webgme-rosmod/src/plugins/SoftwareGenerator/Templates/Templates.js

This repository contains ROSMOD developed for WebGME. ROSMOD is a web-based, collaborative, modeling and execution environment for distributed embedded applications built using ROS http://rosmod.rcps.isis.vanderbilt.edu

/* Generated file based on ejs templates */
define([], function() {
    return {
    "CMakeLists.txt.ejs": "cmake_minimum_required(VERSION 2.8.3)\nproject(<%- pkgInfo.name %>)\n\n## Start Global Marker\n## End Global Marker\n\n## Check C++11 / C++0x\ninclude(CheckCXXCompilerFlag)\nCHECK_CXX_COMPILER_FLAG(\"-std=c++11\" COMPILER_SUPPORTS_CXX11)\nCHECK_CXX_COMPILER_FLAG(\"-std=c++0x\" COMPILER_SUPPORTS_CXX0X)\nif(COMPILER_SUPPORTS_CXX11)\n    set(CMAKE_CXX_FLAGS \"-std=c++11\")\nelseif(COMPILER_SUPPORTS_CXX0X)\n    set(CMAKE_CXX_FLAGS \"-std=c++0x\")\nelse()\n    message(FATAL_ERROR \"The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.\")\nendif()\n\nfind_package(catkin REQUIRED COMPONENTS\n<%\nif (pkgInfo.Message_list || pkgInfo.Service_list || pkgInfo.Action_list) {\n-%>\n  message_generation\n<%\n}\n-%>\n  roscpp\n  rosmod_actor\n  # external packages that we depend on\n  <%- pkgInfo.PackageDependencies.join(' ') %>\n)\n\n<% \nif (pkgInfo.Service_list) { \n-%>\n# Generate services in the 'srv' folder\nadd_service_files(\n  FILES\n<%   \n  pkgInfo.Service_list.map(function(srv) { \n-%>\n  <%- srv.name %>.srv\n<%\n  }); \n-%>\n)\n<%\n} \n-%>\n\n<%\nif (pkgInfo.Message_list) { \n-%>\n# Generate messages in the 'msg' folder\nadd_message_files(\n  FILES\n<%\n  pkgInfo.Message_list.map(function(msg) { \n-%>\n  <%- msg.name %>.msg\n<%\n  }); \n-%>\n)\n<%\n} \n-%>\n\n<%\nif (pkgInfo.Action_list) { \n-%>\n# Generate actions in the 'action' folder\nadd_action_files(\n  FILES\n<%\n  pkgInfo.Action_list.map(function(act) { \n-%>\n  <%- act.name %>.action\n<%\n  }); \n-%>\n)\n<%\n} \n-%>\n\n<%\nif (pkgInfo.Message_list || pkgInfo.Service_list || pkgInfo.Action_list) {\n-%>\n# Generate added messages and services with any dependencies listed here\ngenerate_messages(\n  DEPENDENCIES\n  <%- pkgInfo.GenerateMessageDependencies.join(' ') %>\n)\n<%\n}\n-%>\n\n#\n## catkin specific configuration \n#\n## The catkin_package macro generates cmake config files for your package\n## Declare things to be passed to dependent projects\n## INCLUDE_DIRS: uncomment this if you package contains header files\n## LIBRARIES: libraries you create in this project that dependent projects also need\n## CATKIN_DEPENDS: catkin_packages dependent projects also need\n## DEPENDS: system dependencies of this project that dependent projects also need\ncatkin_package(\n<%\nif (pkgInfo.Component_list) {\n-%>\n  INCLUDE_DIRS include\n<%\n}\n-%>\n#  LIBRARIES client_server_package\n#  CATKIN_DEPENDS roscpp std_msgs\n<%\nif (pkgInfo.Message_list || pkgInfo.Service_list || pkgInfo.Action_list) {\n-%>\n  CATKIN_DEPENDS <%- pkgInfo.PackageDependencies.join(' ') %>\n<%\n}\n-%>\n<%\nif (pkgInfo.Message_list || pkgInfo.Service_list || pkgInfo.Action_list) {\n-%>\n  CATKIN_DEPENDS message_runtime\n<%\n}\n-%>\n#  DEPENDS system_lib\n)\n\n#\n## Build \n#\n\n## Specify additional locations of header files\n## Your package locations should be listed before other locations\n# include_directories(include)\ninclude_directories(\n<%\nif (pkgInfo.Component_list) {\n-%>\n\tinclude\n    <%- pkgInfo.CMAKE_INCLUDES.join('\\n') %>\n<%\n}\n-%>\n\t${catkin_INCLUDE_DIRS})\n\n<%- pkgInfo.CMAKE_COMMANDS.join('\\n') %>\n\n<%\nif (pkgInfo.Component_list) {\n  pkgInfo.Component_list.map(function(cmp) {\n-%>\nadd_library(<%- cmp.name %>\n            src/<%- pkgInfo.name %>/<%- cmp.name %>.cpp\n<%\nif (cmp['State Machine_list']) {\n  cmp['State Machine_list'].map(function(hfsm) {\n-%>\n            include/<%- pkgInfo.name %>/<%- cmp.name %>_HFSM/<%- hfsm.sanitizedName %>_GeneratedStates.cpp\n<%\n});\n}\n-%>\n            )\ntarget_link_libraries(<%- cmp.name %>\n                      ${catkin_LIBRARIES}\n                      <%- cmp.LinkLibraries.join(' ') %>\n                      )\n<%\n    if (cmp.Dependencies.length) {\n-%>\nadd_dependencies(<%- cmp.name %>\n                 <%- cmp.Dependencies.join(' ') %>\n\t\t )\n<%\n    }\n-%>\n<%\n  });\n} \n-%>\n",
    "component.cpp.ejs": "/** @file    <%- compInfo.name %>.cpp \n *  @author  <%- compInfo.Authors %>\n *  @date    <%= (new Date()).toISOString() %>\n *  @brief   This file contains definitions for the <%- compInfo.name %> class; <%- compInfo['Brief Description'] %>\n */\n\n#include \"<%- compInfo.Package %>/<%- compInfo.name %>.hpp\"\n\n<%\nif (compInfo['State Machine_list']) {\n  compInfo['State Machine_list'].map(function(hfsm) {\n-%>\n// HFSM Includes\n#include \"<%- compInfo.Package %>/<%- compInfo.name %>_HFSM/<%- hfsm.sanitizedName %>_Events.hpp\"\n#include \"<%- compInfo.Package %>/<%- compInfo.name %>_HFSM/<%- hfsm.sanitizedName %>_GeneratedStates.hpp\"\n<%\n  });\n}\n-%>\n\n\n// User Definitions\n//::::<%- compInfo.path %>::::Definitions::::\n<%- compInfo.Definitions %>\n\n// Component Constructor\n<%- compInfo.name %>::<%- compInfo.name %>(Json::Value& _config):\n  Component::Component(_config)\n{\n}\n\n// Component Initialization \nvoid <%- compInfo.name %>::init_timer_operation(const ros::TimerEvent& event)\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  // User Initialization Code\n  try {\n    {\n      // print out the config that was passed in\n      std::string configStr = config.toStyledString();\n      std::cout << \"Config: \" << config << std::endl;\n    }\n<%\nif (compInfo['State Machine_list']) {\n  compInfo['State Machine_list'].map(function(hfsm) {\n-%>\n    {\n      // now initialize the HFSM\n      // update the \"this_component\" var for the HFSM\n      <%- hfsm.sanitizedName %>_root->setComponentPtr( this );\n      <%- hfsm.sanitizedName %>_root->initialize();\n      // update the HFSM timer period and start the timer\n      ros::Duration newPeriod = ros::Duration( <%- hfsm.sanitizedName %>_root->getActiveLeaf()->getTimerPeriod() );\n      if (!