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The Signature

SSR uses a combined signature of the grid and robots.

// Robot controls
public DefaultDynamicSignature createRobotSignature() {
    DynamicSignatureBuilder b = pureSignatureBuilder();
    b.addControl("WayPoint", 1)
     .addControl("OccupiedBy", 0)
     .addControl("Robot", 1)
     .addControl("ID", 0)
     .addControl("N0", 0).addControl("N1", 0).addControl("N2", 0)
     .addControl("N3", 0).addControl("N4", 0).addControl("N5", 0)
     .addControl("Bat", 0).addControl("Pow", 0)
     .addControl("SLck", 0).addControl("SLckRef", 1)
     .addControl("Mvmt", 0).addControl("Token", 0);
    return b.create();
}

The full signature merges the grid Ecore/XMI with the robot controls:

public DefaultDynamicSignature getCombinedSystemSignature() throws IOException {
    List<EObject> sigEObjects = BigraphFileModelManagement.Load
        .signatureInstanceModel(
            "src/test/resources/models/selfsortingrobots/mm_sig_loc.ecore",
            "src/test/resources/models/selfsortingrobots/sig_loc.xmi"
        );
    AbstractEcoreSignature<?> locSig = createOrGetSignature(sigEObjects.get(0));
    return BigraphUtil.mergeSignatures((DefaultDynamicSignature) locSig, createRobotSignature());
}

File meanings:

  • mm_sig_loc.ecore — the bi-spatial signature metamodel ("location-aware bigraph")
  • sig_loc.xmi — the bi-spatial signature instance

This bi-spatial signature defines a very abstract syntax layer for this cyber-physical application. It consist of only Routes and Locales.

These files were exported using the model-provider-core library of the Bigraph Toolkit Suite: https://github.com/bigraph-toolkit-suite/bigraphs.model-provider

They can also be created programmatically using:

BiSpaceSignatureProvider.getInstance().getSignature();