diff --git a/src/main/java/de/tudresden/inf/st/pnml/flatter/Main.java b/src/main/java/de/tudresden/inf/st/pnml/flatter/Main.java
index c86bd3a77382f52f1ac8941deb199c9577d17d8e..37b5b8dee7cd0183d6b90c79bfe5a86e9988030b 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/flatter/Main.java
+++ b/src/main/java/de/tudresden/inf/st/pnml/flatter/Main.java
@@ -1,8 +1,6 @@
package de.tudresden.inf.st.pnml.flatter;
import beaver.Parser;
-import de.tudresden.inf.st.pnml.base.constants.PnmlConstants;
-import de.tudresden.inf.st.pnml.flatter.graph.ServiceGraph;
import de.tudresden.inf.st.pnml.flatter.transform.ReferenceFlatter;
import de.tudresden.inf.st.pnml.flatter.transform.TransformationUtils;
import de.tudresden.inf.st.pnml.jastadd.model.*;
@@ -12,20 +10,26 @@ import fr.lip6.move.pnml.framework.utils.exception.InvalidIDException;
import de.tudresden.inf.st.pnml.flatter.tina.NdrioProxy;
import de.tudresden.inf.st.pnml.jastadd.model.PetriNet;
-import java.io.IOException;
+import java.io.*;
+import java.lang.reflect.Type;
import java.util.*;
+// for json parsing
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.databind.JsonNode;
+
+import javax.swing.*;
-public class Main {
- public static void main(String[] args) throws InvalidIDException, InterruptedException, IOException, Parser.Exception {
+public class Main {
+ public static void main(String[] args) throws Exception {
+ /*
// Display help if no arguments or `--help` is passed
if (args.length == 0 || Arrays.asList(args).contains("--help")) {
printUsage();
return;
}
-
// Parse arguments with clear flags
boolean flagInhibitor = Boolean.parseBoolean(getArgumentValue(args, "--inhibitor", "false"));
boolean flagSignal = Boolean.parseBoolean(getArgumentValue(args, "--signal", "false"));
@@ -36,6 +40,8 @@ public class Main {
// String configPath = getArgumentValue(args, "--config", null);
String pnmlPath = getArgumentValue(args, "--pnml", null);
+ System.out.println("pnmlPath: " + pnmlPath);
+ //String pnml = getArgumentValue(args, "--pnml", null)
// Validate required arguments
if (pnmlPath == null) {
@@ -57,12 +63,12 @@ public class Main {
// Application logic here (replace this with your actual logic)
System.out.println("Application started successfully.");
-
+ */
boolean flagOutArcs = false;
boolean flagNoSignal = false;
- doFlattening(pnmlPath, flagInhibitor, flagSignal, flagPurge, flagOverrideInstanceCount, flagOutArcs, flagNoSignal, tinaPath, tinaVersion);
- // doFlattening("", "/home/sebastian/git/sesac-exercise/tools/model-top.pnml", false, false, false, false, false, false, null);
+ //doFlattening(pnmlPath, flagInhibitor, flagSignal, flagPurge, flagOverrideInstanceCount, flagOutArcs, flagNoSignal, tinaPath, tinaVersion);
+ doFlattening("/home/dome/MA/dineros_v2/dineros/pnml-relast-tools/pnml-relast-flattener/src/main/resources/system.pnml", false, false, false, false, false, false, null, null);
}
@@ -91,65 +97,439 @@ public class Main {
System.out.println(" --help Show this help message and exit");
}
+ private static PetriNet findStaticPetriNet(String petriNetName) throws Exception {
+
+ String resourcePath = "/static_pages/" + petriNetName + ".pnml";
+ PetriNet petriNet;
+
+ try (InputStream pageStream = Main.class.getResourceAsStream(resourcePath)) {
+
+ if (pageStream == null) {
+ throw new FileNotFoundException("PNML-File in /resource path not found: " + resourcePath);
+ }
+
+ // Temporäre Datei anlegen
+ File tempFile = File.createTempFile(petriNetName, ".pnml");
+ tempFile.deleteOnExit();
+
+ // Inhalt von InputStream in temporäre Datei schreiben
+ try (FileOutputStream out = new FileOutputStream(tempFile)) {
+ pageStream.transferTo(out);
+ }
+
+ // parse staticPage PNML and get first and only <page> element
+ petriNet = PnmlParser.parsePnml(tempFile.getAbsolutePath(), true).get(0);
+ }
+
+ if (petriNet.getNumPage() == 0) {
+ throw new IllegalArgumentException("No Page in file: " + resourcePath);
+ }
+
+ return petriNet;
+ }
+
+ private static void addDefaultToolInfoToPage(Page page) {
+ ToolInfo info = new ToolInfo();
+ info.setTool("de.tudresden.inf.st.pnml.distributedPN");
+ info.setVersion("0.1");
+ //info.setFormattedXMLBuffer("<type>page</type>");
+ page.addToolspecific(info);
+ }
+
+ public static void ensureToolInfos(PetriNet net) {
+ for (Place p : net.allPlaces()) {
+ ToolInfo ti = (p.getNumToolspecific() > 0) ? p.getToolspecific(0) : null;
+ if (ti == null) {
+ System.out.println("[WARN] Place ohne (gültige) ToolInfo: " + p.getId());
+ ti = new ToolInfo();
+ ti.setTool("de.tudresden.inf.st.pnml.distributedPN");
+ ti.setVersion("0.1");
+ //ti.setFormattedXMLBuffer("<type>place</type>");
+ p.addToolspecific(ti);
+ }
+ }
+
+ for (Page pg : net.allPages()) {
+ ToolInfo ti = (pg.getNumToolspecific() > 0) ? pg.getToolspecific(0) : null;
+ if (ti == null) {
+ System.out.println("[WARN] Page ohne (gültige) ToolInfo: " + pg.getId());
+ ti = new ToolInfo();
+ ti.setTool("de.tudresden.inf.st.pnml.distributedPN");
+ ti.setVersion("0.1");
+ //ti.setFormattedXMLBuffer("<type>page</type>");
+ pg.addToolspecific(ti);
+ }
+ }
+
+ for (Transition t : net.allTransitions()) {
+ ToolInfo ti = (t.getNumToolspecific() > 0) ? t.getToolspecific(0) : null;
+ if (ti == null) {
+ System.out.println("[WARN] Transition ohne (gültige) ToolInfo: " + t.getId());
+ ti = new ToolInfo();
+ ti.setTool("de.tudresden.inf.st.pnml.distributedPN");
+ ti.setVersion("0.1");
+ //ti.setFormattedXMLBuffer("<type>transition</type>");
+ t.addToolspecific(ti);
+ }
+ }
+ }
+
+ private static Page create_sensordata_page(String robotAlias) throws Exception {
+ Page sensordataCollectionPage = new Page();
+ sensordataCollectionPage.setId("sensordata_collection");
+ addDefaultToolInfoToPage(sensordataCollectionPage);
+
+ InputStream configStream = Main.class.getResourceAsStream("/config.json");
+
+ List<Map<String, String>> sensorList = new ArrayList<>();
+ //boolean handoverPossible = false;
+ //boolean allowInterruptions = false;
+
+ try {
+ ObjectMapper objectMapper = new ObjectMapper();
+ JsonNode config = objectMapper.readTree(configStream);
+
+ if (config == null || !config.has("robots")) {
+ System.out.println("Config oder robots nicht gefunden.");
+ return sensordataCollectionPage;
+ }
+
+ JsonNode robots = config.get("robots");
+
+ for (JsonNode robot : robots) {
+ JsonNode nameNode = robot.get("name");
+ if (nameNode != null && nameNode.asText().equalsIgnoreCase(robotAlias)) {
+ JsonNode sensors = robot.get("sensors");
+ if (sensors != null && sensors.isArray()) {
+ for (JsonNode sensor : sensors) {
+ Map<String, String> sensorMap = new HashMap<>();
+ sensorMap.put("name", sensor.get("name").asText());
+ sensorMap.put("kind", sensor.get("kind").asText());
+ sensorList.add(sensorMap);
+ }
+ }
+
+ //handoverPossible = robot.path("handoverPossible").asBoolean(false);
+ //allowInterruptions = robot.path("allowInterruptions").asBoolean(false);
+ break; // found robot
+ }
+ }
+ } catch (IOException e) {
+ System.err.println("Error reading config.json: " + e.getMessage());
+ return sensordataCollectionPage;
+ }
+
+ // create dummy-petrinet and add sensordata_collection page
+ PetriNet dummyNet = new PetriNet();
+ dummyNet.addPage(sensordataCollectionPage);
+ dummyNet.flushTreeCache();
+
+ // custom places
+ for (Map<String, String> sensor : sensorList) {
+ String name = sensor.get("name");
+ Place place = new Place();
+ place.setId("p_" + name + "_" + robotAlias);
+ place.setName(new Name().setText(name + "_" + robotAlias));
+ sensordataCollectionPage.addObject(place);
+ }
+
+ // transitions
+ ToolInfo info = new ToolInfo();
+ info.setTool("de.tudresden.inf.st.pnml.distributedPN");
+ info.setVersion("0.1");
+ Transition t_read_sensordata = new Transition().setId("t_read_sensordata").setName(new Name().setText("t_read_sensordata")).addToolspecific(info);
+ Transition t_no_cam = new Transition().setId("t_no_cam").setName(new Name().setText("t_no_cam")).addToolspecific(info);
+ Transition t_no_tf = new Transition().setId("t_no_tf").setName(new Name().setText("t_no_tf")).addToolspecific(info);
+ sensordataCollectionPage.addObject(t_read_sensordata);
+ sensordataCollectionPage.addObject(t_no_cam);
+ sensordataCollectionPage.addObject(t_no_tf);
+
+ // custom arcs
+ for (Map<String, String> sensor : sensorList) {
+ String sensorName = sensor.get("name");
+ String sensorKind = sensor.get("kind");
+ Place arcStart = sensordataCollectionPage.petriNet().getPlaceById("p_" + sensorName + "_" + robotAlias);
+
+ Arc arc = new Arc();
+ arc.setId("a_" + sensorName + "_to_read");
+ arc.setSource(arcStart);
+ arc.setTarget(t_read_sensordata);
+ sensordataCollectionPage.addObject(arc);
+
+ if (sensorKind.equals("camera")) {
+ TransformationUtils.createAndIncludeInhibitorArc(sensordataCollectionPage, sensorName + "_to_no_cam", arcStart, t_no_cam);
+ } else {
+ Arc arc2 = new Arc();
+ arc2.setId("a_" + sensorName + "_to_no_cam");
+ arc2.setSource(arcStart);
+ arc2.setTarget(t_no_cam);
+ sensordataCollectionPage.addObject(arc2);
+ }
+
+ if (sensorKind.equals("tf")) {
+ TransformationUtils.createAndIncludeInhibitorArc(sensordataCollectionPage, sensorName + "_to_no_tf", arcStart, t_no_tf);
+ } else {
+ Arc arc3 = new Arc();
+ arc3.setId("a_" + sensorName + "_to_no_tf");
+ arc3.setSource(arcStart);
+ arc3.setTarget(t_no_tf);
+ sensordataCollectionPage.addObject(arc3);
+ }
+ }
+
+ // standard places
+ ToolInfo toolInfo = new ToolInfo();
+ toolInfo.setTool("de.tudresden.inf.st.pnml.distributedPN");
+ toolInfo.setVersion("0.1");
+ //toolInfo.setFormattedXMLBuffer("<type>place</type>");
+ Place p_read = new Place().setId("p_read_sensordata").setName(new Name().setText("p_read_sensordata")).addToolspecific(toolInfo);;
+ Place p_no_cam = new Place().setId("p_no_cam").setName(new Name().setText("p_no_cam")).addToolspecific(toolInfo);;
+ Place p_no_tf = new Place().setId("p_no_tf").setName(new Name().setText("p_no_tf")).addToolspecific(toolInfo);;
+ sensordataCollectionPage.addObject(p_read);
+ sensordataCollectionPage.addObject(p_no_cam);
+ sensordataCollectionPage.addObject(p_no_tf);
+
+ // standard arcs
+ // arcs to read_sensordata
+ for (Transition t : sensordataCollectionPage.petriNet().allTransitions()) {
+ Arc arc = new Arc();
+ arc.setId("arc_" + t.getId() + "_to_p_read");
+ arc.setSource(t);
+ arc.setTarget(p_read);
+ sensordataCollectionPage.addObject(arc);
+ }
+
+ // arcs to no_cam / no_tf
+ Arc arcNoCam = new Arc().setId("arc_t_no_cam_to_p_no_cam").setSource(t_no_cam).setTarget(p_no_cam);
+ Arc arcNoTf = new Arc().setId("arc_t_no_tf_to_p_no_tf").setSource(t_no_tf).setTarget(p_no_tf);
+ sensordataCollectionPage.addObject(arcNoCam);
+ sensordataCollectionPage.addObject(arcNoTf);
+
+ /*
+ // define publishing ports
+ TopicTransitionInformation sti = new TopicTransitionInformation();
+ //dinerosTransition.setMutableTransitionInformation(sti);
+ dinerosTransition.setMutableTransitionInformation(sti);
+ publishPort.setId("pub_read_sensordata");
+ publishPort.setName(new Name().setText(publishPort.getId()));
+ portType.setText("publisher");
+ publishPort.setType(portType);
+ publishPort.setId("pub_no_cam");
+ publishPort.setName(new Name().setText("pub_no_cam"));
+ portType.setText("publisher");
+ publishPort.setType(portType);
+ publishPort.setId("pub_no_tf");
+ publishPort.setName(new Name().setText("pub_no_tf"));
+ portType.setText("publisher");
+ publishPort.setType(portType);
+ */
+
+ // flush
+ //petriNet.addPage(sensordataCollectionPage);
+ //petriNet.flushTreeCache();
+ //petriNet.flushAttrAndCollectionCache();
+
+ return sensordataCollectionPage;
+ }
+
+ /*
+ private void rerouteArcs(Place refPlace, Place originalPlace) {
+ // Eingehende Arcs (auf refPlace): Ziel umleiten auf originalPlace
+ for (Arc arc : new ArrayList<>(refPlace.getInArcs())) {
+ arc.setTarget(originalPlace);
+ System.out.println(" → Incoming Arc umgeleitet: " + arc.getId());
+ }
+
+ // Ausgehende Arcs (von refPlace): Quelle umleiten auf originalPlace
+ for (Arc arc : new ArrayList<>(refPlace.getOutArcs())) {
+ arc.setSource(originalPlace);
+ System.out.println(" → Outgoing Arc umgeleitet: " + arc.getId());
+ }
+ }
+
+ public void inlineSubpagesToController(Page blockPage) {
+ // Finde alle Subpages (alle außer controller selbst)
+ List<Page> subpages = allPages.stream()
+ .filter(p -> !p.getId().equals(controllerPage.getId()))
+ .collect(Collectors.toList());
+
+ // check subpages
+ if (subpages.isEmpty()) {
+ System.out.println("[INFO] Controller enthält keine Subpages – keine Aktion notwendig.");
+ return;
+ }
+
+ // check for "_ref-Place"
+ boolean hasRefPlaces = subpages.stream()
+ .flatMap(p -> p.getPlaces().stream())
+ .anyMatch(place -> place.getId().endsWith("_ref"));
+
+ if (!hasRefPlaces) {
+ System.out.println("[INFO] Keine _ref-Places gefunden – keine Umleitungen notwendig.");
+ return;
+ }
+
+ // resolve static/dynamic subpages to blockpages
+ System.out.println("[INFO] Inlining der Subpages in die Controller-Page gestartet…");
+
+ for (Page subpage : subpages) {
+ System.out.println("→ Subpage: " + subpage.getId());
+
+ // PLACES
+ for (Place place : new ArrayList<>(subpage.getPlaces())) {
+ if (place.getId().endsWith("_ref")) {
+ String targetId = place.getId().replace("_ref", "");
+ Place target = blockPage.getPlaceById(targetId);
+
+ if (target != null) {
+ rerouteArcs(place, target);
+ subpage.removePlace(place);
+ System.out.println(" - _ref-Place entfernt: " + place.getId() + " → umgeleitet zu: " + target.getId());
+ } else {
+ System.err.println(" [WARNUNG] Kein Ziel für _ref-Place gefunden: " + place.getId());
+ }
+ } else {
+ controllerPage.addPlace(place);
+ subpage.removePlace(place);
+ System.out.println(" + Place übernommen: " + place.getId());
+ }
+ }
+
+ // TRANSITIONS
+ for (Transition transition : new ArrayList<>(subpage.getTransitions())) {
+ blockPage.addTransition(transition);
+ subpage.removeTransition(transition);
+ System.out.println(" + Transition übernommen: " + transition.getId());
+ }
+
+ // ARCS
+ for (Arc arc : new ArrayList<>(subpage.getArcs())) {
+ blockPage.addArc(arc);
+ subpage.removeArc(arc);
+ System.out.println(" + Arc übernommen: " + arc.getId());
+ }
+
+ // Subpage entfernen
+ blockPage.removePage(subpage);
+ System.out.println("✓ Subpage gelöscht: " + subpage.getId());
+ }
+
+ System.out.println("[INFO] Inlining abgeschlossen.");
+ } //*/
+
private static void doFlattening(String pnmlPath, boolean flagInhibitor,
boolean flagSignal, boolean flagPurge, boolean flagOverrideInstanceCount,
boolean flagOutArcs, boolean flagNoSignal, String tinaPath, String tinaVersion)
- throws InvalidIDException, IOException, InterruptedException, Parser.Exception {
+ throws Exception {
if (pnmlPath == null) {
System.out.println("[ERROR] No model found on given input path.");
return;
}
- // if (configPath == null || configPath.isEmpty()) {
- // System.out.println("[WARNING] No config path configured, no model checking will be executed.");
- // }
-
// parse the global not flatted petri net
PetriNet petriNet = PnmlParser.parsePnml(pnmlPath, true).get(0);
Map<String, Integer> bounds = null;
- if (flagPurge) {
- bounds = TransformationUtils.getPlaceToBoundMapping
- (pnmlPath, petriNet, TransformationUtils.getSourceNodePages(petriNet), tinaPath, tinaVersion);
- }
- // [STAGE 1] Resolve service prototype pages
- ServiceGraph serviceGraph = new ServiceGraph();
- serviceGraph.init(petriNet);
-
- Map<String, PnObject> addedInstanceObjects = new HashMap<>();
- TransformationUtils.transformPrototypePagesRecursive(petriNet.getPage(0), null,
- petriNet, serviceGraph, addedInstanceObjects, flagOverrideInstanceCount);
- petriNet.flushAttrAndCollectionCache();
-
- // [STAGE 2] Transform topic transitions
- for (DinerosTransition dt : petriNet.allDinerosTransitions()) {
- if (dt.canTransformTopicTransition()) {
- Page topicTransformedPage = dt.transformTopicElement(bounds, flagInhibitor, flagPurge);
