The OPC UA Companion Spec for Robotics defines new Enumeration DataTypes
AxisMotionProfileEnumeration (used under AxisType)
ExecutionModeEnumeration (used under TaskControlType)
MotionDeviceCategoryEnumeration (used under MotionDeviceType)
OperationalModeEnumeration (used under SafetyStateType)
However, no official bsd file was released as part of the OPC UA Robotics Schema. Any reason why?
Just adding the answer of OPC Foundation, also here:
The BSD is embedded in the NodeSet as Base64 data.
It can be extracted with a copy and paste.
We have requested that all specification writers provide the BSD when their spec is
released.
It will take a bit of time for current specifications to catch up.
Related
Some context: I'm working on embedded system with Micro-Controler targets. My purpose here is to clarify the terms I can use for my code repository names. I focus on the low-level naming in that post which represents for me the target-oriented code (versus application-oriented code for the high level).
I enter in a loop over the web and forums where nobody seems to clearly defined the difference between these terms: HAL vs BSP vs Drivers.
According to me, all my three terms are theoretically equivalent, but people seems to make difference where the HAL is reserved for the MCU drivers (e.g. UART, GPIO, ...) and the BSP is reserved for the external peripheral drivers (e.g. accelerometer, EEPROM, ...).
Can somebody help me to clarify this? Additionally, can you mention if your answer is based on your personal opinion or if it is based on the reasoning/rationale of a community/company/standard/whatever?
Thank you for your time,
I have been reading about libadalang 1 2 and I am very impressed by it. However, I was wondering if this technique has already been used and another language supports a library for syntactically and semantically analyzing its code. Is this a unique approach?
C and C++: libclang "The C Interface to Clang provides a relatively small API that exposes facilities for parsing source code into an abstract syntax tree (AST), loading already-parsed ASTs, traversing the AST, associating physical source locations with elements within the AST, and other facilities that support Clang-based development tools." (See libtooling for a C++ API)
Python: See the ast module in the Python Language Services section of the Python Library manual. (The other modules can be useful, as well.)
Javascript: The ongoing ESTree effort is attempting to standardize parsing services over different Javascript engines.
C# and Visual Basic: See the .NET Compiler Platform ("Roslyn").
I'm sure there are lots more; those ones just came off the top of my head.
For a practical and theoretical grounding, you should definitely (re)visit the classical textbook Structure and Interpretation of Computer Programs by Abelson & Sussman (1st edition 1985, 2nd edition 1996), which helped popularise the idea of Metacircular Interpretation -- that is, interpreting a computer program as a formal datastructure which can be interpreted (or otherwise analysed) programmatically.
You can see "libadalang" as ASIS Mark II. AdaCore seems to be attempting to rethink ASIS in a way that will support both what ASIS already can do, and more lightweight operations, where you don't require the source to compile, to provide an analysis of it.
Hopefully the final API will be nicer than that of ASIS.
So no, it is not a unique approach. It has already been done for Ada. (But I'm not aware of similar libraries for other languages.)
I was parsing HL7 version 2.x messages through HAPI. Now I want to parse HL7 version 3 messages, which are in XML format. HAPI does not support HL7 version 3, so how can I do this?
HL7 version 3 is essentially XML-formatted HL7 data. As such, you could use any old XML parser. That said, you would have to build the intelligence re: segments etc... in yourself.
It does, however, appear that there is an HL7 v3 Java Special Interest Group, which has developed an API at least for RIM.
Another option would be to look at an integration engine. An open source option here is mirth. Mirth is a interface integration engine. It is a separate product - not a library you would integrate with your own. It can, however, take over the heavy lifting of converting HL7 to something more useful in your application - a Web Service call, a database insert, a differently formatted file (pdf, edi, etc).
Mohawk College publishes a Free and Open Source (FLOSS) API Framework for HL7 version 3 messaging and CDA Document processing called the "Everest Framework".
This framework is available for Java and .NET and comes with extensive examples and documentation on how to use HL7v3 messaging.
You can download the framework at (https://github.com/MohawkMEDIC/everest).
Support is also available via the GitHub project page.
This framework was developed through grant funding provided by the Natural Sciences and Engineering Research Council of Canada (NSERC) and Canada Health Infoway.