<%- hfsm.sanitizedName %>_root->hasStopped()) {\n        <%- hfsm.sanitizedName %>_HFSM_timer.setPeriod( newPeriod, false );\n      } else {\n        <%- hfsm.sanitizedName %>_HFSM_timer.stop();\n      }\n    }\n<%\n  });\n}\n-%>\n    // now run the initialization code\n    //::::<%- compInfo.path %>::::Initialization::::\n    <%- compInfo.Initialization %>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::initialization: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::initialization\");\n  }\n  init_timer.stop();\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"init_timer_operation, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n}\n\n<%\nif (compInfo['State Machine_list']) {\n  compInfo['State Machine_list'].map(function(hfsm) {\n-%>\n// <%- hfsm.name %> Timer function\nvoid <%- compInfo.name %>::<%- hfsm.sanitizedName %>_HFSM_timer_operation(const ros::TimerEvent& event)\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  try {\n    StateMachine::Event* e = nullptr;\n    // process all pending events\n    while ( (e = eventFactory->getNextEvent()) != nullptr ) {\n      <%- hfsm.sanitizedName %>_root->handleEvent( e );\n      eventFactory->consumeEvent( e );\n    }\n    // run the HFSM tick event\n    <%- hfsm.sanitizedName %>_root->tick();\n    // process all events that may have been generated by the tick event\n    while ( (e = eventFactory->getNextEvent()) != nullptr ) {\n      <%- hfsm.sanitizedName %>_root->handleEvent( e );\n      eventFactory->consumeEvent( e );\n    }\n    // update the timer period according to new active state\n    ros::Duration newPeriod = ros::Duration( <%- hfsm.sanitizedName %>_root->getActiveLeaf()->getTimerPeriod() );\n    if (!<%- hfsm.sanitizedName %>_root->hasStopped()) {\n      <%- hfsm.sanitizedName %>_HFSM_timer.setPeriod( newPeriod, false );\n    } else {\n      <%- hfsm.sanitizedName %>_HFSM_timer.stop();\n    }\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::<%- hfsm.sanitizedName %>_HFSM_timer_operation: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::<%- hfsm.sanitizedName %>_HFSM_timer_operation\");\n  }\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"<%- hfsm.sanitizedName %>, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n}\n<%\n  });\n}\n-%>\n\n<%\nif (compInfo.Timer_list) {\n  compInfo.Timer_list.map(function(tmr) {\n-%>\n// Timer Operation - <%- tmr.name %>\nvoid <%- compInfo.name %>::<%- tmr.name %>_operation(const ros::TimerEvent& event)\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  try {\n    //::::<%- tmr.path %>::::Operation::::\n    <%- tmr.Operation %>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::<%- tmr.name %>_operation: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::<%- tmr.name %>_operation\");\n  }\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"<%- tmr.name %>, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n}\n<%\n  });\n }\n-%>\n\n<%\nif (compInfo.Subscriber_list) {\n  compInfo.Subscriber_list.map(function(sub) {\n-%>\n// Subscriber Operation - <%- sub.name %>\nvoid <%- compInfo.name %>::<%- sub.name %>_operation(const ros::MessageEvent<<%- sub.Message.Package %>::<%- sub.Message.TypeName %> const>& event)\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  try {\n    // get the publisher name, header, receipt time, and received_data from the event\n    const std::string& publisher_node_name = event.getPublisherName();\n    const boost::shared_ptr<ros::M_string>& headerPtr = event.getConnectionHeaderPtr();\n    ros::Time receipt_time = event.getReceiptTime();\n    const <%- sub.Message.Package %>::<%- sub.Message.TypeName %>::ConstPtr& received_data = event.getMessage();\n    const <%- sub.Message.Package %>::<%- sub.Message.TypeName %>::ConstPtr& message = received_data;\n    // now run the user's subscriber operation code\n    //::::<%- sub.path %>::::Operation::::\n    <%- sub.Operation %>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::<%- sub.name %>_operation: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::<%- sub.name %>_operation\");\n  }\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"<%- sub.name %>, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n}\n<%\n  });\n }\n-%>\n\n<%\nif (compInfo.Server_list) {\n  compInfo.Server_list.map(function(srv) {\n-%>\n// Server Operation - <%- srv.name %>\nbool <%- compInfo.name %>::<%- srv.name %>_operation(const <%- srv.Service.Package %>::<%- srv.Service.TypeName %>::Request &req, <%- srv.Service.Package %>::<%- srv.Service.TypeName %>::Response &res )\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  try {\n    // now run the user's server operation code\n    //::::<%- srv.path %>::::Operation::::\n    <%- srv.Operation %>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::<%- srv.name %>_operation: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::<%- srv.name %>_operation\");\n  }\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"<%- srv.name %>, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n  return true;\n}\n<%\n  });\n }\n-%>\n\n<%\nif (compInfo['Action Server_list']) {\n  compInfo['Action Server_list'].map(function(srv) {\n-%>\n// Action