- for (int i = 0; i < dt.ContainingPage().getNumObject(); i++) {
- if (dt.ContainingPage().getObject(i).getId().equals(dt.getId())) {
- dt.ContainingPage().setObject(topicTransformedPage, i);
+
+ /////////////////////// STAGES ///////////////////////
+ // Paths
+ InputStream topologyStream = Main.class.getResourceAsStream("/collaboration_system_topology.json");
+ InputStream configStream = Main.class.getResourceAsStream("/config.json");
+
+ try {
+ ObjectMapper mapper = new ObjectMapper();
+ JsonNode system = mapper.readTree(topologyStream);
+ JsonNode config = mapper.readTree(configStream);
+
+ // read all pages from coordinator or roboter module
+ JsonNode modules = system.get("modules");
+ if (modules == null) { System.err.println("No modules defined in collaboration_system_topology.json"); return;}
+ JsonNode blocks = system.get("blocks");
+ if (blocks == null) { System.err.println("No blocks defined in collaboration_system_topology.json"); return;}
+
+
+ // [STAGE ] Create all blocks
+ // define top level page 'collaboration_system' from the template
+ Page systemPage = petriNet.getPage(0);
+ addDefaultToolInfoToPage(systemPage);
+
+ // iterate all modules objects (coordinator, robotX)
+ for (JsonNode module : modules) {
+ // parse module object and find key (f.e. "coordinator")
+ Iterator<String> moduleNames = module.fieldNames();
+ while (moduleNames.hasNext()) {
+ String moduleName = moduleNames.next();
+ Page modulePage = new Page().setId(moduleName);
+ addDefaultToolInfoToPage(modulePage);
+ JsonNode blockList = module.get(moduleName);
+
+ for (JsonNode blockEntry : blockList) {
+ String blockName = blockEntry.get("block").asText(); // f.e. "environment", "actor", etc.
+ Page blockPage = new Page().setId(blockName);
+ addDefaultToolInfoToPage(blockPage);
+
+ // find the matching block in blockList f.e. "environment"
+ for (JsonNode block : blocks) {
+ if (block.has(blockName)) {
+ JsonNode pages = block.get(blockName);
+ for (JsonNode pageEntry : pages) {
+ JsonNode page = pageEntry.get("page");
+ if (page != null && !page.asText().isEmpty()) {
+ PetriNet staticPetriNet = findStaticPetriNet(page.asText());
+ Page staticPage = staticPetriNet.getPage(0);
+ //Page staticPage = new Page().setId(page.asText());
+
+ // add toolspecifics from staticPage
+ System.out.println("staticPageID: " + staticPage.getId());
+ System.out.println("staticPageNum: " + staticPetriNet.getNumPage());
+ //ToolInfo info = staticPage.getToolspecific(0);
+ //System.out.println("staticPageToolInfoREF: " + info);
+ //System.out.println("staticPageToolInfo: " + info.getFormattedXMLBuffer());
+
+
+ if (staticPetriNet.getNumToolspecific() > 0) {
+ ToolInfo i = staticPetriNet.getToolspecific(0);
+ staticPage.addToolspecific(i);
+ }
+
+ blockPage.addObject(staticPage);
+ staticPetriNet.flushTreeCache();
+ }
+ }
+
+ // add dynamic read_sensordata-page in perceiver-block
+ /*
+ System.out.println("HIER WÄRE DAS EINFÜGEN MÖGLICH: " + blockName);
+ if (blockName.equals("perceiver")) {
+ System.out.println("ADDING sensordata_collection page for robot: " + blockName);
+ Page dynamicPage = create_sensordata_page("robo1");
+ blockPage.addObject(dynamicPage);
+ }
+ System.out.println();LeftCellObjectsTopicTransition
+ //*/
+ //if (blockName.equals("roboter")) {
+
+ //}
+ }
+ }
+ modulePage.addObject(blockPage);
}
+ systemPage.addObject(modulePage);
+ systemPage.flushTreeCache();
}
- petriNet.flushTreeCache();
}
+ petriNet.flushTreeCache();
+ }
+ catch (Exception e) {
+ System.err.println("Error while reading collaboration_system_topology.json: " + e.getMessage());
}
- petriNet.flushTreeCache();
- // [STAGE 3] Transform service transitions
- for (DinerosTransition dt : petriNet.allDinerosTransitions()) {
- if (dt.canTransformServiceTransition()) {
- Page serviceTransformedPage = dt.transformServiceElement(addedInstanceObjects);
- for (int i = 0; i < dt.ContainingPage().getNumObject(); i++) {
- if (dt.ContainingPage().getObject(i).getId().equals(dt.getId())) {
- dt.ContainingPage().setObject(serviceTransformedPage, i);
- }
- }
- petriNet.flushTreeCache();
- }
- }
+ // [STAGE C] Create as many sensor blocks as sensor entries of all robots together
+
+ /*
if (!flagNoSignal) {
// [STAGE 4] Transform signals
Page signalValuePage = new Page();
@@ -167,7 +547,9 @@ public class Main {
petriNet.flushTreeCache();
}
+ //*/
+ /*
// [STAGE 5] make sure that we have a valid marking
System.out.println("[FLATTENER] Checking marking.");
for (Place p : petriNet.allPlaces()) {
@@ -187,6 +569,41 @@ public class Main {
break;
}
}
+*/
+ // debugging and repais: check if all places got toolspecifics
+ for (Place p : petriNet.allPlaces()) {
+ if (p.getNumToolspecific() == 0 || p.getToolspecific(0) == null) {
+ System.out.println("[WARN] Place ohne ToolInfo: " + p.getId());
+
+ // repair
+ ToolInfo ti = new ToolInfo();
+ ti.setTool("de.tudresden.inf.st.pnml.distributedPN");
+ ti.setVersion("0.1");
+ //ti.setFormattedXMLBuffer("<type>place</type>");
+ p.addToolspecific(ti);
+ }
+ }
+ // debugging and repair: check if all pages got toolspecifics
+ for (Page pg : petriNet.allPages()) {
+ if (pg.getNumToolspecific() == 0 || pg.getToolspecific(0) == null) {
+ System.out.println("[WARN] Page ohne ToolInfo: " + pg.getId());
+ addDefaultToolInfoToPage(pg);
+ }
+ }
+ // debugging and repair: check if all transitions got toolspecifics
+ for (Transition t : petriNet.allTransitions()) {
+ if (t.getNumToolspecific() == 0 || t.getToolspecific(0) == null) {
+ System.out.println("[WARN] Transition ohne ToolInfo: " + t.getId());
+
+ // repair
+ ToolInfo ti = new ToolInfo();
+ ti.setTool("de.tudresden.inf.st.pnml.distributedPN");
+ ti.setVersion("0.1");
+ //ti.setFormattedXMLBuffer("<type>transition</type>");
+ t.addToolspecific(ti);
+ }
+ }
+
// [STAGE 7] Postprocessing
System.out.println("[FLATTENER] Running postprocessing.");
@@ -196,6 +613,7 @@ public class Main {
petriNet.flushTreeCache();
}
+ ensureToolInfos(petriNet);
printNet(petriNet, false, false);
// [STAGE 8] export flatted net to pnml
@@ -219,35 +637,6 @@ public class Main {
ndrioProxy.pnml2net(pnmlExportPath, ndrioTargetPath, tinaPath, tinaVersion);
ndrioProxy.includeInhibitorArcs(petriNet, ndrioTargetPath, inhibitorTargetPath);
- // [STAGE 9] Analyze
- // read config for analyzer from file
- /* if (configPath != null && !configPath.isEmpty() && !configPath.equals("-nc")) {
- ConfigReader cr = new ConfigReader(configPath);
- String[] tinaConfig = cr.getTinaConfigParams();
- String[] siftConfig = cr.getSiftConfigParams();
-
- // insert into tina
- if (tinaConfig.length > 1) {
- System.out.println("[FLATTENER] Inserting into tina.");
- TinaProxy tinaProxy = new TinaProxy();
- String tinaTargetPath = homeDirectory + "/temp/tina/" + "tina-result-" + exportId + ".txt";
- tinaProxy.analyzePetriNet(inhibitorTargetPath, tinaTargetPath, tinaConfig);
- }
-
- // insert into sift
- if (siftConfig.length > 1) {
- System.out.println("[FLATTENER] Inserting into sift.");
- SiftProxy siftProxy = new SiftProxy();
- String siftTargetPath = homeDirectory + "/temp/sift/" + "sift-result-" + exportId + ".ktz";
- siftProxy.analyzePetriNet(inhibitorTargetPath, siftTargetPath, siftConfig);
-
- System.out.println("[FLATTENER] Converting with ktzio.");
- KtzioProxy ktzioProxy = new KtzioProxy();
- String ktzioPath = homeDirectory + "/temp/sift/" + "sift-result-converted-" + exportId + ".txt";
- ktzioProxy.convertBinaryToText(siftTargetPath, ktzioPath);
- }
- }*/
-
System.out.println("[FLATTENER] Finished.");
}
@@ -257,6 +646,7 @@ public class Main {
System.out.println("----------------- PLACES ----------------");
for (Place p : petriNet.allPlaces()) {
+ System.out.println("Place " + p.asDinerosPlace().getId());
System.out.println("Place " + p.asDinerosPlace().getId() + " -- " + p.asDinerosPlace().getStaticPlaceInformation().getSubNet());
if (p.getInitialMarking() != null) {
System.out.println("--- Marking: " + p.getInitialMarking().getText());
@@ -340,4 +730,4 @@ public class Main {
}
}
}
-}
\ No newline at end of file
+}
diff --git a/src/main/resources/collaboration_system_topology.json b/src/main/resources/collaboration_system_topology.json
new file mode 100644
index 0000000000000000000000000000000000000000..886357a3f3a40119726af7ca5a63017172963181
--- /dev/null
+++ b/src/main/resources/collaboration_system_topology.json
@@ -0,0 +1,78 @@
+{
+ "modules" : [
+ {
+ "coordinator": [
+ { "block": "environment" },
+ { "block": "reflexes"},
+ { "block": "collision_control"}
+ ]
+ },
+ {
+ "roboter": [
+ { "block": "perceiver"},
+ { "block": "selector"},
+ { "block": "actor"},
+ { "block": "executor"},
+ { "block": "controller"}
+ ]
+ }
+ ],
+ "blocks" : [
+ {
+ "environment": [
+ {"page": "analyse_scene"},
+ {"page": "determine_hazards"}
+ ]
+ },
+ {
+ "reflexes": [
+ {"page": "extract_reflexzones"},
+ {"page": "create_reflexes"}
+ ]
+ },
+ {
+ "collisioncontrol": [
+ {"page": "collision_control"}
+ ]
+ },
+ {
+ "perceiver": []
+ },
+ {
+ "selector": [
+ {"page": "get_task"}
+ ]
+ },
+ {
+ "actor": [
+ {"page": "simple_action"},
+ {"page": "handover_receiver"},
+ {"page": "handover_giver"},
+ {"page": "action_categorization"}
+ ]
+ },
+ {
+ "executor": [
+ {"page": "new_action"},
+ {"page": "create_trajectory"},
+ {"page": "allow_trajectory"}
+ ]
+ },
+ {
+ "controller": [
+ {"page": "interruption_request"},
+ {"page": "update_taskqueue"},
+ {"page": "task_safety"},
+ {"page": "interruption_safety"}
+ ]
+ }
+ ]
+}
+
+
+
+
+
+
+
+
diff --git a/src/main/resources/config.json b/src/main/resources/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..c186ffd76e8566da7f7091e7c805ae7b27d88e8a
--- /dev/null
+++ b/src/main/resources/config.json
@@ -0,0 +1,21 @@
+{
+ "robots": [
+ {
+ "name": "robot1",
+ "sensors": [
+ { "name": "cam1", "kind": "camera"},
+ { "name": "mic1", "kind": "microphone" }
+ ],
+ "handoverPossible": true,
+ "allowInterruptions": true
+ },
+ {
+ "name": "robot2",
+ "sensors": [
+ { "name": "cam2", "kind": "camera"}
+ ],
+ "handoverPossible": true,
+ "allowInterruptions": true
+ }
+ ]
+}
\ No newline at end of file
diff --git a/src/main/resources/coordinator.pnml b/src/main/resources/coordinator.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..e99e8685ee396b2316ac3e023df8aaffbc128727
--- /dev/null
+++ b/src/main/resources/coordinator.pnml
@@ -0,0 +1,3037 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml"-->
+<pnml>
+ <net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <page id="top">
+
+
+
+ <!-- *************** GLOBAL COORDINATOR *************** -->
+
+ <page id="analyse_scene">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_sensordata_captured">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "xxx", "data" : "image" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Bilddaten erfassen</text>
+ </name>
+ </place>
+ <place id="p_objects_captured">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "data" : "objects", "location" : "xyz" , "contour" : "faces" , "function" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Objekte erfasst</text>
+ </name>
+ </place>
+ <place id="p_scene_captured">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Szene erfasst</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_identify_objects">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Objekte identifizieren</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_sensordata_captured" source="p_sensordata_captured" target="t_identify_objects">
+ </arc>
+ <arc id="tp_identify_objects_1" source="t_identify_objects" target="p_objects_captured">
+ </arc>
+ <arc id="tp_identify_objects_2" source="t_identify_objects" target="p_scene_captured">
+ </arc>
+ </page>
+
+
+ <page id="determine_hazards">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_objects_captured">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "data" : "objects", "location" : "xyz" , "contour" : "faces" , "function" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Objekte erfasst</text>
+ </name>
+ </place>
+ <place id="p_scene_captured">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Szene erfasst</text>
+ </name>
+ </place>
+ <place id="p_hazards_identified">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "kind" : "xxx", "location" : "xyz" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>pot. Gefahren ermittelt</text>
+ </name>
+ </place>
+ <place id="p_hazard_status">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Gefahrenbereiche ermitteln</text>
+ </name>
+ </place>
+ <place id="p_hazardzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Gefahrenbereiche</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_analyse_hazards">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>pot. Gefahren analysieren</text>
+ </name>
+ </transition>
+ <transition id="t_determine_hazardzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Gefahrenbereiche ermitteln</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_objects_captured" source="p_objects_captured" target="t_analyse_hazards">
+ </arc>
+ <arc id="pt_scene_captured" source="p_scene_captured" target="t_analyse_hazards">
+ </arc>
+ <arc id="tp_analyse_hazards" source="t_analyse_hazards" target="p_hazards_identified">
+ </arc>
+ <arc id="pt_hazards_identified" source="p_hazards_identified" target="t_determine_hazardzones">
+ </arc>
+ <arc id="tp_determine_hazardzones_1" source="t_determine_hazardzones" target="p_hazard_status">
+ </arc>
+ <arc id="tp_determine_hazardzones_2" source="t_determine_hazardzones" target="p_hazard_zones">
+ </arc>
+ </page>
+
+
+ <page id="extract_reflexzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_hazardzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Gefahrenbereiche</text>
+ </name>
+ </place>
+ <place id="p_reflexzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reflexzonen</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_determine_reflexzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexzonen bestimmen</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_hazardzones" source="p_hazardzones" target="t_determine_reflexzones">
+ </arc>
+ <arc id="tp_determine_reflexzones" source="t_determine_reflexzones" target="p_reflexzones">
+ </arc>
+ </page>
+
+
+ <page id="create_reflexes">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_reflexzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reflexzonen</text>
+ </name>
+ </place>
+ <place id="p_trajectory_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorienvorschlag</text>
+ </name>
+ </place>
+ <place id="p_reflex_suggestion_accepted">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reflexvorschlag akzeptiert</text>
+ </name>
+ </place>
+ <place id="p_risk_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" , "placeOfCollision" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsgefahr</text>
+ </name>
+ </place>
+ <place id="p_freedom_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsfreiheit</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_create_reflex_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexvorschlag erstellen</text>
+ </name>
+ </transition>
+ <transition id="t_accept_reflex_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexvorschlag annehmen</text>
+ </name>
+ </transition>
+ <transition id="t_deny_reflex_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexvorschlag ablehnen</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_reflexzones" source="p_reflexzones" target="t_create_reflex_suggestion">
+ </arc>
+ <arc id="tp_create_reflex_suggestion" source="t_create_reflex_suggestion" target="p_trajectory_suggestion">
+ </arc>
+ <arc id="pt_reflex_suggestion_1" source="p_trajectory_suggestion" target="t_accept_reflex_suggestion">
+ </arc>
+ <arc id="pt_reflex_suggestion_2" source="p_trajectory_suggestion" target="t_deny_reflex_suggestion">
+ </arc>