I used HL7 Java SIG some time ago (2008), but it is very easy to 1. create your own parser from the schemas using JAXB (Generate Java classes from .XSD files...?), or 2. create your own parser from scratch (I would suggest to use Groovy XMLSlurper http://www.groovy-lang.org/processing-xml.html).
You were asking for a link to the official parser for HL7v3 (go to the section under "v3 Utilities", I'll admit it's not easy to find but here it is:
http://www.hl7.org/participate/toolsandresources.cfm?ref=nav
They have some examples and data files to test with as well.
I read this question but was somehow not satisfied with the answers.
I also quickly read (as suggested in that question) the last chapter of Marco Cantù 2010 Handbook, from which I quote the following (I think I can quote such a short text):
I [Marco Cantù] do have a lot of
investment in server side web and REST
applications written in Delphi, and in
the recent years I've started playing
with and introducing at conferences a
Delphi Web Application REST
Framework119 (that is, DWARF), which
at this time is still not publicly
available... simply because it is too
sketchy and unfinished to be
published. I've seen other ongoing
efforts to clone Rails in Delphi and
offer other REST server architectures.
I think that if you want to build a
very large REST application
architecture you should roll out your
own technology or use one of these
prototypical architectures.
Considering that I own Delphi XE Professional and DataSnap is not in there and I would like to consider to write large applications too according to the above comments it seems DataSnap is not an option.
Is there even a commercial solution for this? I don't want to consider "my own implementation of REST", I would like to create a webserver that uses some of my datamodules where I use the DAC I choose (Devart in this case).
Final note: my goal is to write the backend for a large web application, on the client I would like to use Ext JS 4.0, but I want to do all the client work in javascript, to take full advantage of EXT JS, so basically I need a webserver just for the data and tracking the state, not for serving webpages.
To create your REST services, try our Open Source mORMot project. Now it is a well known and stabilized project, used world wide in production.
You can use any DAC with the current state of the framework by implementing a custom TSQLRestServerStatic class (similar to the TSQLRestServerStaticInMemory class, but calling your DAC): so you'll benefit for the ORM and the JSON RESTful architecture, together with the high-speed http.sys kernel-mode server.
The SQLite3 engine is NOT mandatory with our framework, even if it was designed to work better with it.
If you will start an application from scratch, I think the mORMot is a good option if Delphi is your only option. If you choose datasnap you'll have to live with the problems of performance and stability.
I wrote an article on my blog talking about performance and stability with DataSnap (and mORMot) in large applications, you can see it on the following link:
DataSnap analysis based on Speed & Stability tests
I think you should have a look at kbmMW, there is a way to implement a basic REST server based on an event driven HTTP server.
Check news.components4developers.com news groups, there you will have a lot of documentation.
FireHttp is a high-performance Web server based on Delphi/Object Pascal language. It supports HTTP 1.1, HTTPS (SSL/TLS), WebSocket, GZip, Deflate, IOCP, EPOLL. It adopts multi-process+multi-threading model, has good stability and concurrency performance, and provides SDK source code. Developers can use SDK to quickly build high-performance cross-platform Web applications.
I'm figuring that CORBA is considered a legacy technology that just refuses to die. That being said, I'm curious if there are any known standards out there that are preferred (and are also as platform independent.)
Thoughts? TIA!
Many organization are moving to WebServices and the open standards relating to them (HTTP, WS-*) as alternatives to Corba.
This article provides a comparison of the two technologies and offers some recommendations on when to use which.
If you really care about platform independence and protocol standardization - then the WS-* standards are something to look into.
There is now a state of the art modern CORBA implementation using C++11, TAOX11. This uses the new IDL to C++11 language mapping. For TAOX11 see the TAOX11 website. TAOX11 is supported on a wide range of platforms and compilers.
I have recently tried Google Protocol buffers, they seem rather similar to CORBA by design (some kind of IDL with compiler, binary compact messages, etc). It is probably one of the many possible successors.
Web services are good for the right tasks but creating and parsing messages needs more time and text based messages are more bulky than binary ones. REST API with JSON looks like a good solution where binary protocols do not fit well.
ICE from ZeroC aims to be a "better CORBA".
Unfortunately their licensing terms are crap (at least last time I checked with them), as they do not sell developer licenses but only (roughly) per-installation terms.
It is offered via GPL license too, if you can live with this.