Server Execute Callback - <%- srv.name %>\nvoid <%- compInfo.name %>::<%- srv.name %>_execute_cb(const <%- srv.Action.Package %>::<%- srv.Action.TypeName %>GoalConstPtr &goal )\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  try {\n    // now run the user's action server execute code\n    //::::<%- srv.path %>::::Execute Callback::::\n    <%- srv['Execute Callback'] %>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::<%- srv.name %>_execute_cb: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::<%- srv.name %>_execute_cb\");\n  }\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"<%- srv.name %>_execute, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n}\n// Action Server Goal Callback - <%- srv.name %>\nvoid <%- compInfo.name %>::<%- srv.name %>_goal_cb( )\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  try {\n    // now run the user's action server goal recv code\n    //::::<%- srv.path %>::::Goal Callback::::\n    <%- srv['Goal Callback'] %>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::<%- srv.name %>_goal_cb: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::<%- srv.name %>_goal_cb\");\n  }\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"<%- srv.name %>_goal, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n}\n// Action Server Preempt Callback - <%- srv.name %>\nvoid <%- compInfo.name %>::<%- srv.name %>_preempt_cb( )\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  try {\n    // now run the user's action server preempt code\n    //::::<%- srv.path %>::::Preempt Callback::::\n    <%- srv['Preempt Callback'] %>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::<%- srv.name %>_preempt_cb: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::<%- srv.name %>_preempt_cb\");\n  }\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"<%- srv.name %>_preempt, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n}\n<%\n  });\n }\n-%>\n\n<%\nif (compInfo['Action Client_list']) {\n  compInfo['Action Client_list'].map(function(clt) {\n-%>\n// Action Client Feedback Callback - <%- clt.name %>\nvoid <%- compInfo.name %>::<%- clt.name %>_feedback_cb(const <%- clt.Action.Package %>::<%- clt.Action.TypeName %>FeedbackConstPtr &feedback)\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  try {\n    // now run the user's action client feedback code\n    //::::<%- clt.path %>::::Feedback Callback::::\n    <%- clt['Feedback Callback'] %>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::<%- clt.name %>_feedback_cb: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::<%- clt.name %>_feedback_cb\");\n  }\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"<%- clt.name %>_feedback, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n}\n// Action Client Active Callback - <%- clt.name %>\nvoid <%- compInfo.name %>::<%- clt.name %>_active_cb( )\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  try {\n    // now run the user's action client active code\n    //::::<%- clt.path %>::::Active Callback::::\n    <%- clt['Active Callback'] %>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::<%- clt.name %>_active_cb: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::<%- clt.name %>_active_cb\");\n  }\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"<%- clt.name %>_active, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n}\n// Action Client Done Callback - <%- clt.name %>\nvoid <%- compInfo.name %>::<%- clt.name %>_done_cb(const actionlib::SimpleClientGoalState& state, const <%- clt.Action.Package %>::<%- clt.Action.TypeName %>ResultConstPtr &result)\n{\n  ros::Time __dequeue__ = ros::Time::now();\n  try {\n    // now run the user's action client done code\n    //::::<%- clt.path %>::::Done Callback::::\n    <%- clt['Done Callback'] %>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::<%- clt.name %>_done_cb: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::<%- clt.name %>_done_cb\");\n  }\n  ros::Time __completion__ = ros::Time::now();\n  ros::Duration __execution__ = __completion__ - __dequeue__;\n  trace->raw_log(\"<%- clt.name %>_done, %d.%09d, %d.%09d, %d.%09d, %d.%09d, %d.%09d\",\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __dequeue__.sec,\n\t\t __dequeue__.nsec,\n\t\t __completion__.sec,\n\t\t __completion__.nsec,\n\t\t __execution__.sec,\n\t\t __execution__.nsec,\n\t\t 0,\n\t\t 0);\n}\n<%\n    });\n }\n-%>\n\n// Destructor - Cleanup Ports & Timers\n<%- compInfo.name %>::~<%- compInfo.name %>()\n{\n  try {\n    logger->log(\"DEBUG\", \"<%- compInfo.name %> calling user defined destruction\");\n    // User Destruction\n    //::::<%- compInfo.path %>::::Destruction::::\n    <%- compInfo.Destruction %>\n<%\nif (compInfo['State Machine_list']) {\n  compInfo['State Machine_list'].map(function(hfsm) {\n-%>\n    <%- hfsm.sanitizedName %>_HFSM_timer.stop();\n<%\n  });\n}\n-%>\n<%\nif (compInfo.Timer_list) {\n  compInfo.Timer_list.map(function(tmr) {\n-%>\n    <%- tmr.name %>.stop();\n<%\n\t});\n }\n-%>\n<%\nif (compInfo.Publisher_list) {\n  compInfo.Publisher_list.map(function(pub) {\n-%>\n    <%- pub.name %>.shutdown();\n<%\n\t});\n }\n-%>\n<%\nif (compInfo.Subscriber_list) {\n  compInfo.Subscriber_list.map(function(sub) {\n-%>\n    <%- sub.name %>.shutdown();\n<%\n\t});\n }\n-%>\n<%\nif (compInfo.Client_list) {\n  compInfo.Client_list.map(function(clt) {\n-%>\n    <%- clt.name %>.shutdown();\n<%\n\t});\n }\n-%>\n<%\nif (compInfo.Server_list) {\n  compInfo.Server_list.map(function(srv) {\n-%>\n    <%- srv.name %>.shutdown();\n<%\n\t});\n }\n-%>\n<%\nif (compInfo['Action Server_list']) {\n  compInfo['Action