+ <arc id="tp_accept_reflex_suggestion" source="t_accept_reflex_suggestion" target="p_reflex_suggestion_accepted">
+ </arc>
+ <arc id="tp_deny_reflex_suggestion" source="t_deny_reflex_suggestion" target="p_reflexzones">
+ </arc>
+ <arc id="pt_risk_of_collision" source="p_risk_of_collision" target="tp_deny_reflex_suggestion">
+ </arc>
+ <arc id="pt_freedom_of_collision" source="p_freedom_of_collision" target="t_accept_reflex_suggestion">
+ </arc>
+ </page>
+
+
+ <page id="s_collision_control">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_collsion_control">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionskontrolle</text>
+ </name>
+ </place>
+ <place id="p_hazardzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Gefahrenbereiche</text>
+ </name>
+ </place>
+ <place id="p_scene_captured">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Szene erfasst</text>
+ </name>
+ </place>
+ <place id="p_virtual_trajectory">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "status" : "xxx", "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>virtuelle Trajektorie</text>
+ </name>
+ </place>
+ <place id="p_trajectory_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorienvorschlag</text>
+ </name>
+ </place>
+ <place id="p_freedom_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsfreiheit</text>
+ </name>
+ </place>
+ <place id="p_risk_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "reflex" : "trajectory" , "placeOfCollision" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsgefahr</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_check_collsion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kollsion überprüfen</text>
+ </name>
+ </transition>
+ <transition id="t_incomplete_data">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>unzureichende Datenlage</text>
+ </name>
+ </transition>
+ <transition id="t_collision_freedom">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kollisionsfreiheit</text>
+ </name>
+ </transition>
+ <transition id="t_collision_risk">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kollisionsgefahr</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_collsion_control_1" source="p_collsion_control" target="t_check_collsion">
+ </arc>
+ <arc id="pt_collsion_control_2" source="p_collsion_control" target="t_incomplete_data">
+ </arc>
+ <arc id="pt_hazardzones_1" source="p_hazardzones" target="t_check_collsion">
+ </arc>
+ <arc id="pt_hazardzones_2" source="p_hazardzones" target="t_incomplete_data">
+ </arc>
+ <arc id="pt_scene_captured_1" source="p_scene_captured" target="t_check_collsion">
+ </arc>
+ <arc id="pt_scene_captured_2" source="p_scene_captured" target="t_incomplete_data">
+ </arc>
+ <arc id="pt_trajectory_suggestion" source="p_trajectory_suggestion" target="t_check_collsion">
+ </arc>
+ <arc id="tp_check_collsion_1" source="t_check_collsion" target="p_collsion_control">
+ </arc>
+ <arc id="tp_check_collsion_2" source="t_check_collsion" target="p_virtual_trajectory">
+ </arc>
+ <arc id="pt_virtual_trajectory_1" source="p_virtual_trajectory" target="t_collision_freedom">
+ </arc>
+ <arc id="pt_virtual_trajectory_2" source="p_virtual_trajectory" target="t_collision_risk">
+ </arc>
+ <arc id="tp_collision_risk" source="t_collision_risk" target="p_risk_of_collision">
+ </arc>
+ <arc id="tp_incomplete_data" source="t_incomplete_data" target="p_risk_of_collision">
+ </arc>
+ <arc id="tp_collision_freedom" source="t_collision_freedom" target="p_freedom_of_collision">
+ </arc>
+ </page>
+
+
+
+
+
+
+ <!-- *************** LOCAL COORDINATOR (1) *************** -->
+
+ <page id="sensordata_collection">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_read_sensordata">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "read_data", "status" : "true" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Sensordaten erfassen</text>
+ </name>
+ </place>
+ <place id="p_robo1_cam0">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "robo1_cam0", "data" : "data_robo1_cam0" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Roboter1_Kamera0</text>
+ </name>
+ </place>
+ <place id="p_robo1_imu">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "robo1_imu_rpy", "data" : "data_rob1_imu_rpy" } </token>
+ <token> { "id" : "robo1_imu_accXYZ", "data" : "data_rob1_imu_accXYZ" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Roboter1_IMU</text>
+ </name>
+ </place>
+ <place id="p_robo1_force">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "robo1_force_r0", "data" : "data_rob1_force_r0"} </token>
+ <token> { "id" : "robo1_force_r1", "data" : "data_rob1_force_r1"} </token>
+ <token> { "id" : "robo1_force_r2", "data" : "data_rob1_force_r2"} </token>
+ <token> { "id" : "robo1_force_r3", "data" : "data_rob1_force_r3"} </token>
+ <token> { "id" : "robo1_force_r4", "data" : "data_rob1_force_r4"} </token>
+ <token> { "id" : "robo1_force_r5", "data" : "data_rob1_force_r5"} </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Roboter1_ForceSensor</text>
+ </name>
+ </place>
+ <place id="p_data_incomplete">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "data_incomplete", "status" : "true"} </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Daten_unvollständig</text>
+ </name>
+ </place>
+ <place id="p_sensordata">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "cam0", "data" : "data_cam0"} </token>
+ <!--token> { "id" : "imu", "data" : "data_imu"} </token-->
+ <token> { "id" : "force", "data" : "data_force"} </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Sensordaten</text>
+ </name>
+ </place>
+ <!-- transitions -->
+ <transition id="t_no_data">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>keine Sensordaten</text>
+ </name>
+ </transition>
+ <transition id="t_cam0">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>nur Kamera0</text>
+ </name>
+ </transition>
+ <transition id="t_imu">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>nur IMU</text>
+ </name>
+ </transition>
+ <transition id="t_force">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>nur Kraftsensor</text>
+ </name>
+ </transition>
+ <transition id="t_cam_force">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kamera0 und Kraftsensor</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_read_sensordata_1" source="p_read_sensordata" target="t_no_data">
+ </arc>
+ <arc id="pt_read_sensordata_2" source="p_read_sensordata" target="t_cam0">
+ </arc>
+ <arc id="pt_read_sensordata_3" source="p_read_sensordata" target="t_force">
+ </arc>
+ <arc id="pt_read_sensordata_4" source="p_read_sensordata" target="t_cam_force">
+ </arc>
+ <arc id="pt_robo1_cam0_1" source="p_robo1_cam0" target="t_no_data">
+ </arc>
+ <arc id="pt_robo1_cam0_2" source="p_robo1_cam0" target="t_cam0">
+ </arc>
+ <arc id="pt_robo1_cam0_3" source="p_robo1_cam0" target="t_force">
+ </arc>
+ <arc id="pt_robo1_cam0_4" source="p_robo1_cam0" target="t_cam_force">
+ </arc>
+ <arc id="pt_robo1_force_1" source="p_robo1_force" target="t_no_data">
+ </arc>
+ <arc id="pt_robo1_force_2" source="p_robo1_force" target="t_cam0">
+ </arc>
+ <arc id="pt_robo1_force_3" source="p_robo1_force" target="t_force">
+ </arc>
+ <arc id="pt_robo1_force_4" source="p_robo1_force" target="t_cam_force">
+ </arc>
+ <arc id="tp_no_data_1" source="t_no_data" target="p_data_incomplete">
+ </arc>
+ <arc id="tp_no_data_2" source="t_no_data" target="p_sensordata">
+ </arc>
+ <arc id="tp_cam0_1" source="t_cam0" target="p_data_incomplete">
+ </arc>
+ <arc id="tp_cam0_2" source="t_cam0" target="p_sensordata">
+ </arc>
+ <arc id="tp_force_1" source="t_force" target="p_data_incomplete">
+ </arc>
+ <arc id="tp_force_2" source="t_force" target="p_sensordata">
+ </arc>
+ <arc id="tp_cam_force" source="t_cam_force" target="p_sensordata">
+ </arc>
+ </page>
+
+
+ <page id="sensordata_fusion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_read_sensordata">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "cam0", "data" : "data_cam0"} </token>
+ <token> { "id" : "imu", "data" : "data_imu"} </token>
+ <token> { "id" : "force", "data" : "data_force"} </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Sensordaten erfassen</text>
+ </name>
+ </place>
+ <place id="p_sensordata">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "cam0", "data" : "data_cam0"} </token>
+ <token> { "id" : "imu", "data" : "data_imu"} </token>
+ <token> { "id" : "force", "data" : "data_force"} </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Sensordaten</text>
+ </name>
+ </place>
+ <!-- transitions -->
+ <transition id="t_sensordata_fusion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Sensordatenfusion/-korrektur</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_read_sensordata" source="p_read_sensordata" target="t_sensordata_fusion">
+ </arc>
+ <arc id="tp_sensordata_fusion" source="t_sensordata_fusion" target="p_sensordata">
+ </arc>
+ </page>
+
+
+ <page id="get_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_read_sensordata">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "read_data", "status" : "true" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Sensordaten erfassen</text>
+ </name>
+ </place>
+ <place id="p_understand_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "understand_task", "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Aufgabe verstehen</text>
+ </name>
+ </place>
+ <place id="p_new_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "new_task", "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>neue Tätigkeit</text>
+ </name>
+ </place>
+ <!-- transitions -->
+ <transition id="t_extract_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Taskerfassung</text>
+ </name>
+ </transition>
+ <transition id="t_extern_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Taskerfassung (extern)</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_read_sensordata" source="p_read_sensordata" target="t_no_data">
+ </arc>
+ <arc id="pt_understand_task_1" source="p_understand_task" target="t_extract_task">
+ </arc>
+ <arc id="pt_understand_task_2" source="p_understand_task" target="t_extern_task">
+ </arc>
+ <arc id="tp_extract_task_1" source="t_extract_task" target="p_understand_task">
+ </arc>
+ <arc id="tp_extern_task_1" source="t_extern_task" target="p_understand_task">
+ </arc>
+ <arc id="tp_extract_task_2" source="t_extract_task" target="p_new_task">
+ </arc>
+ <arc id="tp_extern_task_2" source="t_extern_task" target="p_new_task">
+ </arc>
+ </page>
+
+
+ <page id="interruption_request">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_new_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "new_task", "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>neue Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_signal_idle">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "idle" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: idle</text>
+ </name>
+ </place>
+ <place id="p_signal_prio_maintask">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Hauptaufgabe hochpriorisiert</text>
+ </name>
+ </place>
+ <place id="p_signal_safety_critical">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit sicherheitskritisch</text>
+ </name>
+ </place>
+ <place id="p_signal_task_uninterruptable">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit ununterbrechbar</text>
+ </name>
+ </place>
+ <place id="p_prio_secondary_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebentätigkeit höher priorisiert</text>
+ </name>
+ </place>
+ <place id="p_task_not_safety_critical">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Haupttätigkeit nicht sicherheitskritisch</text>
+ </name>
+ </place>
+ <place id="p_secondary_task_possible">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebentätigkeit möglich</text>
+ </name>
+ </place>
+ <place id="p_secondary_task_delayed">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" , "expected_delay" = "time" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebentätigkeit aufgeschoben</text>
+ </name>
+ </place>
+ <place id="p_secondary_task_denied">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebentätigkeit abgelehnt</text>
+ </name>
+ </place>
+ <place id="p_taskqueue">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "taskqueue" : "tasks" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Aufgabenkette</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_task_idle">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>idle</text>
+ </name>
+ </transition>
+ <transition id="t_maintask_no_prio">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>nicht hochpriorisiert</text>
+ </name>
+ </transition>
+ <transition id="t_maintask_prio">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>hochpriorisiert</text>
+ </name>
+ </transition>
+ <transition id="t_task_safety_uncritical">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>unkritisch</text>
+ </name>
+ </transition>
+ <transition id="t_task_safety_critical">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>kritisch</text>
+ </name>
+ </transition>
+ <transition id="t_task_interruptable">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>unterbrechbar</text>
+ </name>
+ </transition>
+ <transition id="t_task_uninterruptable">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>ununterbrechbar</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_signal_idle" source="p_signal_idle" target="t_task_idle">
+ </arc>
+ <arc id="pt_new_task_1" source="p_new_task" target="t_task_idle">
+ </arc>
+ <arc id="pt_new_task_2" source="p_new_task" target="t_maintask_no_prio">
+ </arc>
+ <arc id="pt_new_task_3" source="p_new_task" target="t_maintask_prio">
+ </arc>
+ <arc id="t_task_idle" source="t_task_idle" target="p_taskqueue">
+ </arc>
+
+ <arc id="pt_signal_prio_maintask_1" source="p_signal_prio_maintask" target="t_maintask_no_prio">
+ </arc>
+ <arc id="pt_signal_prio_maintask_2" source="p_signal_prio_maintask" target="t_maintask_prio">
+ </arc>
+ <arc id="tp_maintask_prio" source="t_maintask_prio" target="p_secondary_task_denied">
+ </arc>
+ <arc id="tp_maintask_no_prio" source="t_maintask_no_prio" target="p_prio_secondary_task">
+ </arc>
+ <arc id="pt_prio_secondary_task_1" source="p_prio_secondary_task" target="t_task_safety_uncritical">
+ </arc>
+ <arc id="pt_prio_secondary_task_2" source="p_prio_secondary_task" target="t_task_safety_critical">
+ </arc>
+ <arc id="pt_signal_safety_critical_1" source="p_signal_safety_critical" target="t_task_safety_uncritical">
+ </arc>
+ <arc id="pt_signal_safety_critical_2" source="p_signal_safety_critical" target="t_task_safety_critical">
+ </arc>
+ <arc id="tp_task_safety_uncritical" source="t_task_safety_uncritical" target="p_task_not_safety_critical">
+ </arc>
+
+ <arc id="pt_task_not_safety_critical_1" source="p_task_not_safety_critical" target="t_task_interruptable">
+ </arc>
+ <arc id="pt_task_not_safety_critical_2" source="p_task_not_safety_critical" target="t_task_uninterruptable">
+ </arc>
+ <arc id="pt_signal_task_uninterruptable_1" source="p_signal_task_uninterruptable" target="t_task_interruptable">
+ </arc>
+ <arc id="pt_signal_task_uninterruptable_2" source="p_signal_task_uninterruptable" target="t_task_uninterruptable">
+ </arc>
+ <arc id="tp_task_interruptable" source="t_task_interruptable" target="p_secondary_task_possible">
+ </arc>
+
+ <arc id="tp_task_safety_critical" source="t_task_safety_critical" target="p_secondary_task_delayed">
+ </arc>
+ <arc id="tp_task_uninterruptable" source="t_task_uninterruptable" target="p_secondary_task_delayed">
+ </arc>
+ </page>
+
+
+ <page id="update_taskqueue">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_secondary_task_possible">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebentätigkeit möglich</text>
+ </name>
+ </place>
+ <place id="p_signal_task_completed">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit beendet</text>
