From 3f816329e12fc2095ee662bfdfbd13a0dc0b27da Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Sun, 22 Mar 2020 23:20:18 +0100
Subject: [PATCH 01/13] Reconfiguration data gets succesfully transfered to the
 Knowledgeengine. Now a communication between Knowledge and RS needs to be
 implemented via PrologCPPQueries and some additional rules to check if a
 annotator can be reconfigured to meet the requested requirements. In order to
 achieve this final communication, an additonal reconfiguration service needs
 to be implemented.

---
 .../descriptors/analysis_engines/demo.yaml    |   1 +
 .../annotation/SacModelAnnotator.yaml         |  27 ++-
 .../src/annotation/src/SacModelAnnotator.cpp  | 200 +++++++++++-------
 .../core/include/robosherlock/utils/common.h  |   8 +
 .../flowcontrol/RSProcessManager.h            |  14 ++
 .../flowcontrol/YamlToXMLConverter.h          |  11 +-
 .../src/RSAggregateAnalysisEngine.cpp         |   6 +
 .../src/flowcontrol/src/RSProcessManager.cpp  |  12 ++
 .../flowcontrol/src/YamlToXMLConverter.cpp    | 107 ++++++++--
 .../queryanswering/KnowledgeEngine.h          |  16 ++
 10 files changed, 307 insertions(+), 95 deletions(-)

diff --git a/robosherlock/descriptors/analysis_engines/demo.yaml b/robosherlock/descriptors/analysis_engines/demo.yaml
index 5027b02b..f5edd174 100644
--- a/robosherlock/descriptors/analysis_engines/demo.yaml
+++ b/robosherlock/descriptors/analysis_engines/demo.yaml
@@ -9,5 +9,6 @@ fixedflow:
   - ImageSegmentationAnnotator
   - PointCloudClusterExtractor
   - ClusterMerger
+  - SacModelAnnotator
 CollectionReader:
   camera_config_files: ['config_kinect_robot.ini']
diff --git a/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml b/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
index 95aef3fd..7b8893d5 100644
--- a/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
+++ b/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
@@ -1,6 +1,7 @@
 annotator:
   implementation: rs_SacModelAnnotator
   name: SacModelAnnotator
+
 capabilities:
   inputs:
   - rs.scene.MergedHypothesis
@@ -8,6 +9,7 @@ capabilities:
   outputs:
   - rs.annotation.Shape: [cylinder]
   domain: [cylinder]
+
 parameters:
   apply_to_clusters: true
   distanceThreshold: 0.05
@@ -19,5 +21,28 @@ parameters:
   minPoints: 200
   radiusLimit1: 0.01
   radiusLimit2: 0.5
-  sacModel: 6
+  sacModel: 5
   useNormals: true
+
+reconfiguration:
+  # Definition of sphere reconfiguration
+  setup_spheres:
+    capabilities:
+      outputs:
+      - rs.annotation.Shape: [sphere]
+      domain: [sphere]
+
+    # Overwrite or define new parameters:
+    parameters:
+      test_param: "success"
+      sacModel: 4
+
+  # Example setup
+  setup_example:
+    capabilities:
+      outputs:
+      - rs.annotation.Shape: [example]
+      domain: [example]
+
+    parameters:
+      useNormals: false
\ No newline at end of file
diff --git a/robosherlock/src/annotation/src/SacModelAnnotator.cpp b/robosherlock/src/annotation/src/SacModelAnnotator.cpp
index 68be7004..96ce75c6 100644
--- a/robosherlock/src/annotation/src/SacModelAnnotator.cpp
+++ b/robosherlock/src/annotation/src/SacModelAnnotator.cpp
@@ -44,89 +44,134 @@ class SacModelAnnotator : public Annotator
 {
 