Server_list'].map(function(srv) {\n-%>\n    <%- srv.name %>.shutdown();\n<%\n\t});\n }\n-%>\n  } catch (std::exception& e) {\n    // catch exceptions\n    logger->log(\"ERROR\", \"std::exception caught in <%- compInfo.name %>::~<%- compInfo.name %>: %s\", e.what());\n  } catch ( ... ) {\n    // catch everything else\n    logger->log(\"ERROR\", \"unknown exception caught in <%- compInfo.name %>::~<%- compInfo.name %>\");\n  }\n}\n\n// Startup - Setup Component Ports & Timers\nvoid <%- compInfo.name %>::startUp()\n{\n  std::string advertiseName;\n  bool isOneShot;\n  ros::TimerOptions timer_options;\n\n  // extra data we add to the header for service connections\n  std::map<std::string, std::string> service_header;\n  service_header[\"component instance\"] = config[\"Name\"].asString();\n\n  if ( config[\"Logging\"][\"Component Logger\"][\"Enabled\"].asBool() ) {\n    logger->enable_logging();\n    logger->create_file(workingDir+\"/\"+config[\"Logging\"][\"Component Logger\"][\"FileName\"].asString());\n    logger->set_is_periodic(config[\"Logging\"][\"Component Logger\"][\"Enabled\"].asBool());\n    logger->set_max_log_unit(config[\"Logging\"][\"Component Logger\"][\"Unit\"].asInt());\n\n    ROS_INFO_STREAM(\"Saving user log to \" <<\n\t\t    workingDir << \"/\" <<\n\t\t    config[\"Logging\"][\"Component Logger\"][\"FileName\"].asString());\n  }\n  \n  if ( config[\"Logging\"][\"ROSMOD Logger\"][\"Enabled\"].asBool() ) {\n    trace->enable_logging();\n    trace->create_file(workingDir+\"/\"+config[\"Logging\"][\"ROSMOD Logger\"][\"FileName\"].asString());\n    trace->set_is_periodic(config[\"Logging\"][\"ROSMOD Logger\"][\"Enabled\"].asBool());\n    trace->set_max_log_unit(config[\"Logging\"][\"ROSMOD Logger\"][\"Unit\"].asInt());\n\n    ROS_INFO_STREAM(\"Saving trace log to \" <<\n\t\t    workingDir + \"/\" +\n\t\t    config[\"Logging\"][\"ROSMOD Logger\"][\"FileName\"].asString());\n  }\n\n  // Action Servers\n<%\nif (compInfo['Action Server_list']) {\n  compInfo['Action Server_list'].map(function(srv) {\n-%>\n  // Action Server - <%- srv.name %>\n  // TODO: Add support for callback options (Priority / Deadline) to Action Servers\n  this-><%- srv.name %>.registerGoalCallback(\n    boost::bind(&<%- compInfo.name %>::<%- srv.name %>_goal_cb, this)\n  );\n  this-><%- srv.name %>.registerPreemptCallback(\n    boost::bind(&<%- compInfo.name %>::<%- srv.name %>_preempt_cb, this)\n  );\n  this-><%- srv.name %>.initialize(\n    nh_,\n    \"<%- srv.Action.AdvertisedName %>\",\n    boost::bind(&<%- compInfo.name %>::<%- srv.name %>_execute_cb, this, _1),\n    false,  // don't auto-start the action server\n    &comp_queue\n  );\n  this-><%- srv.name %>.start();\n<%\n    });\n}\n-%>\n  // Action Clients\n<%\nif (compInfo['Action Client_list']) {\n  compInfo['Action Client_list'].map(function(clt) {\n-%>\n  // Action Client - <%- clt.name %>\n  // TODO: Add support for callback options (Priority / Deadline) to Action Client Callbacks\n  this-><%- clt.name %>.registerDoneCallback(\n      boost::bind(&<%- compInfo.name %>::<%- clt.name %>_done_cb, this, _1, _2)\n  );\n  this-><%- clt.name %>.registerActiveCallback(\n      boost::bind(&<%- compInfo.name %>::<%- clt.name %>_active_cb, this)\n  );\n  this-><%- clt.name %>.registerFeedbackCallback(\n      boost::bind(&<%- compInfo.name %>::<%- clt.name %>_feedback_cb, this, _1)\n  );\n  this-><%- clt.name %>.initialize(nh_, \"<%- clt.Action.AdvertisedName %>\", &comp_queue);\n  logger->log(\"DEBUG\", \"<Action Client><%- clt.name %> connected!\");\n<%\n    });\n }\n-%>\n  // Servers\n<%\nif (compInfo.Server_list) {\n  compInfo.Server_list.map(function(srv) {\n-%>\n  // Server - <%- srv.name %>\n  advertiseName = \"<%- srv.Service.AdvertisedName %>\";\n  ros::AdvertiseServiceOptions <%- srv.name %>_server_options;\n  <%- srv.name %>_server_options = ros::AdvertiseServiceOptions::create<<%- srv.Service.Package %>::<%- srv.Service.TypeName %>>\n      (advertiseName.c_str(),\n       boost::bind(&<%- compInfo.name %>::<%- srv.name %>_operation, this, _1, _2),\n       ros::VoidPtr(),\n       &comp_queue);\n  this-><%- srv.name %> = nh_.advertiseService(<%- srv.name %>_server_options);\n<%\n    });\n}\n-%>\n  // Clients\n<%\nif (compInfo.Client_list) {\n  compInfo.Client_list.map(function(clt) {\n-%>\n  // Client - <%- clt.name %>\n  advertiseName = \"<%- clt.Service.AdvertisedName %>\";\n  this-><%- clt.name %> = nh_.serviceClient<<%- clt.Service.Package %>::<%- clt.Service.TypeName %>>(\n                                                                                                advertiseName.c_str(),\n                                                                                                false, // not persistent\n                                                                                                service_header\n                                                                                                );//, true); \n  this-><%- clt.name %>.waitForExistence();\n  logger->log(\"DEBUG\", \"<Client><%- clt.name %> connected!