+ </name>
+ </place>
+ <place id="p_secondary_task_delayed">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" , "expected_delay" = "time" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebentätigkeit aufgeschoben</text>
+ </name>
+ </place>
+ <place id="p_secondary_task_denied">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebentätigkeit abgelehnt</text>
+ </name>
+ </place>
+ <place id="p_taskqueue">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "taskqueue" : "tasks" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Aufgabenkette</text>
+ </name>
+ </place>
+ <place id="p_signal_idle">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "idle" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: idle</text>
+ </name>
+ </place>
+ <place id="p_current_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>aktuelle Tätigkeit</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_secondary_task_first">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Nebentätigkeit vor Aufgabenkette</text>
+ </name>
+ </transition>
+ <transition id="t_delete_first_entry">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>erstes Element löschen</text>
+ </name>
+ </transition>
+ <transition id="t_insert_secondary_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einarbeitung der Nebentätigkeit</text>
+ </name>
+ </transition>
+ <transition id="t_keep_taskqueue">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Beibehaltung der Aufgabenkette</text>
+ </name>
+ </transition>
+ <transition id="t_empty_taskqueue">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>leere Aufgabenkette</text>
+ </name>
+ </transition>
+ <transition id="t_next_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>nächste Tätigkeit</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_secondary_task_possible" source="p_secondary_task_possible" target="t_secondary_task_first">
+ </arc>
+ <arc id="pt_signal_task_completed" source="p_signal_task_completed" target="t_delete_first_entry">
+ </arc>
+ <arc id="pt_secondary_task_delayed" source="p_secondary_task_delayed" target="t_insert_secondary_task">
+ </arc>
+ <arc id="p_secondary_task_denied" source="p_secondary_task_denied" target="t_keep_taskqueue">
+ </arc>
+ <arc id="pt_taskqueue_1" source="p_taskqueue" target="t_secondary_task_first">
+ </arc>
+ <arc id="pt_taskqueue_2" source="p_taskqueue" target="t_delete_first_entry">
+ </arc>
+ <arc id="pt_taskqueue_3" source="p_taskqueue" target="t_insert_secondary_task">
+ </arc>
+ <arc id="pt_taskqueue_4" source="p_taskqueue" target="t_keep_taskqueue">
+ </arc>
+ <arc id="pt_taskqueue_5" source="p_taskqueue" target="t_empty_taskqueue">
+ </arc>
+ <arc id="pt_taskqueue_6" source="p_taskqueue" target="t_next_task">
+ </arc>
+ <arc id="tp_empty_taskqueue" source="t_empty_taskqueue" target="p_signal_idle">
+ </arc>
+ <arc id="tp_next_task" source="t_next_task" target="p_current_task">
+ </arc>
+ </page>
+
+
+ <page id="task_safety">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_current_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>aktuelle Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_signal_safety_critical">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "true" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit sicherheitskritisch</text>
+ </name>
+ </place>
+ <place id="p_signal_safety_uncritical">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "true" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit sicherheitsunkritisch</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_safety_critical">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einstufung: Tätigkeit sicherheitskritisch</text>
+ </name>
+ </transition>
+ <transition id="t_safety_uncritical">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einstufung: Tätigkeit sicherheitsunkritisch</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_current_task_1" source="p_current_task" target="t_safety_critical">
+ </arc>
+ <arc id="pt_current_task_2" source="p_current_task" target="t_safety_uncritical">
+ </arc>
+ <arc id="tp_safety_critical" source="t_safety_critical" target="p_signal_safety_critical">
+ </arc>
+ <arc id="tp_safety_uncritical" source="t_safety_uncritical" target="p_signal_safety_uncritical">
+ </arc>
+ </page>
+
+
+ <page id="interruption_safety">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_current_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>aktuelle Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_signal_task_uninterruptable">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "true" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit ununterbrechbar</text>
+ </name>
+ </place>
+ <place id="p_signal_task_interruptable">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "true" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit unterbrechbar</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_uninterruptable">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einstufung: Tätigkeit ununterbrechbar</text>
+ </name>
+ </transition>
+ <transition id="t_interruptable">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einstufung: Tätigkeit unterbrechbar</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_current_task_1" source="p_current_task" target="t_uninterruptable">
+ </arc>
+ <arc id="pt_current_task_2" source="p_current_task" target="t_interruptable">
+ </arc>
+ <arc id="tp_uninterruptable" source="t_uninterruptable" target="p_signal_task_uninterruptable">
+ </arc>
+ <arc id="tp_interruptable" source="t_interruptable" target="p_signal_task_interruptable">
+ </arc>
+ </page>
+
+
+ <page id="new_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_current_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>aktuelle Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_trajectory_request">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" , "trajectory_goal" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorienanfrage</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_requesting_trajectory">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Trajektorie anfragen</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_current_task" source="p_current_task" target="t_requesting_trajectory">
+ </arc>
+ <arc id="tp_requesting_trajectory" source="t_requesting_trajectory" target="p_trajectory_request">
+ </arc>
+ </page>
+
+
+
+ <page id="create_trajektory">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_trajectory_request">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" , "trajectory_goal" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorienanfrage</text>
+ </name>
+ </place>
+ <place id="p_hazardzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Gefahrenbereiche</text>
+ </name>
+ </place>
+ <place id="p_freedom_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsfreiheit</text>
+ </name>
+ </place>
+ <place id="p_risk_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" , "placeOfCollision" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsgefahr</text>
+ </name>
+ </place>
+ <place id="p_trajectory_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorienvorschlag</text>
+ </name>
+ </place>
+ <place id="p_trajectory">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorie</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_create_trajectory">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Trajektorie erstellen</text>
+ </name>
+ </transition>
+ <transition id="t_collision_freedom">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Feststellung Kollisionsfreiheit</text>
+ </name>
+ </transition>
+ <transition id="t_collision_risk">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Feststellung Kollisionsgefahr</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_trajectory_request" source="p_trajectory_request" target="t_create_trajectory">
+ </arc>
+ <arc id="pt_hazardzones" source="p_hazardzones" target="t_create_trajectory">
+ </arc>
+ <arc id="tp_create_trajectory" source="t_create_trajectory" target="p_trajectory_suggestion">
+ </arc>
+ <arc id="pt_trajectory_suggestion_1" source="p_trajectory_suggestion" target="t_collision_freedom">
+ </arc>
+ <arc id="pt_trajectory_suggestion_2" source="p_trajectory_suggestion" target="t_collision_risk">
+ </arc>
+ <arc id="pt_freedom_of_collision" source="p_freedom_of_collision" target="t_collision_freedom">
+ </arc>
+ <arc id="pt_risk_of_collision" source="p_risk_of_collision" target="t_collision_risk">
+ </arc>
+ <arc id="tp_collision_freedom" source="t_collision_freedom" target="p_trajectory">
+ </arc>
+ <arc id="tp_collision_risk" source="t_collision_risk" target="p_trajectory_request">
+ </arc>
+ </page>
+
+
+ <page id="handover_receiver">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_current_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>aktuelle Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_notice_handover_intension">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>HO Intension wahrgenommen</text>
+ </name>
+ </place>
+ <place id="p_demand_handover_intension">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>HO Intension fordern</text>
+ </name>
+ </place>
+ <place id="p_timeout">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "expected_delay" = "time" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Timeout</text>
+ </name>
+ </place>
+ <place id="p_reach">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>xxx</text>
+ </name>
+ </place>
+ <place id="p_pregrasp">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Pregrasp</text>
+ </name>
+ </place>
+ <place id="p_transfer">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Transfer</text>
+ </name>
+ </place>
+ <place id="p_retract">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Retract</text>
+ </name>
+ </place>
+ <place id="p_disrupption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Störung</text>
+ </name>
+ </place>
+ <place id="p_adaption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Anpassung</text>
+ </name>
+ </place>
+ <place id="p_cancel">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Abbruch</text>
+ </name>
+ </place>
+ <place id="p_reflex">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reflexe/0-Gravity</text>
+ </name>
+ </place>
+ <place id="p_signal_task_completed">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit beendet</text>
+ </name>
+ </place>
+ <place id="p_approval">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Freigabe</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_ho_accept">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einwilligung</text>
+ </name>
+ </transition>
+ <transition id="t_ho_accept_timeout">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einwilligung</text>
+ </name>
+ </transition>
+ <transition id="t_ho_accept_adaption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einwilligung</text>
+ </name>
+ </transition>
+ <transition id="t_ho_delayed">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Aufschiebung</text>
+ </name>
+ </transition>
+ <transition id="t_ho_denied">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Ablehnung</text>
+ </name>
+ </transition>
+ <transition id="t_ho_denied_timeout">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Ablehnung</text>
+ </name>
+ </transition>
+ <transition id="t_pregrasp">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>pregrasp</text>
+ </name>
+ </transition>
+ <transition id="t_pregrasp_adaption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>pregrasp</text>
+ </name>
+ </transition>
+ <transition id="t_transfer">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>transfer</text>
+ </name>
+ </transition>
+ <transition id="t_transfer_adaption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>transfer</text>
+ </name>
+ </transition>
+ <transition id="t_retract">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>retract</text>
+ </name>
+ </transition>
+ <transition id="t_retract_adaption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>retract</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_ho">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>HO beenden</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung</text>
+ </name>
+ </transition>
+ <transition id="t_adaption_ho">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Anpassung</text>
+ </name>
+ </transition>
+ <transition id="t_cancel_ho">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Abbruch</text>
+ </name>
+ </transition>
+ <transition id="t_collision_ho">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kollision</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_cancel">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Abbruch beenden</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_reflex">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexe beenden</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_handover_demand_1" source="p_handover_demand" target="t_ho_accept">
+ </arc>
+ <arc id="pt_handover_demand_2" source="p_handover_demand" target="t_ho_delayed">
+ </arc>
+ <arc id="pt_handover_demand_3" source="p_handover_demand" target="t_ho_denied">
+ </arc>
+ <arc id="tp_ho_delayed" source="t_ho_delayed" target="p_timeout">
+ </arc>
+ <arc id="pt_timeout_1" source="p_timeout" target="t_ho_accept_timeout">
+ </arc>
+ <arc id="pt_timeout_2" source="p_timeout" target="t_ho_denied_timeout">
+ </arc>
+ <!-- all outgoing Anpassung -->
+ <arc id="pt_adaption_1" source="p_adaption" target="t_ho_accept_adaption">
+ </arc>
+ <arc id="pt_adaption_2" source="p_adaption" target="t_pregrasp_adaption">
+ </arc>
+ <arc id="pt_adaption_3" source="p_adaption" target="t_transfer_adaption">
+ </arc>
+ <arc id="pt_adaption_4" source="p_adaption" target="t_retract_adaption">
+ </arc>
+ <!-- all outgoing aktuelle Tätigkeit -->
+ <arc id="pt_current_task_1" source="p_current_task" target="t_ho_accept">
+ </arc>
+ <arc id="pt_current_task_2" source="p_current_task" target="t_ho_accept_timeout">
+ </arc>
+ <arc id="pt_current_task_3" source="p_current_task" target="t_ho_accept_adaption">
+ </arc>
+ <arc id="pt_current_task_4" source="p_current_task" target="t_pregrasp">
+ </arc>
+ <arc id="pt_current_task_5" source="p_current_task" target="t_pregrasp_adaption">
+ </arc>
+ <arc id="pt_current_task_6" source="p_current_task" target="t_transfer">
+ </arc>
+ <arc id="pt_current_task_7" source="p_current_task" target="t_transfer_adaption">
+ </arc>
+ <arc id="pt_current_task_8" source="p_current_task" target="t_retract">
+ </arc>
+ <arc id="pt_current_task_9" source="p_current_task" target="t_retract_adaption">
+ </arc>
+ <!-- all ingoing and outgoing p_reach -->
+ <arc id="tp_ho_accept" source="t_ho_accept" target="p_reach">
+ </arc>
+ <arc id="tp_ho_accept_timeout" source="t_ho_accept_timeout" target="p_reach">
+ </arc>
+ <arc id="tp_ho_accept_adaption" source="t_ho_accept_adaption" target="p_reach">
+ </arc>
+ <arc id="pt_reach_1" source="p_reach" target="t_pregrasp">
+ </arc>
+ <arc id="pt_reach_2" source="p_reach" target="t_disrupption">
+ </arc>
+ <!-- all ingoing and outgoing p_pregrasp -->
+ <arc id="tp_pregrasp" source="t_pregrasp" target="p_pregrasp">
+ </arc>
+ <arc id="tp_pregrasp_adaption" source="t_pregrasp_adaption" target="p_pregrasp">
+ </arc>
+ <arc id="pt_pregrasp_1" source="p_pregrasp" target="t_transfer">
+ </arc>
+ <arc id="pt_pregrasp_2" source="p_pregrasp" target="t_disrupption">
+ </arc>
+ <!-- all ingoing and outgoing p_transfer -->
+ <arc id="tp_transfer" source="t_transfer" target="p_transfer">
+ </arc>
+ <arc id="tp_transfer_adaption" source="t_transfer_adaption" target="p_transfer">
+ </arc>
+ <arc id="pt_transfer_1" source="p_transfer" target="t_retract">
+ </arc>
