
+
+#include "urn_jaus_jss_core_Transport/Transport_ReceiveFSM.h"
+#include "urn_jaus_jss_core_EventsClient/EventsClient_ReceiveFSM.h"
+#include "urn_jaus_jss_core_AccessControlClient/AccessControlClient_ReceiveFSM.h"
+
+#include <std_msgs/Bool.h>
+#include <std_msgs/Float32.h>
+#include <std_msgs/Int8.h>
+#include <iop_ocu_slavelib_fkie/SlaveHandlerInterface.h>
+#include <iop_events_fkie/EventHandlerInterface.h>
+
+#include "PowerPlantManagerClient_ReceiveFSM_sm.h"
+
+namespace urn_jaus_jss_ugv_PowerPlantManagerClient
+{
+
+class DllExport PowerPlantManagerClient_ReceiveFSM : public JTS::StateMachine, public iop::ocu::SlaveHandlerInterface, public iop::EventHandlerInterface
+{
+public:
+	PowerPlantManagerClient_ReceiveFSM(urn_jaus_jss_core_Transport::Transport_ReceiveFSM* pTransport_ReceiveFSM, urn_jaus_jss_core_EventsClient::EventsClient_ReceiveFSM* pEventsClient_ReceiveFSM, urn_jaus_jss_core_AccessControlClient::AccessControlClient_ReceiveFSM* pAccessControlClient_ReceiveFSM);
+	virtual ~PowerPlantManagerClient_ReceiveFSM();
+
+	/// Handle notifications on parent state changes
+	virtual void setupNotifications();
+
+	/// Action Methods
+	virtual void handleReportPowerPlantCapabilitiesAction(ReportPowerPlantCapabilities msg, Receive::Body::ReceiveRec transportData);
+	virtual void handleReportPowerPlantConfigurationAction(ReportPowerPlantConfiguration msg, Receive::Body::ReceiveRec transportData);
+	virtual void handleReportPowerPlantStatusAction(ReportPowerPlantStatus msg, Receive::Body::ReceiveRec transportData);
+
+
+	/// EventHandlerInterface Methods
+	void event(JausAddress reporter, unsigned short query_msg_id, unsigned int reportlen, const unsigned char* reportdata);
+
+	/// SlaveHandlerInterface Methods
+	void control_allowed(std::string service_uri, JausAddress component, unsigned char authority);
+	void enable_monitoring_only(std::string service_uri, JausAddress component);
+	void access_deactivated(std::string service_uri, JausAddress component);
+	void create_events(std::string service_uri, JausAddress component, bool by_query=false);
+	void cancel_events(std::string service_uri, JausAddress component, bool by_query=false);
+
+	/// Guard Methods
+
+
+
+	PowerPlantManagerClient_ReceiveFSMContext *context;
+
+protected:
+
+    /// References to parent FSMs
+	urn_jaus_jss_core_Transport::Transport_ReceiveFSM* pTransport_ReceiveFSM;
+	urn_jaus_jss_core_EventsClient::EventsClient_ReceiveFSM* pEventsClient_ReceiveFSM;
+	urn_jaus_jss_core_AccessControlClient::AccessControlClient_ReceiveFSM* pAccessControlClient_ReceiveFSM;
+
+	QueryPowerPlantStatus p_query_states;
+	JausAddress p_remote_addr;
+	bool p_has_access;
+	ros::NodeHandle p_nh;
+	ros::Timer p_query_timer;
+	bool p_by_query;
+	bool p_valid_configuration;
+	double p_hz;
+
+	bool p_battery_valid;
+	int p_battery_id;
+	ros::Publisher p_pub_battery_voltage;
+	ros::Publisher p_pub_battery_capacity_percent;
+	void pQueryCallback(const ros::TimerEvent& event);
+
+};
+
+};
+
+#endif // PowerPlantManagerCLIENT_RECEIVEFSM_H

iop_client_power_plant_fkie/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>iop_client_power_plant_fkie</name>
+  <version>1.1.0</version>
+  <description>
+      The PowerPlantManager client request battery states from PowerPlantManager services.
+  </description>
+
+  <author>Alexander Tiderko</author>
+  <maintainer email="alexander.tiderko@fkie.fraunhofer.de">Alexander Tiderko</maintainer>
+  <license>GPLv2</license>
+  <url type="website">https://github.com/fkie/iop_jaus_ugv_clients</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>iop_component_fkie</depend>
+  <depend>iop_ocu_slavelib_fkie</depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+
+  <export>
+    <iop_component_fkie plugin="${prefix}/plugin_iop.xml" />
+  </export>
+
+</package>