\");\n<%\n    });\n }\n-%>\n  // Publishers\n  bool latching = true;\n<%\nif (compInfo.Publisher_list) {\n  compInfo.Publisher_list.map(function(pub) {\n-%>\n  // Publisher - <%- pub.name %>\n  advertiseName = \"<%- pub.Message.AdvertisedName %>\";\n  latching = <%- pub.Latching ? \"true\" : \"false\" %>;\n  this-><%- pub.name %> = nh_.advertise<<%- pub.Message.Package %>::<%- pub.Message.TypeName %>>(\n                                                                                            advertiseName.c_str(),\n                                                                                            1000,\n                                                                                            latching\n                                                                                            ); \n<%\n    });\n }\n-%>\n  // Subscribers\n<%\nif (compInfo.Subscriber_list) {\n  compInfo.Subscriber_list.map(function(sub) {\n-%>\n  // Subscriber - <%- sub.name %>\n  advertiseName = \"<%- sub.Message.AdvertisedName %>\";\n  ros::SubscribeOptions <%- sub.name %>_options;\n  <%- sub.name %>_options = ros::SubscribeOptions::create<<%- sub.Message.Package %>::<%- sub.Message.TypeName %>>\n      (advertiseName.c_str(),\n       1000,\n       boost::bind(&<%- compInfo.name %>::<%- sub.name %>_operation, this, _1),\n       ros::VoidPtr(),\n       &comp_queue);\n  this-><%- sub.name %> = nh_.subscribe(<%- sub.name %>_options);\n<%\n    });\n}\n-%>\n\n  // Init Timer\n  timer_options = \n    ros::TimerOptions\n    (ros::Duration(-1),\n     boost::bind(&<%- compInfo.name %>::init_timer_operation, this, _1),\n     &comp_queue,\n     true,\n     false); \n  this->init_timer = nh_.createTimer(timer_options);\n  this->init_timer.start();\n\n  // Timers\n<%\nif (compInfo.Timer_list) {\n  compInfo.Timer_list.map(function(tmr) {\n-%>\n  // Component Timer - <%- tmr.name %>\n  isOneShot = (config[\"Timers\"][\"<%- tmr.name %>\"][\"Period\"].asFloat() <= 0) ? true : false;\n  timer_options = \n    ros::TimerOptions\n    (ros::Duration(config[\"Timers\"][\"<%- tmr.name %>\"][\"Period\"].asFloat()),\n     boost::bind(&<%- compInfo.name %>::<%- tmr.name %>_operation, this, _1),\n     &comp_queue,\n     isOneShot,\n     false);\n\n  this-><%- tmr.name %> = nh_.createTimer(timer_options);\n<%\n    });\n }\n-%>\n<%\nif (compInfo['State Machine_list']) {\n  compInfo['State Machine_list'].map(function(hfsm) {\n-%>\n      // HFSM Timer\n      // NEED TO FIGURE OUT HOW TO SPECIFY PRIORITY FOR THE HFSM TIMER IN THE MODEL\n      ros::Duration hfsmPeriod = ros::Duration( 0 );\n      isOneShot = false;\n      timer_options = \n        ros::TimerOptions\n        (hfsmPeriod,\n         boost::bind(&<%- compInfo.name %>::<%- hfsm.sanitizedName %>_HFSM_timer_operation, this, _1),\n         &comp_queue,\n         isOneShot,\n         false);\n      <%- hfsm.sanitizedName %>_HFSM_timer = nh_.createTimer(timer_options);\n      <%- hfsm.sanitizedName %>_HFSM_timer.start();\n<%\n  });\n}\n-%>\n  // Start the timers\n<%\nif (compInfo.Timer_list) {\n  compInfo.Timer_list.map(function(tmr) {\n-%>\n  this-><%- tmr.name %>.start();\n<%\n    });\n }\n-%>\n}\n\nextern \"C\" {\n  Component *maker(Json::Value &config) {\n    return new <%- compInfo.name %>(config);\n  }\n}\n\n",
    "component.hpp.ejs": "/** @file    <%- compInfo.name %>.hpp \n *  @author  <%- compInfo.Authors %>\n *  @date    <%= (new Date()).toISOString() %>\n *  @brief   This file declares the <%- compInfo.name %> class; <%- compInfo['Brief Description'] %>\n */\n\n#ifndef <%- compInfo.name.toUpperCase() %>_INCLUDE_GUARD\n#define <%- compInfo.name.toUpperCase() %>_INCLUDE_GUARD\n#include \"rosmod_actor/component.hpp\"\n\n#include <actionlib/client/simple_action_client.h>\n#include <actionlib/server/simple_action_server.h>\n\n<%\nif (compInfo['State Machine_list']) {\n  compInfo['State Machine_list'].map(function(hfsm) {\n-%>\nnamespace StateMachine {\n  class <%- hfsm.sanitizedName %>;\n};\n<%\n  });\n}\n-%>\n\n/**\n * Component Message and Service Headers\n */\n<%\nif (compInfo.Types.length) {\n  compInfo.Types.map(function(type) {\n-%>\n#include \"<%- type.Package %>/<%- type.IncludeName || type.TypeName %>.h\"\n<%\n    });\n }\n-%>\n\n#include \"ros/ros.h\"\n\n/**\n * Forward declarations\n */\n//::::<%- compInfo.path %>::::Forwards::::\n<%- compInfo.Forwards %>\n\n/**\n * @brief <%- compInfo.name %> class\n */\nclass <%- compInfo.name %> : public Component\n{\npublic:\n<%\nif (compInfo['State Machine_list']) {\n  compInfo['State Machine_list'].map(function(hfsm) {\n-%>\n  // give HFSM access to this class.\n  friend class StateMachine::<%- hfsm.sanitizedName %>;\n<%\n  });\n}\n-%>\n  \n  /**\n   * @brief <%- compInfo.name %> Constructor.\n   * @param _config Component configuration parsed from deployment JSON\n   */\n  <%- compInfo.name %>(Json::Value& _config);\n\n /**\n   * @brief <%- compInfo.name %> Destructor\n   */ \n  ~<%- compInfo.name %>() override;\n\n /**\n   * @brief Component startup function\n   *\n   * This function configures all the component ports and timers\n   */ \n  void startUp() override;\n\n  /**\n   * @brief <%- compInfo.name %> Initializer\n   * This operation is executed immediately after startup.\n   * @param[in] event a oneshot timer event\n   * @see startUp()\n   */\n  void init_timer_operation(const ros::TimerEvent& event) override;\n\n<%\nif (compInfo['State Machine_list']) {\n  compInfo['State Machine_list'].map(function(hfsm) {\n-%>\n  /**\n   * @brief <%- hfsm.name %> Timer function\n   * This timer has a dynamic period and executes the HFSM's tick()\n   * function. It automatically handles consuming the HFSM's event\n   * queue and updating its period based on the period of the\n   * currently active leaf state.