+ <arc id="pt_transfer_2" source="p_transfer" target="t_disrupption">
+ </arc>
+ <!-- all ingoing and outgoing p_retract -->
+ <arc id="tp_retract" source="t_retract" target="p_retract">
+ </arc>
+ <arc id="tp_retract_adaption" source="t_retract_adaption" target="p_retract">
+ </arc>
+ <arc id="pt_retract_1" source="p_retract" target="t_terminate_ho">
+ </arc>
+ <arc id="p_retract_2" source="p_retract" target="t_disrupption">
+ </arc>
+ <!-- safety arcs -->
+ <arc id="tp_disrupption" source="t_disrupption" target="p_disrupption">
+ </arc>
+ <arc id="pt_disrupption_1" source="p_disrupption" target="t_adaption_ho">
+ </arc>
+ <arc id="pt_disrupption_2" source="p_disrupption" target="t_cancel_ho">
+ </arc>
+ <arc id="pt_disrupption_3" source="p_disrupption" target="t_collision_ho">
+ </arc>
+ <arc id="tp_adaption_ho" source="t_adaption_ho" target="p_adaption">
+ </arc>
+ <arc id="tp_cancel_ho" source="t_cancel_ho" target="p_cancel">
+ </arc>
+ <arc id="tp_collision_ho" source="t_collision_ho" target="p_reflex">
+ </arc>
+ <arc id="pt_cancel" source="p_cancel" target="t_terminate_cancel">
+ </arc>
+ <arc id="pt_reflex" source="p_reflex" target="t_terminate_reflex">
+ </arc>
+ <arc id="pt_approval" source="p_approval" target="t_terminate_reflex">
+ </arc>
+ <!-- all ingoing signal termination ho -->
+ <arc id="tp_terminate_ho" source="t_terminate_ho" target="p_signal_task_completed">
+ </arc>
+ <arc id="tp_terminate_cancel" source="t_terminate_cancel" target="p_signal_task_completed">
+ </arc>
+ <arc id="tp_terminate_reflex" source="t_terminate_reflex" target="p_signal_task_completed">
+ </arc>
+ </page>
+
+
+ <page id="handover_giver">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_current_task">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>aktuelle Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_handover_demand">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>HO Forderung</text>
+ </name>
+ </place>
+ <place id="p_handover_intention_communicated">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>HO Intension kommuniziert</text>
+ </name>
+ </place>
+ <place id="p_timeout">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "expected_delay" = "time" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Timeout</text>
+ </name>
+ </place>
+ <place id="p_reach">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>xxx</text>
+ </name>
+ </place>
+ <place id="p_pregrasp">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Pregrasp</text>
+ </name>
+ </place>
+ <place id="p_transfer">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Transfer</text>
+ </name>
+ </place>
+ <place id="p_retract">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Retract</text>
+ </name>
+ </place>
+ <place id="p_disrupption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Störung</text>
+ </name>
+ </place>
+ <place id="p_adaption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Anpassung</text>
+ </name>
+ </place>
+ <place id="p_cancel">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Abbruch</text>
+ </name>
+ </place>
+ <place id="p_reflex">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reflexe/0-Gravity</text>
+ </name>
+ </place>
+ <place id="p_signal_task_completed">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit beendet</text>
+ </name>
+ </place>
+ <place id="p_approval">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Freigabe</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_ho_accept">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einwilligung</text>
+ </name>
+ </transition>
+ <transition id="t_ho_accept_timeout">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einwilligung</text>
+ </name>
+ </transition>
+ <transition id="t_ho_accept_adaption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einwilligung</text>
+ </name>
+ </transition>
+ <transition id="t_ho_delayed">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Aufschiebung</text>
+ </name>
+ </transition>
+ <transition id="t_ho_denied">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Ablehnung</text>
+ </name>
+ </transition>
+ <transition id="t_ho_denied_timeout">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Ablehnung</text>
+ </name>
+ </transition>
+ <transition id="t_pregrasp">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>pregrasp</text>
+ </name>
+ </transition>
+ <transition id="t_pregrasp_adaption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>pregrasp</text>
+ </name>
+ </transition>
+ <transition id="t_transfer">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>transfer</text>
+ </name>
+ </transition>
+ <transition id="t_transfer_adaption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>transfer</text>
+ </name>
+ </transition>
+ <transition id="t_retract">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>retract</text>
+ </name>
+ </transition>
+ <transition id="t_retract_adaption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>retract</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_ho">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>HO beenden</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung</text>
+ </name>
+ </transition>
+ <transition id="t_adaption_ho">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Anpassung</text>
+ </name>
+ </transition>
+ <transition id="t_cancel_ho">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Abbruch</text>
+ </name>
+ </transition>
+ <transition id="t_collision_ho">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kollision</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_cancel">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Abbruch beenden</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_reflex">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexe beenden</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_notice_handover_intension_1" source="p_notice_handover_intension" target="t_ho_accept">
+ </arc>
+ <arc id="pt_notice_handover_intension_2" source="p_notice_handover_intension" target="t_ho_delayed">
+ </arc>
+ <arc id="pt_notice_handover_intension_3" source="p_notice_handover_intension" target="t_ho_denied">
+ </arc>
+ <arc id="tp_ho_delayed" source="t_ho_delayed" target="p_timeout">
+ </arc>
+ <arc id="pt_timeout_1" source="p_timeout" target="t_ho_accept_timeout">
+ </arc>
+ <arc id="pt_timeout_2" source="p_timeout" target="t_ho_denied_timeout">
+ </arc>
+ <!-- all outgoing Anpassung -->
+ <arc id="pt_adaption_1" source="p_adaption" target="t_ho_accept_adaption">
+ </arc>
+ <arc id="pt_adaption_2" source="p_adaption" target="t_pregrasp_adaption">
+ </arc>
+ <arc id="pt_adaption_3" source="p_adaption" target="t_transfer_adaption">
+ </arc>
+ <arc id="pt_adaption_4" source="p_adaption" target="t_retract_adaption">
+ </arc>
+ <!-- all outgoing aktuelle Tätigkeit -->
+ <arc id="pt_current_task_1" source="p_current_task" target="t_ho_accept">
+ </arc>
+ <arc id="pt_current_task_2" source="p_current_task" target="t_ho_accept_timeout">
+ </arc>
+ <arc id="pt_current_task_3" source="p_current_task" target="t_ho_accept_adaption">
+ </arc>
+ <arc id="pt_current_task_4" source="p_current_task" target="t_pregrasp">
+ </arc>
+ <arc id="pt_current_task_5" source="p_current_task" target="t_pregrasp_adaption">
+ </arc>
+ <arc id="pt_current_task_6" source="p_current_task" target="t_transfer">
+ </arc>
+ <arc id="pt_current_task_7" source="p_current_task" target="t_transfer_adaption">
+ </arc>
+ <arc id="pt_current_task_8" source="p_current_task" target="t_retract">
+ </arc>
+ <arc id="pt_current_task_9" source="p_current_task" target="t_retract_adaption">
+ </arc>
+ <!-- all ingoing and outgoing p_reach -->
+ <arc id="tp_ho_accept" source="t_ho_accept" target="p_reach">
+ </arc>
+ <arc id="tp_ho_accept_timeout" source="t_ho_accept_timeout" target="p_reach">
+ </arc>
+ <arc id="tp_ho_accept_adaption" source="t_ho_accept_adaption" target="p_reach">
+ </arc>
+ <arc id="pt_reach_1" source="p_reach" target="t_pregrasp">
+ </arc>
+ <arc id="pt_reach_2" source="p_reach" target="t_disrupption">
+ </arc>
+ <!-- all ingoing and outgoing p_pregrasp -->
+ <arc id="tp_pregrasp" source="t_pregrasp" target="p_pregrasp">
+ </arc>
+ <arc id="tp_pregrasp_adaption" source="t_pregrasp_adaption" target="p_pregrasp">
+ </arc>
+ <arc id="pt_pregrasp_1" source="p_pregrasp" target="t_transfer">
+ </arc>
+ <arc id="pt_pregrasp_2" source="p_pregrasp" target="t_disrupption">
+ </arc>
+ <!-- all ingoing and outgoing p_transfer -->
+ <arc id="tp_transfer" source="t_transfer" target="p_transfer">
+ </arc>
+ <arc id="tp_transfer_adaption" source="t_transfer_adaption" target="p_transfer">
+ </arc>
+ <arc id="pt_transfer_1" source="p_transfer" target="t_retract">
+ </arc>
+ <arc id="pt_transfer_2" source="p_transfer" target="t_disrupption">
+ </arc>
+ <!-- all ingoing and outgoing p_retract -->
+ <arc id="tp_retract" source="t_retract" target="p_retract">
+ </arc>
+ <arc id="tp_retract_adaption" source="t_retract_adaption" target="p_retract">
+ </arc>
+ <arc id="pt_retract_1" source="p_retract" target="t_terminate_ho">
+ </arc>
+ <arc id="p_retract_2" source="p_retract" target="t_disrupption">
+ </arc>
+ <!-- safety arcs -->
+ <arc id="tp_disrupption" source="t_disrupption" target="p_disrupption">
+ </arc>
+ <arc id="pt_disrupption_1" source="p_disrupption" target="t_adaption_ho">
+ </arc>
+ <arc id="pt_disrupption_2" source="p_disrupption" target="t_cancel_ho">
+ </arc>
+ <arc id="pt_disrupption_3" source="p_disrupption" target="t_collision_ho">
+ </arc>
+ <arc id="tp_adaption_ho" source="t_adaption_ho" target="p_adaption">
+ </arc>
+ <arc id="tp_cancel_ho" source="t_cancel_ho" target="p_cancel">
+ </arc>
+ <arc id="tp_collision_ho" source="t_collision_ho" target="p_reflex">
+ </arc>
+ <arc id="pt_cancel" source="p_cancel" target="t_terminate_cancel">
+ </arc>
+ <arc id="pt_reflex" source="p_reflex" target="t_terminate_reflex">
+ </arc>
+ <arc id="pt_approval" source="p_approval" target="t_terminate_reflex">
+ </arc>
+ <!-- all ingoing signal terminatation ho -->
+ <arc id="tp_terminate_ho" source="t_terminate_ho" target="p_signal_task_completed">
+ </arc>
+ <arc id="tp_terminate_cancel" source="t_terminate_cancel" target="p_signal_task_completed">
+ </arc>
+ <arc id="tp_terminate_reflex" source="t_terminate_reflex" target="p_signal_task_completed">
+ </arc>
+ </page>
+
+
+
+
+
+
+
+ <page id="xxx">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="xxx">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "xxx", "data" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>xxx</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="xxx">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>xxx</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="xxx" source="xxx" target="xxx">
+ </arc>
+ </page>
+
+
+
+
+ </page>
+ <name>
+ <text>ServiceNet</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.splitter" version="0.0.1">
+ <ports>
+ <!-- topics: pub, sub -->
+ <!--port name="sensordata" limit="10" placeType="sub">awaiting_sensordata</port-->
+ <!-- services: sreq, sres, creq, cres -->
+ <!--port cResponsePlace="" limit="-1" name="" placeType="cres">xxx</port>
+ <port cRequestPlace="" limit="-1" name="" placeType="creq">xxx</port-->
+ </ports>
+ </toolspecific>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/action_categorization.pnml b/src/main/resources/static_pages/action_categorization.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..a30c0476c7fe909a4e164fed3f84864ec73cb429
--- /dev/null
+++ b/src/main/resources/static_pages/action_categorization.pnml
@@ -0,0 +1,127 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="action_categorization">
+ <name>
+ <text>Aufgabenstellung kathegorisieren</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_action_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "actionID", "data" : "actiondescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_simple_action_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "actionID", "data" : "actiondescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>einfache Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_demand_handover_intention_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "actionID", "data" : "actiondescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>HO Intension fordern</text>
+ </name>
+ </place>
+ <place id="p_communicate_handover_intention_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "actionID", "data" : "actiondescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>HO Intension kommunizieren</text>
+ </name>
+ </place>
+ <!-- transitions -->
+ <transition id="t_simple_action_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>einfache Tätigkeit</text>
+ </name>
+ </transition>
+ <transition id="t_handover_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Handover Geber</text>
+ </name>
+ </transition>
+ <transition id="t_handover_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Handover Nehmer</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="tc1_alias" source="p_action_alias" target="t_simple_action_alias">
+ </arc>
+ <arc id="tc2_alias" source="p_action_alias" target="t_handover_giver_alias">
+ </arc>
+ <arc id="tc3_alias" source="p_action_alias" target="t_handover_receiver_alias">
+ </arc>
+ <arc id="tc4_alias" source="t_simple_action_alias" target="p_simple_action_alias">
+ </arc>
+ <arc id="tc5_alias" source="t_handover_giver_alias" target="p_communicate_handover_intention_giver_alias">
+ </arc>
+ <arc id="tc6_alias" source="t_handover_receiver_alias" target="p_demand_handover_intention_receiver_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/allow_trajectory.pnml b/src/main/resources/static_pages/allow_trajectory.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..8dcdeb589c2f17b24ac3a9ace17525451f3d1009
--- /dev/null
+++ b/src/main/resources/static_pages/allow_trajectory.pnml
@@ -0,0 +1,83 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="allow_trajectory">
+ <name>
+ <text>Trajektorienfreigabe</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_trajectory_alias_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorie</text>
+ </name>
+ </place>
+ <place id="p_trajectory_execution_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorien Ausführung</text>
+ </name>
+ </place>
+ <place id="p_allow_trajectory_execution_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>no_cam or no_ft</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_allow_trajectory_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Freigabe</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="at1_alias" source="p_trajectory_alias_ref" target="t_allow_trajectory_alias">
+ </arc>
+ <arc id="at2_alias" source="t_allow_trajectory_alias" target="p_trajectory_execution_alias">
+ </arc>
+ <arc id="at3_alias" source="p_allow_trajectory_execution_alias" target="t_allow_trajectory_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/analyse_scene.pnml b/src/main/resources/static_pages/analyse_scene.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..46f015d4355074e65c7536a1097fd041c2cd48f3
--- /dev/null
+++ b/src/main/resources/static_pages/analyse_scene.pnml
@@ -0,0 +1,67 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="analyse_scene">
+ <name>
+ <text>Szene auswerten</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_sensordata_captured">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <node>nodeA</node>
+ <subnet>locA</subnet>
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "xxx", "data" : "image" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>1</text>
+ </initialMarking>
+ <name>
+ <text>Bilddaten erfassen</text>
+ </name>
+ </place>
+ <place id="p_objects_captured">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <node>nodeA</node>
+ <subnet>locA</subnet>