iop_client_power_plant_fkie/plugin_iop.xml

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+<library path="libiop_client_power_plant_fkie">
+  <class name="PowerPlantManagerClient" type="iop::PowerPlantManagerClientPlugin" base_class_type="iop::PluginInterface">
+    <description>
+      PowerPlantManager client Service Plugin, used e.g. by OCU
+    </description>
+    <iop_service name="PowerPlantManagerClient" id="urn:jaus:jss:ugv:PowerPlantManagerClient" version="1.1">
+      <inherits_from id="urn:jaus:jss:core:AccessControlClient" min_version="1.1"/>
+    </iop_service>
+  </class>
+</library>

iop_client_power_plant_fkie/src/PowerPlantManagerClientPlugin.cpp

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+/**
+ROS/IOP Bridge
+Copyright (c) 2017 Fraunhofer
+
+This program is dual licensed; you can redistribute it and/or
+modify it under the terms of the GNU General Public License
+version 2 as published by the Free Software Foundation, or
+enter into a proprietary license agreement with the copyright
+holder.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; or you can read the full license at
+<http://www.gnu.de/documents/gpl-2.0.html>
+*/
+
+/** \author Alexander Tiderko */
+
+#include <pluginlib/class_list_macros.h>
+#include "PowerPlantManagerClientPlugin.h"
+
+using namespace iop;
+using namespace urn_jaus_jss_ugv_PowerPlantManagerClient;
+using namespace urn_jaus_jss_core_AccessControlClient;
+using namespace urn_jaus_jss_core_EventsClient;
+using namespace urn_jaus_jss_core_Transport;
+
+
+PowerPlantManagerClientPlugin::PowerPlantManagerClientPlugin()
+{
+	p_my_service = NULL;
+	p_base_service = NULL;
+	p_events_service = NULL;
+	p_transport_service = NULL;
+}
+
+JTS::Service* PowerPlantManagerClientPlugin::get_service()
+{
+	return p_my_service;
+}
+
+void PowerPlantManagerClientPlugin::create_service(JTS::JausRouter* jaus_router)
+{
+	p_base_service = static_cast<AccessControlClientService *>(get_base_service());
+	p_events_service = static_cast<EventsClientService *>(get_base_service(2));
+	p_transport_service = static_cast<TransportService *>(get_base_service(3));
+	p_my_service = new PowerPlantManagerClientService(jaus_router, p_transport_service, p_events_service, p_base_service);
+}
+
+PLUGINLIB_EXPORT_CLASS(iop::PowerPlantManagerClientPlugin, iop::PluginInterface)

iop_client_power_plant_fkie/src/PowerPlantManagerClientPlugin.h

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+/**
+ROS/IOP Bridge
+Copyright (c) 2017 Fraunhofer
+
+This program is dual licensed; you can redistribute it and/or
+modify it under the terms of the GNU General Public License
+version 2 as published by the Free Software Foundation, or
+enter into a proprietary license agreement with the copyright
+holder.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; or you can read the full license at
+<http://www.gnu.de/documents/gpl-2.0.html>
+*/
+
+/** \author Alexander Tiderko */
+
+#ifndef POWERPLANTMANAGERCLIENTPLUGIN_H
+#define POWERPLANTMANAGERCLIENTPLUGIN_H
+
+#include "urn_jaus_jss_ugv_PowerPlantManagerClient/PowerPlantManagerClientService.h"
+#include "urn_jaus_jss_core_AccessControlClient/AccessControlClientService.h"
+#include "urn_jaus_jss_core_EventsClient/EventsClientService.h"
+#include "urn_jaus_jss_core_Transport/TransportService.h"
+
+#include <iop_component_fkie/iop_plugin_interface.h>
+
+namespace iop
+{
+
+class DllExport PowerPlantManagerClientPlugin : public PluginInterface
+{
+public:
+	PowerPlantManagerClientPlugin();
+
+	JTS::Service* get_service();
+	void create_service(JTS::JausRouter* jaus_router);
+
+protected:
+	urn_jaus_jss_ugv_PowerPlantManagerClient::PowerPlantManagerClientService *p_my_service;
+	urn_jaus_jss_core_AccessControlClient::AccessControlClientService *p_base_service;
+	urn_jaus_jss_core_EventsClient::EventsClientService *p_events_service;
+	urn_jaus_jss_core_Transport::TransportService *p_transport_service;
+
+};
+
+};
+
+#endif

iop_client_power_plant_fkie/src/main.cpp

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+// it is a library, we don't need this main