\n   *\n   * @param[in] event a timer event\n   * @see startUp()\n   */\n  void <%- hfsm.sanitizedName %>_HFSM_timer_operation(const ros::TimerEvent& event);\n<%\n  });\n}\n-%>  \n\n<%\nif (compInfo.Timer_list) {\n  compInfo.Timer_list.map(function(tmr) {\n-%>\n  /**\n   * @brief <%- tmr.name %>_operation; <%- tmr['Brief Description'] %>\n   *\n   * This operation is executed every time the  \n   * <%- tmr.name %> operation request is serviced \n   * @param[in] event a timer event\n   *\n   * <%- tmr['Detailed Description'] %>\n   */\n  void <%- tmr.name %>_operation(const ros::TimerEvent& event);\n<%\n    });\n }\n-%>\n\n<%\nif (compInfo.Subscriber_list) {\n  compInfo.Subscriber_list.map(function(sub) {\n-%>\n  /**\n   * @brief <%- sub.name %>_operation; <%- sub['Brief Description'] %>\n   *\n   * This operation is executed every time the  \n   * <%- sub.name %> operation request is serviced \n   * @param[in] ros::MessageEvent - event - Event information containing the message and headers received.\n   *\n   * <%- sub['Detailed Description'] %>\n   */\n      void <%- sub.name %>_operation(const ros::MessageEvent<<%- sub.Message.Package %>::<%- sub.Message.TypeName %> const>& event);\n<%\n    });\n }\n-%>\n\n<%\nif (compInfo.Server_list) {\n  compInfo.Server_list.map(function(srv) {\n-%>\n  /**\n   * @brief <%- srv.name %>_operation; <%- srv['Brief Description'] %>\n   *\n   * This operation is executed every time the  \n   * <%- srv.name %> operation request is serviced \n   * @param[in] req request received from the client\n   * @param[out] res response sent back to the client\n   *\n   * <%- srv['Detailed Description'] %>\n   */\n  bool <%- srv.name %>_operation(const <%- srv.Service.Package %>::<%- srv.Service.TypeName %>::Request &req, <%- srv.Service.Package %>::<%- srv.Service.TypeName %>::Response &res);\n<%\n    });\n }\n-%>\n\n<%\nif (compInfo['Action Server_list']) {\n  compInfo['Action Server_list'].map(function(srv) {\n-%>\n  /**\n   * @brief <%- srv.name %>_execute_cb; <%- srv['Brief Description'] %>\n   *\n   * This operation is executed every time the  \n   * <%- srv.name %> operation request is serviced \n   * @param[in] goal goal received from the action client\n   *\n   * <%- srv['Detailed Description'] %>\n   */\n  void <%- srv.name %>_execute_cb(const <%- srv.Action.Package %>::<%- srv.Action.TypeName %>GoalConstPtr &goal);\n  /**\n   * @brief <%- srv.name %>_goal_cb;\n   *\n   * This operation is executed every time the  \n   * <%- srv.name %> receives a new goal\n   */\n  void <%- srv.name %>_goal_cb();\n  /**\n   * @brief <%- srv.name %>_preempt_cb;\n   *\n   * This operation is executed every time the  \n   * <%- srv.name %> is preempted\n   */\n  void <%- srv.name %>_preempt_cb();\n<%\n    });\n }\n-%>\n\n<%\nif (compInfo['Action Client_list']) {\n  compInfo['Action Client_list'].map(function(clt) {\n-%>\n  /**\n   * @brief <%- clt.name %>_feedback_cb; <%- clt['Brief Description'] %>\n   *\n   * This operation is executed every time the  \n   * <%- clt.name %> receives feedback from the action server\n   * @param[in] feedback feedback received from the action server\n   *\n   * <%- clt['Detailed Description'] %>\n   */\n  void <%- clt.name %>_feedback_cb(const <%- clt.Action.Package %>::<%- clt.Action.TypeName %>FeedbackConstPtr &feedback);\n  /**\n   * @brief <%- clt.name %>_active_cb\n   *\n   * This operation is executed when the goal becomes active\n   */\n  void <%- clt.name %>_active_cb();\n  /**\n   * @brief <%- clt.name %>_done_cb\n   *\n   * This operation is executed when the goal completes.\n   * @param[in] state state received from the action server\n   * @param[in] result the result message received from the action server\n   */\n  void <%- clt.name %>_done_cb(const actionlib::SimpleClientGoalState& state, const <%- clt.Action.Package %>::<%- clt.Action.TypeName %>ResultConstPtr &result);\n<%\n    });\n }\n-%>\n\nprivate:\n\n<%\nif (compInfo['State Machine_list']) {\n  compInfo['State Machine_list'].map(function(hfsm) {\n-%>\n  ros::Timer <%- hfsm.sanitizedName %>_HFSM_timer; /*!< <%- hfsm.name %> HFSM Timer */\n<%\n  });\n}\n-%>  \n\n<%\nif (compInfo.Timer_list) {\n  compInfo.Timer_list.map(function(tmr) {\n-%>\n  ros::Timer <%- tmr.name %>;  /*!< <%- tmr.name %> Component Timer */\n<%\n    });\n }\n-%>\n<%\nif (compInfo['Action Server_list']) {\n  compInfo['Action Server_list'].map(function(srv) {\n-%>\n  actionlib::SimpleActionServer<<%- srv.Action.Package %>::<%- srv.Action.TypeName %>Action> <%- srv.name %>;  /*!< <%- srv.name %> Component Action Server */\n<%\n    });\n }\n-%>\n<%\nif (compInfo['Action Client_list']) {\n  compInfo['Action Client_list'].map(function(clt) {\n-%>\n  actionlib::SimpleActionClient<<%- clt.Action.Package %>::<%- clt.Action.TypeName %>Action> <%- clt.name %>;  /*!< <%- clt.name %> Component Action Client */\n<%\n    });\n }\n-%>\n<%\nif (compInfo.Server_list) {\n  compInfo.Server_list.map(function(srv) {\n-%>\n  ros::ServiceServer <%- srv.name %>;  /*!< <%- srv.name %> Component Server */\n<%\n    });\n }\n-%>\n<%\nif (compInfo.Client_list) {\n  compInfo.Client_list.map(function(clt) {\n -%>\n  ros::ServiceClient <%- clt.name %>;  /*!< <%- clt.name %> Component Client */\n<%\n    });\n }\n-%>\n<%\nif (compInfo.Publisher_list) {\n  compInfo.Publisher_list.map(function(pub) {\n -%>\n  ros::Publisher <%- pub.name %>;  /*!< <%- pub.name %> Component Publisher */\n<%\n    });\n }\n-%>\n<%\nif (compInfo.Subscriber_list) {\n  compInfo.Subscriber_list.map(function(sub) {\n -%>\n  ros::Subscriber <%- sub.name %>;  /*!< <%- sub.name %> Component Subscriber */\n<%\n    });\n }\n-%>\n\n  /** \n   * User-defined private variables\n   */\n  //::::<%- compInfo.path %>::::Members::::\n  <%- compInfo.Members %>\n};\n\n#endif // <%- compInfo.name.toUpperCase() %>_INCLUDE_GUARD\n\n",