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "data" : "objects", "location" : "xyz" , "contour" : "faces" , "function" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>1</text>
+ </initialMarking>
+ <name>
+ <text>Objekte erfasst</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_identify_objects">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Objekte identifizieren</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="as1" source="p_sensordata_captured" target="t_identify_objects">
+ </arc>
+ <arc id="as2" source="t_identify_objects" target="p_objects_captured">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/collision_control.pnml b/src/main/resources/static_pages/collision_control.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..64aa5772e11d8d9324951c9a7df052293fce61ee
--- /dev/null
+++ b/src/main/resources/static_pages/collision_control.pnml
@@ -0,0 +1,162 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <page id="collision_control">
+ <name>
+ <text>Kollisionskontrolle</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_hazardzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Gefahrenbereiche</text>
+ </name>
+ </place>
+ <place id="p_virtual_trajectory">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "status" : "xxx", "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>virtuelle Trajektorie</text>
+ </name>
+ </place>
+ <place id="p_trajectory_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorienvorschlag</text>
+ </name>
+ </place>
+ <place id="p_freedom_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsfreiheit</text>
+ </name>
+ </place>
+ <place id="p_risk_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "reflex" : "trajectory" , "placeOfCollision" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsgefahr</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_check_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kollsion überprüfen</text>
+ </name>
+ </transition>
+ <transition id="t_incomplete_data">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>unzureichende Datenlage</text>
+ </name>
+ </transition>
+ <transition id="t_collision_freedom">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kollisionsfreiheit</text>
+ </name>
+ </transition>
+ <transition id="t_collision_risk">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kollisionsgefahr</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="cc1" source="p_hazardzones" target="t_check_collision">
+ </arc>
+ <arc id="cc2" source="p_hazardzones" target="t_incomplete_data">
+ </arc>
+ <arc id="cc3" source="p_trajectory_suggestion" target="t_check_collision">
+ </arc>
+ <arc id="cc4" source="t_check_collision" target="p_virtual_trajectory">
+ </arc>
+ <arc id="cc5" source="p_virtual_trajectory" target="t_collision_freedom">
+ </arc>
+ <arc id="cc6" source="p_virtual_trajectory" target="t_collision_risk">
+ </arc>
+ <arc id="cc7" source="t_collision_risk" target="p_risk_of_collision">
+ </arc>
+ <arc id="cc8" source="t_incomplete_data" target="p_risk_of_collision">
+ </arc>
+ <arc id="cc9" source="t_collision_freedom" target="p_freedom_of_collision">
+ </arc>
+
+ </page>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+
+ </toolspecific>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/create_reflexes.pnml b/src/main/resources/static_pages/create_reflexes.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..d6a41b2706ce098e19b6d4c7f15f43d4eb3b1810
--- /dev/null
+++ b/src/main/resources/static_pages/create_reflexes.pnml
@@ -0,0 +1,130 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="create_reflexes">
+ <name>
+ <text>Reflexe erstellen</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_reflexzones_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reflexzonen</text>
+ </name>
+ </place>
+ <place id="p_trajectory_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorienvorschlag</text>
+ </name>
+ </place>
+ <place id="p_reflex_suggestion_accepted">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reflexvorschlag akzeptiert</text>
+ </name>
+ </place>
+ <place id="p_risk_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" , "placeOfCollision" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsgefahr</text>
+ </name>
+ </place>
+ <place id="p_freedom_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsfreiheit</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_create_reflex_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexvorschlag erstellen</text>
+ </name>
+ </transition>
+ <transition id="t_accept_reflex_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexvorschlag annehmen</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="cr1" source="p_reflexzones_ref" target="t_create_reflex_suggestion">
+ </arc>
+ <arc id="cr2" source="t_create_reflex_suggestion" target="p_trajectory_suggestion">
+ </arc>
+ <arc id="cr3" source="t_accept_reflex_suggestion" target="p_reflex_suggestion_accepted">
+ </arc>
+ <arc id="cr4" source="p_risk_of_collision" target="t_create_reflex_suggestion">
+ </arc>
+ <arc id="cr5" source="p_freedom_of_collision" target="t_accept_reflex_suggestion">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/create_trajectory.pnml b/src/main/resources/static_pages/create_trajectory.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..486f197cabe4b563effd8eebdfac6374810775f7
--- /dev/null
+++ b/src/main/resources/static_pages/create_trajectory.pnml
@@ -0,0 +1,161 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="create_trajectory">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_trajectory_request_ref">
+ <name>
+ <text>Trajektorie erstellen</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" , "trajectory_goal" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorienanfrage Referenz</text>
+ </name>
+ </place>
+ <place id="p_hazardzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Gefahrenbereiche</text>
+ </name>
+ </place>
+ <place id="p_freedom_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsfreiheit</text>
+ </name>
+ </place>
+ <place id="p_risk_of_collision">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" , "placeOfCollision" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Kollisionsgefahr</text>
+ </name>
+ </place>
+ <place id="p_trajectory_suggestion">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorienvorschlag</text>
+ </name>
+ </place>
+ <place id="p_trajectory">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorie</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_create_trajectory">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Trajektorie erstellen</text>
+ </name>
+ </transition>
+ <transition id="t_collision_freedom">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Feststellung Kollisionsfreiheit</text>
+ </name>
+ </transition>
+ <transition id="t_collision_risk">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Feststellung Kollisionsgefahr</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="pt_trajectory_request" source="p_trajectory_request_ref" target="t_create_trajectory">
+ </arc>
+ <arc id="pt_hazardzones" source="p_hazardzones" target="t_create_trajectory">
+ </arc>
+ <arc id="tp_create_trajectory" source="t_create_trajectory" target="p_trajectory_suggestion">
+ </arc>
+ <arc id="pt_freedom_of_collision" source="p_freedom_of_collision" target="t_collision_freedom">
+ </arc>
+ <arc id="pt_risk_of_collision" source="p_risk_of_collision" target="t_collision_risk">
+ </arc>
+ <arc id="tp_collision_freedom" source="t_collision_freedom" target="p_trajectory">
+ </arc>
+ <arc id="tp_collision_risk" source="t_collision_risk" target="p_trajectory_request_ref">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/determine_hazards.pnml b/src/main/resources/static_pages/determine_hazards.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..57f3cdf305c2d4aeee076785089dd990c11e1182
--- /dev/null
+++ b/src/main/resources/static_pages/determine_hazards.pnml
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="determine_hazards">
+ <name>
+ <text>Gefahrenbereiche ermitteln</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_objects_captured_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "data" : "objects", "location" : "xyz" , "contour" : "faces" , "function" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Objekte erfasst</text>
+ </name>
+ </place>
+ <place id="p_hazards_identified">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "kind" : "xxx", "location" : "xyz" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>pot. Gefahren ermittelt</text>
+ </name>
+ </place>
+ <place id="p_hazard_status">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Gefahrenbereiche ermitteln</text>
+ </name>
+ </place>
+ <place id="p_hazard_zones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Gefahrenbereiche</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_analyse_hazards">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>pot. Gefahren analysieren</text>
+ </name>
+ </transition>
+ <transition id="t_determine_hazardzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Gefahrenbereiche ermitteln</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="dh1" source="p_objects_captured_ref" target="t_analyse_hazards">
+ </arc>
+ <arc id="dh2" source="t_analyse_hazards" target="p_hazards_identified">
+ </arc>
+ <arc id="dh3" source="p_hazards_identified" target="t_determine_hazardzones">
+ </arc>
+ <arc id="dh4" source="t_determine_hazardzones" target="p_hazard_status">
+ </arc>
+ <arc id="dh5" source="t_determine_hazardzones" target="p_hazard_zones">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/extract_reflexzones.pnml b/src/main/resources/static_pages/extract_reflexzones.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..bac5c609d1802f3aa84a69171e8188af5022b5a3
--- /dev/null
+++ b/src/main/resources/static_pages/extract_reflexzones.pnml
@@ -0,0 +1,65 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="extract_reflexzones">
+ <name>
+ <text>Reflexzonen erstellen</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_hazardzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Gefahrenbereiche</text>
+ </name>
+ </place>
+ <place id="p_reflexzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "timestamp" : "date", "location" : "x y z", "area" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reflexzonen</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_determine_reflexzones">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexzonen bestimmen</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="er1" source="p_hazardzones" target="t_determine_reflexzones">
+ </arc>
+ <arc id="er2" source="t_determine_reflexzones" target="p_reflexzones">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/get_task.pnml b/src/main/resources/static_pages/get_task.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..9d9271cdc043b539d17f2d4d538ccd683b6e1a77
--- /dev/null
+++ b/src/main/resources/static_pages/get_task.pnml
@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="get_task">
+ <name>
+ <text>Aufgabenstellung erfassen</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_task_from_sensordata_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "taskID", "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Aufgabenstellung durch Sensordaten</text>
+ </name>
+ </place>
+ <place id="p_task_from_other_channels_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "taskID", "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>1</text>
+ </initialMarking>
+ <name>
+ <text>Aufgabenstellung aus anderen Kanälen</text>
+ </name>
+ </place>
+ <place id="p_task_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "taskID", "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Aufgabe</text>
+ </name>
+ </place>
+ <!-- transitions -->
+ <transition id="t_extract_task_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Aufgabenextraktion</text>
+ </name>
+ </transition>
+ <transition id="t_register_task_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Aufgabenerfassung</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="gt1_alias" source="p_task_from_sensordata_alias" target="t_extract_task_alias">
+ </arc>
+ <arc id="gt2_alias" source="p_task_from_other_channels_alias" target="t_register_task_alias">
+ </arc>
+ <arc id="gt3_alias" source="t_extract_task_alias" target="p_task_alias">
+ </arc>
+ <arc id="gt4_alias" source="t_register_task_alias" target="p_task_alias">
+ </arc>
+ <arc id="gt5_alias" source="t_register_task_alias" target="p_task_from_other_channels_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/handover_giver.pnml b/src/main/resources/static_pages/handover_giver.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..82f8a000144aa954830c9060af28cf27507892bc
--- /dev/null
+++ b/src/main/resources/static_pages/handover_giver.pnml
@@ -0,0 +1,566 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="handover_giver">
+ <name>
+ <text>Handover Geber</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_notice_handover_intention_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>HO Intension wahrgenommen</text>
+ </name>
+ </place>
+ <place id="p_interrupt_request_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "expected_delay" = "time" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Timeout</text>
+ </name>
+ </place>
+ <place id="p_communicate_handover_intention_giver_alias_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>HO Intension kommunizieren</text>
+ </name>
+ </place>
+ <place id="p_init_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Initialisierung</text>
+ </name>
+ </place>
+ <place id="p_reach_request_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reach Request</text>
+ </name>
+ </place>
+ <place id="p_reach_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reach</text>
+ </name>
+ </place>
+ <place id="p_grasp_request_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Grasp Request</text>
+ </name>
+ </place>
+ <place id="p_grasp_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Grasp</text>
+ </name>
+ </place>
+ <place id="p_transfer_request_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Transfer Request</text>
+ </name>
+ </place>
+ <place id="p_transfer_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Transfer</text>
+ </name>
+ </place>
+ <place id="p_retract_request_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Retract Request</text>
+ </name>
+ </place>
+ <place id="p_retract_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Retract</text>
+ </name>
+ </place>
+ <place id="p_disrupption_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Störung</text>
+ </name>
+ </place>
+ <place id="p_adaption_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Anpassung</text>
+ </name>
+ </place>
+ <place id="p_cancel_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Abbruch</text>
+ </name>
+ </place>
+ <place id="p_communicate_cancel_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Abbruch kommunizieren</text>
+ </name>
+ </place>
+ <place id="p_reflex_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reflexe/0-Gravity</text>
+ </name>
+ </place>
+ <place id="p_handover_completed_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Handover beendet</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_interruption_request_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Interruption Request</text>
+ </name>
+ </transition>
+ <transition id="t_to_reach_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>zu reach</text>
+ </name>
+ </transition>
+ <transition id="t_to_grasp_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>zu grasp</text>
+ </name>
+ </transition>
+ <transition id="t_to_transfer_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>zu transfer</text>
+ </name>
+ </transition>
+ <transition id="t_to_retract_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>zu retract</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption_to_reach_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung zu reach</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption_to_grasp_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung zu grasp</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption_to_transfer_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung zu transfer</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption_to_retract_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung zu retract</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_ho_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>HO beenden</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_cancel_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Abbruch beenden</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_reflex_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexe beenden</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung</text>
+ </name>
+ </transition>
+ <transition id="t_adaption_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Anpassung</text>
+ </name>
+ </transition>
+ <transition id="t_cancel_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Abbruch</text>
+ </name>
+ </transition>
+ <transition id="t_collision_giver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kollision</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="hg1_alias" source="p_notice_handover_intention_giver_alias" target="t_interruption_request_giver_alias">
+ </arc>
+ <arc id="hg2_alias" source="t_interruption_request_giver_alias" target="p_interrupt_request_giver_alias">
+ </arc>
+
+ <arc id="hg3_alias" source="p_init_giver_alias" target="t_to_reach_giver_alias">
+ </arc>
+ <arc id="hg4_alias" source="t_to_reach_giver_alias" target="p_reach_request_giver_alias">
+ </arc>
+
+ <arc id="hg5_alias" source="p_reach_giver_alias" target="t_to_grasp_giver_alias">
+ </arc>
+ <arc id="hg6_alias" source="t_to_grasp_giver_alias" target="p_grasp_request_giver_alias">
+ </arc>
+
+ <arc id="hg7_alias" source="p_grasp_giver_alias" target="t_to_transfer_giver_alias">
+ </arc>
+ <arc id="hg8_alias" source="t_to_transfer_giver_alias" target="p_transfer_request_giver_alias">
+ </arc>
+
+ <arc id="hg9_alias" source="p_transfer_giver_alias" target="t_to_retract_giver_alias">
+ </arc>
+ <arc id="hg10_alias" source="t_to_retract_giver_alias" target="p_retract_request_giver_alias">
+ </arc>
+
+ <arc id="hg11_alias" source="p_retract_giver_alias" target="t_terminate_ho_giver_alias">
+ </arc>
+ <arc id="hg12_alias" source="t_terminate_ho_giver_alias" target="p_handover_completed_giver_alias">
+ </arc>
+ <!-- upper row completed -->
+
+ <arc id="hg13_alias" source="p_reach_giver_alias" target="t_disrupption_giver_alias">
+ </arc>
+ <arc id="hg14_alias" source="p_grasp_giver_alias" target="t_disrupption_giver_alias">
+ </arc>
+ <arc id="hg15_alias" source="p_transfer_giver_alias" target="t_disrupption_giver_alias">
+ </arc>
+ <arc id="hg16_alias" source="p_retract_giver_alias" target="t_disrupption_giver_alias">
+ </arc>
+
+ <arc id="hg17_alias" source="t_disrupption_giver_alias" target="p_disrupption_giver_alias">
+ </arc>
+ <arc id="hg18_alias" source="p_disrupption_giver_alias" target="t_adaption_giver_alias">
+ </arc>
+ <arc id="hg19_alias" source="p_disrupption_giver_alias" target="t_cancel_giver_alias">
+ </arc>
+ <arc id="hg20_alias" source="p_disrupption_giver_alias" target="t_collision_giver_alias">
+ </arc>
+
+ <arc id="hg21_alias" source="t_adaption_giver_alias" target="p_adaption_giver_alias">
+ </arc>
+ <arc id="hg22_alias" source="t_cancel_giver_alias" target="p_cancel_giver_alias">
+ </arc>
+ <arc id="hg23_alias" source="t_cancel_giver_alias" target="p_communicate_cancel_giver_alias">
+ </arc>
+ <arc id="hg24_alias" source="t_collision_giver_alias" target="p_reflex_giver_alias">
+ </arc>
+
+ <arc id="hg25_alias" source="p_adaption_giver_alias" target="t_disrupption_to_reach_giver_alias">
+ </arc>
+ <arc id="hg26_alias" source="p_adaption_giver_alias" target="t_disrupption_to_grasp_giver_alias">
+ </arc>
+ <arc id="hg27_alias" source="p_adaption_giver_alias" target="t_disrupption_to_transfer_giver_alias">
+ </arc>
+ <arc id="hg28_alias" source="p_adaption_giver_alias" target="t_disrupption_to_retract_giver_alias">
+ </arc>
+
+ <arc id="hg29_alias" source="t_disrupption_to_reach_giver_alias" target="p_reach_request_giver_alias">
+ </arc>
+ <arc id="hg30_alias" source="t_disrupption_to_grasp_giver_alias" target="p_grasp_request_giver_alias">
+ </arc>
+ <arc id="hg31_alias" source="t_disrupption_to_transfer_giver_alias" target="p_transfer_request_giver_alias">
+ </arc>
+ <arc id="hg32_alias" source="t_disrupption_to_retract_giver_alias" target="p_retract_request_giver_alias">
+ </arc>
+
+ <arc id="hg33_alias" source="p_cancel_giver_alias" target="t_terminate_cancel_giver_alias">
+ </arc>
+ <arc id="hg34_alias" source="p_reflex_giver_alias" target="t_terminate_reflex_giver_alias">
+ </arc>
+ <arc id="hg35_alias" source="t_terminate_cancel_giver_alias" target="p_handover_completed_giver_alias">
+ </arc>
+ <arc id="hg36_alias" source="t_terminate_reflex_giver_alias" target="p_handover_completed_giver_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/handover_receiver.pnml b/src/main/resources/static_pages/handover_receiver.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..9a52a43ce91b05fefc082fac64747871652101f7
--- /dev/null
+++ b/src/main/resources/static_pages/handover_receiver.pnml
@@ -0,0 +1,566 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="handover_receiver">
+ <name>
+ <text>Handover Nehmer</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_notice_handover_intention_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>HO Intension wahrgenommen</text>
+ </name>
+ </place>
+ <place id="p_interrupt_request_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "expected_delay" = "time" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Timeout</text>
+ </name>
+ </place>
+ <place id="p_demand_handover_intention_receiver_alias_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>HO Intension fordern</text>
+ </name>
+ </place>
+ <place id="p_init_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Initialisierung</text>
+ </name>
+ </place>
+ <place id="p_reach_request_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reach Request</text>
+ </name>
+ </place>
+ <place id="p_reach_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reach</text>
+ </name>
+ </place>
+ <place id="p_grasp_request_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Grasp Request</text>
+ </name>
+ </place>
+ <place id="p_grasp_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <node>n3</node>
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Grasp</text>
+ </name>
+ </place>
+ <place id="p_transfer_request_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Transfer Request</text>
+ </name>
+ </place>
+ <place id="p_transfer_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "poses" : "grasping_poses" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Transfer</text>
+ </name>
+ </place>
+ <place id="p_retract_request_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Retract Request</text>
+ </name>
+ </place>
+ <place id="p_retract_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Retract</text>
+ </name>
+ </place>
+ <place id="p_disrupption_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Störung</text>
+ </name>
+ </place>
+ <place id="p_adaption_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "assumed_other_state" : "status" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Anpassung</text>
+ </name>
+ </place>
+ <place id="p_cancel_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Abbruch</text>
+ </name>
+ </place>
+ <place id="p_communicate_cancel_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "trajectory" : "path" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Abbruch kommunizieren</text>
+ </name>
+ </place>
+ <place id="p_reflex_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" , "trajectory" : "reflex" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Reflexe/0-Gravity</text>
+ </name>
+ </place>
+ <place id="p_handover_completed_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Handover beendet</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_interruption_request_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Interruption Request</text>
+ </name>
+ </transition>
+ <transition id="t_to_reach_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>zu reach</text>
+ </name>
+ </transition>
+ <transition id="t_to_grasp_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>zu grasp</text>
+ </name>
+ </transition>
+ <transition id="t_to_transfer_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>zu transfer</text>
+ </name>
+ </transition>
+ <transition id="t_to_retract_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>zu retract</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption_to_reach_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung zu reach</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption_to_grasp_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung zu grasp</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption_to_transfer_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung zu transfer</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption_to_retract_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung zu retract</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_ho_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>HO beenden</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_cancel_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Abbruch beenden</text>
+ </name>
+ </transition>
+ <transition id="t_terminate_reflex_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Reflexe beenden</text>
+ </name>
+ </transition>
+ <transition id="t_disrupption_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Störung</text>
+ </name>
+ </transition>
+ <transition id="t_adaption_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Anpassung</text>
+ </name>
+ </transition>
+ <transition id="t_cancel_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Abbruch</text>
+ </name>
+ </transition>
+ <transition id="t_collision_receiver_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Kollision</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="hr1_alias" source="p_notice_handover_intention_receiver_alias" target="t_interruption_request_receiver_alias">
+ </arc>
+ <arc id="hr2_alias" source="t_interruption_request_receiver_alias" target="p_interrupt_request_receiver_alias">
+ </arc>
+
+ <arc id="hr3_alias" source="p_init_receiver_alias" target="t_to_reach_receiver_alias">
+ </arc>
+ <arc id="hr4_alias" source="t_to_reach_receiver_alias" target="p_reach_request_receiver_alias">
+ </arc>
+
+ <arc id="hr5_alias" source="p_reach_receiver_alias" target="t_to_grasp_receiver_alias">
+ </arc>
+ <arc id="hr6_alias" source="t_to_grasp_receiver_alias" target="p_grasp_request_receiver_alias">
+ </arc>
+
+ <arc id="hr7_alias" source="p_grasp_receiver_alias" target="t_to_transfer_receiver_alias">
+ </arc>
+ <arc id="hr8_alias" source="t_to_transfer_receiver_alias" target="p_transfer_request_receiver_alias">
+ </arc>
+
+ <arc id="hr9_alias" source="p_transfer_receiver_alias" target="t_to_retract_receiver_alias">
+ </arc>
+ <arc id="hr10_alias" source="t_to_retract_receiver_alias" target="p_retract_request_receiver_alias">
+ </arc>
+
+ <arc id="hr11_alias" source="p_retract_receiver_alias" target="t_terminate_ho_receiver_alias">
+ </arc>
+ <arc id="hr12_alias" source="t_terminate_ho_receiver_alias" target="p_handover_completed_receiver_alias">
+ </arc>
+ <!-- upper row completed -->
+
+ <arc id="hr13_alias" source="p_reach_receiver_alias" target="t_disrupption_receiver_alias">
+ </arc>
+ <arc id="hr14_alias" source="p_grasp_receiver_alias" target="t_disrupption_receiver_alias">
+ </arc>
+ <arc id="hr15_alias" source="p_transfer_receiver_alias" target="t_disrupption_receiver_alias">
+ </arc>
+ <arc id="hr16_alias" source="p_retract_receiver_alias" target="t_disrupption_receiver_alias">
+ </arc>
+
+ <arc id="hr17_alias" source="t_disrupption_receiver_alias" target="p_disrupption_receiver_alias">
+ </arc>
+ <arc id="hr18_alias" source="p_disrupption_receiver_alias" target="t_adaption_receiver_alias">
+ </arc>
+ <arc id="hr19_alias" source="p_disrupption_receiver_alias" target="t_cancel_receiver_alias">
+ </arc>
+ <arc id="hr20_alias" source="p_disrupption_receiver_alias" target="t_collision_receiver_alias">
+ </arc>
+
+ <arc id="hr21_alias" source="t_adaption_receiver_alias" target="p_adaption_receiver_alias">
+ </arc>
+ <arc id="hr22_alias" source="t_cancel_receiver_alias" target="p_cancel_receiver_alias">
+ </arc>
+ <arc id="hr23_alias" source="t_cancel_receiver_alias" target="p_communicate_cancel_receiver_alias">
+ </arc>
+ <arc id="hr24_alias" source="t_collision_receiver_alias" target="p_reflex_receiver_alias">
+ </arc>
+
+ <arc id="hr25_alias" source="p_adaption_receiver_alias" target="t_disrupption_to_reach_receiver_alias">
+ </arc>
+ <arc id="hr26_alias" source="p_adaption_receiver_alias" target="t_disrupption_to_grasp_receiver_alias">
+ </arc>
+ <arc id="hr27_alias" source="p_adaption_receiver_alias" target="t_disrupption_to_transfer_receiver_alias">
+ </arc>
+ <arc id="hr28_alias" source="p_adaption_receiver_alias" target="t_disrupption_to_retract_receiver_alias">
+ </arc>
+
+ <arc id="hr29_alias" source="t_disrupption_to_reach_receiver_alias" target="p_reach_request_receiver_alias">
+ </arc>
+ <arc id="hr30_alias" source="t_disrupption_to_grasp_receiver_alias" target="p_grasp_request_receiver_alias">
+ </arc>
+ <arc id="hr31_alias" source="t_disrupption_to_transfer_receiver_alias" target="p_transfer_request_receiver_alias">
+ </arc>
+ <arc id="hr32_alias" source="t_disrupption_to_retract_receiver_alias" target="p_retract_request_receiver_alias">
+ </arc>
+
+ <arc id="hr33_alias" source="p_cancel_receiver_alias" target="t_terminate_cancel_receiver_alias">
+ </arc>
+ <arc id="hr34_alias" source="p_reflex_receiver_alias" target="t_terminate_reflex_receiver_alias">
+ </arc>
+ <arc id="hr35_alias" source="t_terminate_cancel_receiver_alias" target="p_handover_completed_receiver_alias">
+ </arc>
+ <arc id="hr36_alias" source="t_terminate_reflex_receiver_alias" target="p_handover_completed_receiver_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/interruption_request.pnml b/src/main/resources/static_pages/interruption_request.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..39cd5b893b01f78cf4784ce69bb6b6dffa93e267
--- /dev/null
+++ b/src/main/resources/static_pages/interruption_request.pnml
@@ -0,0 +1,235 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="interruption_request">
+ <name>
+ <text>Aufgabenunterbrechung</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_new_task_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "new_task", "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>neue Aufgabe</text>
+ </name>
+ </place>
+ <!-- is not a place, it's a global signal given from config.json file -->
+ <!--place id="p_prio_maintask">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Hauptaufgabe hochpriorisiert</text>
+ </name>
+ </place-->
+ <place id="p_safety_critical_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit sicherheitskritisch</text>
+ </name>
+ </place>
+ <place id="p_action_uninterruptable_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit ununterbrechbar</text>
+ </name>
+ </place>