    "doxygen_config.ejs": "# Doxyfile 1.8.6\n\n# This file describes the settings to be used by the documentation system\n# doxygen (www.doxygen.org) for a project.\n#\n# All text after a double hash (##) is considered a comment and is placed in\n# front of the TAG it is preceding.\n#\n# All text after a single hash (#) is considered a comment and will be ignored.\n# The format is:\n# TAG = value [value, ...]\n# For lists, items can also be appended using:\n# TAG += value [value, ...]\n# Values that contain spaces should be placed between quotes (\\\" \\\").\n\n#---------------------------------------------------------------------------\n# Project related configuration options\n#---------------------------------------------------------------------------\n\n# This tag specifies the encoding used for all characters in the config file\n# that follow. The default is UTF-8 which is also the encoding used for all text\n# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv\n# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv\n# for the list of possible encodings.\n# The default value is: UTF-8.\n\nDOXYFILE_ENCODING      = UTF-8\n\n# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by\n# double-quotes, unless you are using Doxywizard) that should identify the\n# project for which the documentation is generated. This name is used in the\n# title of most generated pages and in a few other places.\n# The default value is: My Project.\n\nPROJECT_NAME           = \"<%= projectName %>\"\n\n# The PROJECT_NUMBER tag can be used to enter a project or revision number. This\n# could be handy for archiving the generated documentation or if some version\n# control system is used.\n\nPROJECT_NUMBER         =\n\n# Using the PROJECT_BRIEF tag one can provide an optional one line description\n# for a project that appears at the top of each page and should give viewer a\n# quick idea about the purpose of the project. Keep the description short.\n\nPROJECT_BRIEF          =\n\n# With the PROJECT_LOGO tag one can specify an logo or icon that is included in\n# the documentation. The maximum height of the logo should not exceed 55 pixels\n# and the maximum width should not exceed 200 pixels. Doxygen will copy the logo\n# to the output directory.\n\nPROJECT_LOGO           =\n\n# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path\n# into which the generated documentation will be written. If a relative path is\n# entered, it will be relative to the location where doxygen was started. If\n# left blank the current directory will be used.\n\nOUTPUT_DIRECTORY       = ./doc/\n\n# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create 4096 sub-\n# directories (in 2 levels) under the output directory of each output format and\n# will distribute the generated files over these directories. Enabling this\n# option can be useful when feeding doxygen a huge amount of source files, where\n# putting all generated files in the same directory would otherwise causes\n# performance problems for the file system.\n# The default value is: NO.\n\nCREATE_SUBDIRS         = NO\n\n# The OUTPUT_LANGUAGE tag is used to specify the language in which all\n# documentation generated by doxygen is written. Doxygen will use this\n# information to generate all constant output in the proper language.\n# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,\n# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),\n# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,\n# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),\n# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,\n# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,\n# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,\n# Ukrainian and Vietnamese.\n# The default value is: English.\n\nOUTPUT_LANGUAGE        = English\n\n# If the BRIEF_MEMBER_DESC tag is set to YES doxygen will include brief member\n# descriptions after the members that are listed in the file and class\n# documentation (similar to Javadoc). Set to NO to disable this.\n# The default value is: YES.\n\nBRIEF_MEMBER_DESC      = YES\n\n# If the REPEAT_BRIEF tag is set to YES doxygen will prepend the brief\n# description of a member or function before the detailed description\n#\n# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the\n# brief descriptions will be completely suppressed.\n# The default value is: YES.\n\nREPEAT_BRIEF           = YES\n\n# This tag implements a quasi-intelligent brief description abbreviator that is\n# used to form the text in various listings. Each string in this list, if found\n# as the leading text of the brief description, will be stripped from the text\n# and the result, after processing the whole list, is used as the annotated\n# text. Otherwise, the brief description is used as-is. If left blank, the\n# following values are used ($name is automatically replaced with the name of\n# the entity):The $name class, The $name widget, The $name file, is, provides,\n# specifies, contains, represents, a, an and the.\n\nABBREVIATE_BRIEF       =\n\n# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then\n# doxygen will generate a detailed section even if there is only a brief\n# description.\n# The default value is: NO.\n\nALWAYS_DETAILED_SEC    = NO\n\n# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all\n# inherited members of a class in the documentation of that class as if those\n# members were ordinary class members. Constructors, destructors and assignment\n# operators of the base classes will not be shown.\n# The default value is: NO.\n\nINLINE_INHERITED_MEMB  = YES\n\n# If the FULL_PATH_NAMES tag is set to YES doxygen will prepend the full path\n# before files name in the file list and in the header files. If set to NO the\n# shortest path that makes the file name unique will be used\n# The default value is: YES.