+ <place id="p_check_current_action_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Prüfung der aktuellen Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_secondary_task_possible_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebenaufgabe möglich</text>
+ </name>
+ </place>
+ <place id="p_secondary_task_delayed_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" , "expected_delay" = "time" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebenaufgabe aufgeschoben</text>
+ </name>
+ </place>
+ <place id="p_secondary_task_denied_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebenaufgabe abgelehnt</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_idle_alias_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>idle</text>
+ </name>
+ </transition>
+ <transition id="t_maintask_no_prio_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>nicht hochpriorisiert</text>
+ </name>
+ </transition>
+ <transition id="t_maintask_prio_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>hochpriorisiert</text>
+ </name>
+ </transition>
+ <transition id="t_action_interruptable_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>unterbrechbar</text>
+ </name>
+ </transition>
+ <transition id="t_action_uninterruptable_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>ununterbrechbar</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="ir1_alias" source="p_new_task_alias" target="t_idle_alias_ref">
+ </arc>
+ <arc id="ir2_alias" source="p_new_task_alias" target="t_maintask_no_prio_alias">
+ </arc>
+ <arc id="ir3_alias" source="p_new_task_alias" target="t_maintask_prio_alias">
+ </arc>
+ <arc id="ir4_alias" source="t_idle_alias_ref" target="p_secondary_task_possible_alias">
+ </arc>
+ <arc id="ir5_alias" source="t_maintask_prio_alias" target="p_secondary_task_denied_alias">
+ </arc>
+ <arc id="ir6_alias" source="t_maintask_no_prio_alias" target="p_check_current_action_alias">
+ </arc>
+ <arc id="ir7_alias" source="p_check_current_action_alias" target="t_action_interruptable_alias">
+ </arc>
+ <arc id="ir8_alias" source="p_check_current_action_alias" target="t_action_uninterruptable_alias">
+ </arc>
+ <arc id="ir9_alias" source="t_action_interruptable_alias" target="p_secondary_task_possible_alias">
+ </arc>
+ <arc id="ir10_alias" source="t_action_uninterruptable_alias" target="p_secondary_task_delayed_alias">
+ </arc>
+ <arc id="ir11_alias" source="p_safety_critical_alias" target="t_action_interruptable_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>inhibitor</type>
+ </toolspecific>
+ </arc>
+ <arc id="ir12_alias" source="p_safety_critical_alias" target="t_action_uninterruptable_alias">
+ </arc>
+ <arc id="ir13_alias" source="p_action_uninterruptable_alias" target="t_action_interruptable_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>inhibitor</type>
+ </toolspecific>
+ </arc>
+ <arc id="ir14_alias" source="p_action_uninterruptable_alias" target="t_action_uninterruptable_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/interruption_safety.pnml b/src/main/resources/static_pages/interruption_safety.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..0f277c931a373c5925a18db39ce7b5cbaa617478
--- /dev/null
+++ b/src/main/resources/static_pages/interruption_safety.pnml
@@ -0,0 +1,95 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific><page id="interruption_safety">
+ <name>
+ <text>Unterbrechbarkeitsbewertung der aktuellen Aufgabe</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_safety_evaluation_alias_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Sicherheitsbewertung</text>
+ </name>
+ </place>
+ <place id="p_task_uninterruptable_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "true" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit ununterbrechbar</text>
+ </name>
+ </place>
+ <place id="p_task_interruptable_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "true" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Signal: Tätigkeit unterbrechbar</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_uninterruptable_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einstufung: Tätigkeit ununterbrechbar</text>
+ </name>
+ </transition>
+ <transition id="t_interruptable_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einstufung: Tätigkeit unterbrechbar</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="is1_alias" source="p_safety_evaluation_alias_ref" target="t_uninterruptable_alias">
+ </arc>
+ <arc id="is2_alias" source="p_safety_evaluation_alias_ref" target="t_interruptable_alias">
+ </arc>
+ <arc id="is3_alias" source="t_uninterruptable_alias" target="p_task_uninterruptable_alias">
+ </arc>
+ <arc id="is4_alias" source="t_interruptable_alias" target="p_task_interruptable_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/new_action.pnml b/src/main/resources/static_pages/new_action.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..f674f648b1a06b8025cdee5cb49dc91274b2bd69
--- /dev/null
+++ b/src/main/resources/static_pages/new_action.pnml
@@ -0,0 +1,64 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific><page id="new_task">
+ <name>
+ <text>neue Tätigkeit</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_goal_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Zielvorgabe</text>
+ </name>
+ </place>
+ <place id="p_trajectory_request_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" , "trajectory_goal" : "x y z" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Trajektorienanfrage</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_request_trajectory_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Trajektorie anfragen</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="na1" source="p_goal_alias" target="t_request_trajectory_alias">
+ </arc>
+ <arc id="na2" source="t_request_trajectory_alias" target="p_trajectory_request_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/simple_action.pnml b/src/main/resources/static_pages/simple_action.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..cfed6b8234d1a7fdec7912dc5d0145750d3de5b0
--- /dev/null
+++ b/src/main/resources/static_pages/simple_action.pnml
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="simple_action">
+ <name>
+ <text>simple Tätigkeit</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_simple_action_alias_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "taskID", "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>einfache Tätigkeit Request</text>
+ </name>
+ </place>
+ <place id="p_simple_action_done_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "taskID", "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Tätigkeit ausgeführt</text>
+ </name>
+ </place>
+ <place id="p_simple_action_completed_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "id" : "taskID"} </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Tätigkeit beendet</text>
+ </name>
+ </place>
+ <transition id="t_simple_action_completed_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text></text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="st1_alias" source="p_simple_action_done_alias" target="t_simple_action_completed_alias">
+ </arc>
+ <arc id="st2_alias" source="t_simple_action_completed_alias" target="p_simple_action_completed_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/task_safety.pnml b/src/main/resources/static_pages/task_safety.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..3484902ea8a2ce3ac7db6152ff90787764066c6b
--- /dev/null
+++ b/src/main/resources/static_pages/task_safety.pnml
@@ -0,0 +1,96 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="task_safety">
+ <name>
+ <text>Sicherheitsbewertung der aktuellen Aufgabe</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_safety_evaluation_alias_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>aktuelle Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_safety_critical_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "true" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Tätigkeit sicherheitskritisch</text>
+ </name>
+ </place>
+ <place id="p_safety_uncritical_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "true" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Tätigkeit sicherheitsunkritisch</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_safety_critical_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einstufung: Tätigkeit sicherheitskritisch</text>
+ </name>
+ </transition>
+ <transition id="t_safety_uncritical_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einstufung: Tätigkeit sicherheitsunkritisch</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="ts1" source="p_safety_evaluation_alias_ref" target="t_safety_critical_alias">
+ </arc>
+ <arc id="ts2" source="p_safety_evaluation_alias_ref" target="t_safety_uncritical_alias">
+ </arc>
+ <arc id="ts3" source="t_safety_critical_alias" target="p_safety_critical_alias">
+ </arc>
+ <arc id="ts4" source="t_safety_uncritical_alias" target="p_safety_uncritical_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/static_pages/update_taskqueue.pnml b/src/main/resources/static_pages/update_taskqueue.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..5ac47765a32d43ed9fa38e868ac2d2863a8f8f2d
--- /dev/null
+++ b/src/main/resources/static_pages/update_taskqueue.pnml
@@ -0,0 +1,238 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ <page id="update_taskqueue">
+ <name>
+ <text>Aufgabenkette aktualisieren</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>nodePage</type>
+ </toolspecific>
+ <!-- places -->
+ <place id="p_secondary_task_possible_alias_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebentätigkeit möglich</text>
+ </name>
+ </place>
+ <place id="p_task_completed_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Tätigkeit beendet</text>
+ </name>
+ </place>
+ <place id="p_secondary_task_delayed_alias_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" , "expected_delay" = "time" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebentätigkeit aufgeschoben</text>
+ </name>
+ </place>
+ <place id="p_secondary_task_denied_alias_ref">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "status" : "xxx" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Nebentätigkeit abgelehnt</text>
+ </name>
+ </place>
+ <place id="p_taskqueue_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "taskqueue" : "tasks" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Aufgabenkette</text>
+ </name>
+ </place>
+ <place id="p_current_task_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>aktuelle Tätigkeit</text>
+ </name>
+ </place>
+ <place id="p_safety_evaluation_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <balloonMarking>
+ <tokens>
+ <token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ <name>
+ <text>Sicherheitsbewertung</text>
+ </name>
+ </place>
+ <!--transitions-->
+ <transition id="t_secondary_task_first_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Nebentätigkeit vor Aufgabenkette</text>
+ </name>
+ </transition>
+ <transition id="t_delete_first_entry_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>erstes Element löschen</text>
+ </name>
+ </transition>
+ <transition id="t_insert_secondary_task_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Einarbeitung der Nebentätigkeit</text>
+ </name>
+ </transition>
+ <transition id="t_keep_taskqueue_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>Beibehaltung der Aufgabenkette</text>
+ </name>
+ </transition>
+ <transition id="t_idle_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>leere Aufgabenkette</text>
+ </name>
+ </transition>
+ <transition id="t_next_action_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <!--node>n3</node-->
+ <!--subnet>s3</subnet-->
+ <type>discreteTransitionType</type>
+ <inputsignalclause></inputsignalclause>
+ </toolspecific>
+ <name>
+ <text>nächste Tätigkeit</text>
+ </name>
+ </transition>
+ <!-- arcs -->
+ <arc id="ut1_alias" source="p_secondary_task_possible_alias_ref" target="t_secondary_task_first_alias">
+ </arc>
+ <arc id="ut2_alias" source="p_task_completed_alias" target="t_delete_first_entry_alias">
+ </arc>
+ <arc id="ut3_alias" source="p_secondary_task_delayed_alias_ref" target="t_insert_secondary_task_alias">
+ </arc>
+ <arc id="ut4_alias" source="p_secondary_task_denied_alias_ref" target="t_keep_taskqueue_alias">
+ </arc>
+ <arc id="ut5_alias" source="p_taskqueue_alias" target="t_secondary_task_first_alias">
+ <!--toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>inhibitor</type>
+ </toolspecific-->
+ </arc>
+ <arc id="ut6_alias" source="p_taskqueue_alias" target="t_delete_first_entry_alias">
+ <!--toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>inhibitor</type>
+ </toolspecific-->
+ </arc>
+ <arc id="ut7_alias" source="p_taskqueue_alias" target="t_insert_secondary_task_alias">
+ <!--toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>inhibitor</type>
+ </toolspecific-->
+ </arc>
+ <arc id="ut8_alias" source="p_taskqueue_alias" target="t_keep_taskqueue_alias">
+ <!--toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>inhibitor</type>
+ </toolspecific-->
+ </arc>
+ <arc id="ut9_alias" source="p_taskqueue_alias" target="t_idle_alias">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>inhibitor</type>
+ </toolspecific>
+ </arc>
+ <arc id="ut10_alias" source="p_taskqueue_alias" target="t_next_action_alias">
+ <!--toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>inhibitor</type>
+ </toolspecific-->
+ </arc>
+ <arc id="ut11_alias" source="t_next_action_alias" target="p_current_task_alias">
+ </arc>
+ <arc id="ut12_alias" source="t_next_action_alias" target="p_safety_evaluation_alias">
+ </arc>
+ </page>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/system.pnml b/src/main/resources/system.pnml
new file mode 100644
index 0000000000000000000000000000000000000000..099b6d3db3bad9d16c6efe8d9c73e33c7072ef17
--- /dev/null
+++ b/src/main/resources/system.pnml
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
+ <net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <page id="collaboration_system">
+ <!--all modules will be inserted here-->
+
+ </page>
+
+ <transition id="SensordataTopicTransition">
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <type>topicTransitionType</type>
+ <topicName>SensordataTopic</topicName>
+ <publishers>
+ <publisher>
+ <id>p_read_sensordata</id>
+ <limit>10</limit>
+ </publisher>
+ </publishers>
+ <subscribers>
+ <subscriber>
+ <id>p_task_from_sensordata_alias</id>
+ <limit>20</limit>
+ </subscriber>
+ </subscribers>
+ </toolspecific>
+ <name>
+ <text>SensordataTopicTransition</text>
+ </name>
+ </transition>
+
+ <name>
+ <text>Collaboration System</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ </net>
+</pnml>
\ No newline at end of file
diff --git a/src/main/resources/topo.json b/src/main/resources/topo.json
new file mode 100644
index 0000000000000000000000000000000000000000..91fe82dcf684ba0e86cdf59579262d63ecdbd522
--- /dev/null
+++ b/src/main/resources/topo.json
@@ -0,0 +1,66 @@
+{
+ "modules" : [
+ {
+ "coordinator": [
+ { "block": "environment" }
+ ]
+ }
+ ],
+ "blocks" : [
+ {
+ "environment": [
+ {"page": "analyse_scene"},
+ {"page": "determine_hazards"}
+ ]
+ },
+ {
+ "reflexes": [
+ {"page": "extract_reflexzones"},
+ {"page": "create_reflexes"}
+ ]
+ },
+ {
+ "collisioncontrol": [
+ {"page": "collision_control"}
+ ]
+ },
+
+
+ {
+ "selector": [
+ {"page": "get_task"}
+ ]
+ },
+ {
+ "actor": [
+ {"page": "simple_task"},
+ {"page": "handover_receiver"},
+ {"page": "handover_giver"},
+ {"page": "task_categorization"}
+ ]
+ },
+ {
+ "executor": [
+ {"page": "new_action"},
+ {"page": "create_trajectory"},
+ {"page": "allow_trajectory"}
+ ]
+ },
+ {
+ "controller": [
+ {"page": "interruption_request"},
+ {"page": "update_taskqueue"},
+ {"page": "task_safety"},
+ {"page": "interruption_safety"}
+ ]
+ }
+ ]
+}
+
+
+
+
+
+
+
+