\n\nFULL_PATH_NAMES        = YES\n\n# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.\n# Stripping is only done if one of the specified strings matches the left-hand\n# part of the path. The tag can be used to show relative paths in the file list.\n# If left blank the directory from which doxygen is run is used as the path to\n# strip.\n#\n# Note that you can specify absolute paths here, but also relative paths, which\n# will be relative from the directory where doxygen is started.\n# This tag requires that the tag FULL_PATH_NAMES is set to YES.\n\nSTRIP_FROM_PATH        =\n\n# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the\n# path mentioned in the documentation of a class, which tells the reader which\n# header file to include in order to use a class. If left blank only the name of\n# the header file containing the class definition is used. Otherwise one should\n# specify the list of include paths that are normally passed to the compiler\n# using the -I flag.\n\nSTRIP_FROM_INC_PATH    =\n\n# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but\n# less readable) file names. This can be useful is your file systems doesn't\n# support long names like on DOS, Mac, or CD-ROM.\n# The default value is: NO.\n\nSHORT_NAMES            = NO\n\n# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the\n# first line (until the first dot) of a Javadoc-style comment as the brief\n# description. If set to NO, the Javadoc-style will behave just like regular Qt-\n# style comments (thus requiring an explicit @brief command for a brief\n# description.)\n# The default value is: NO.\n\nJAVADOC_AUTOBRIEF      = YES\n\n# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first\n# line (until the first dot) of a Qt-style comment as the brief description. If\n# set to NO, the Qt-style will behave just like regular Qt-style comments (thus\n# requiring an explicit \\brief command for a brief description.)\n# The default value is: NO.\n\nQT_AUTOBRIEF           = NO\n\n# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a\n# multi-line C++ special comment block (i.e. a block of //! or /// comments) as\n# a brief description. This used to be the default behavior. The new default is\n# to treat a multi-line C++ comment block as a detailed description. Set this\n# tag to YES if you prefer the old behavior instead.\n#\n# Note that setting this tag to YES also means that rational rose comments are\n# not recognized any more.\n# The default value is: NO.\n\nMULTILINE_CPP_IS_BRIEF = NO\n\n# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the\n# documentation from any documented member that it re-implements.\n# The default value is: YES.\n\nINHERIT_DOCS           = YES\n\n# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce a\n# new page for each member. If set to NO, the documentation of a member will be\n# part of the file/class/namespace that contains it.\n# The default value is: NO.\n\nSEPARATE_MEMBER_PAGES  = NO\n\n# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen\n# uses this value to replace tabs by spaces in code fragments.\n# Minimum value: 1, maximum value: 16, default value: 4.\n\nTAB_SIZE               = 4\n\n# This tag can be used to specify a number of aliases that act as commands in\n# the documentation. An alias has the form:\n# name=value\n# For example adding\n# \"sideeffect=@par Side Effects:\\n\"\n# will allow you to put the command \\sideeffect (or @sideeffect) in the\n# documentation, which will result in a user-defined paragraph with heading\n# \"Side Effects:\". You can put \\n's in the value part of an alias to insert\n# newlines.\n\nALIASES                =\n\n# This tag can be used to specify a number of word-keyword mappings (TCL only).\n# A mapping has the form \"name=value\". For example adding \"class=itcl::class\"\n# will allow you to use the command class in the itcl::class meaning.\n\nTCL_SUBST              =\n\n# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources\n# only. Doxygen will then generate output that is more tailored for C. For\n# instance, some of the names that are used will be different. The list of all\n# members will be omitted, etc.\n# The default value is: NO.\n\nOPTIMIZE_OUTPUT_FOR_C  = NO\n\n# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or\n# Python sources only. Doxygen will then generate output that is more tailored\n# for that language. For instance, namespaces will be presented as packages,\n# qualified scopes will look different, etc.\n# The default value is: NO.\n\nOPTIMIZE_OUTPUT_JAVA   = NO\n\n# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran\n# sources. Doxygen will then generate output that is tailored for Fortran.\n# The default value is: NO.\n\nOPTIMIZE_FOR_FORTRAN   = NO\n\n# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL\n# sources. Doxygen will then generate output that is tailored for VHDL.\n# The default value is: NO.\n\nOPTIMIZE_OUTPUT_VHDL   = NO\n\n# Doxygen selects the parser to use depending on the extension of the files it\n# parses. With this tag you can assign which parser to use for a given\n# extension. Doxygen has a built-in mapping, but you can override or extend it\n# using this tag. The format is ext=language, where ext is a file extension, and\n# language is one of the parsers supported by doxygen: IDL, Java, Javascript,\n# C#, C, C++, D, PHP, Objective-C, Python, Fortran, VHDL. For instance to make\n# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C\n# (default is Fortran), use: inc=Fort