 private:
-  bool apply_to_clusters;
+    bool apply_to_clusters;
+    pcl::SacModel sacModel;
+    std::string name;
+
+    TyErrorId readParameters(AnnotatorContext &ctx) {
+        if(ctx.isParameterDefined("sacModel"))
+        {
+            int selectedModel;
+            ctx.extractValue("sacModel", selectedModel);
+
+            switch(selectedModel) {
+                case pcl::SACMODEL_CYLINDER: // 5
+                    name = "CYLINDER";
+                    break;
+                case pcl::SACMODEL_SPHERE: // 4
+                    name = "SPHERE";
+                    break;
+                case pcl::SACMODEL_CIRCLE2D: // 2
+                    name = "CIRCLE";
+                    break;
+                case pcl::SACMODEL_PLANE: // 0
+                    name = "PLANE";
+                    break;
+
+                default:
+                    return UIMA_ERR_NOT_YET_IMPLEMENTED;
+            }
+
+            sacModel = static_cast<pcl::SacModel>(selectedModel);
+            outInfo("Selected " << name << " (" << sacModel << ")..");
+
+            return UIMA_ERR_NONE;
+        }
+
+        return UIMA_ERR_ANNOTATOR_COULD_NOT_LOAD;
+    }
 
 public:
-  TyErrorId initialize(AnnotatorContext &ctx)
-  {
-    outInfo("initialize");
-    return UIMA_ERR_NONE;
-  }
-
-  TyErrorId destroy()
-  {
-    outInfo("destroy");
-    return UIMA_ERR_NONE;
-  }
-
-  TyErrorId process(CAS &tcas, ResultSpecification const &resSpec)
-  {
-    MEASURE_TIME;
-    outInfo("process begins");
-
-    rs::SceneCas cas(tcas);
-    rs::Scene scene = cas.getScene();
-
-    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGBA>);
-    pcl::PointCloud<pcl::Normal>::Ptr normals_ptr(new pcl::PointCloud<pcl::Normal>);
-    cas.get(VIEW_CLOUD, *cloud_ptr);
-    cas.get(VIEW_NORMALS, *normals_ptr);
-
-
-    std::vector<rs::ObjectHypothesis> clusters;
-    scene.identifiables.filter(clusters);
-    outInfo("Processing " << clusters.size() << " point clusters");
-    for(std::vector<rs::ObjectHypothesis>::iterator it = clusters.begin(); it != clusters.end(); ++it)
+    TyErrorId initialize(AnnotatorContext &ctx)
     {
-      pcl::PointIndicesPtr clusterIndices(new pcl::PointIndices());
-      rs::conversion::from(((rs::ReferenceClusterPoints)it->points.get()).indices(), *clusterIndices);
-      
+        outInfo("initialize");
 
-      pcl::PointCloud<pcl::PointXYZRGBA>::Ptr clusterCloud(new pcl::PointCloud<pcl::PointXYZRGBA>());
-      pcl::PointCloud<pcl::Normal>::Ptr clusterNormal(new pcl::PointCloud<pcl::Normal>);
-      pcl::ModelCoefficients::Ptr coefficients_cylinder(new pcl::ModelCoefficients);
-      pcl::PointIndices::Ptr cylinderInliers(new pcl::PointIndices);
+        return readParameters(ctx);
+    }
 
-      for(std::vector<int>::const_iterator pit = clusterIndices->indices.begin();
-          pit != clusterIndices->indices.end(); pit++)
-      {
-        clusterCloud->points.push_back(cloud_ptr->points[*pit]);
-        clusterNormal->points.push_back(normals_ptr->points[*pit]);
-      }
+    TyErrorId reconfigure()
+    {
+        outInfo("Reconfiguring");
 
-      clusterCloud->width = clusterCloud->points.size();
-      clusterCloud->height = 1;
-      clusterCloud->is_dense = true;
-      clusterNormal->width = normals_ptr->points.size();
-      clusterNormal->height = 1;
-      clusterNormal->is_dense = true;
-      outDebug("Fitting the selected SAC model");
-
-      pcl::SACSegmentationFromNormals<pcl::PointXYZRGBA, pcl::Normal> seg;
-      seg.setOptimizeCoefficients(true);
-      seg.setModelType(pcl::SACMODEL_CYLINDER);
-      seg.setMethodType(pcl::SAC_RANSAC);
-      seg.setNormalDistanceWeight(0.1);
-      seg.setMaxIterations(1000);
-      seg.setDistanceThreshold(0.03);
-      seg.setRadiusLimits(0, 0.1);
-      seg.setInputCloud(clusterCloud);
-      seg.setInputNormals(clusterNormal);
-
-      // Obtain the cylinder inliers and coefficients
-      seg.segment(*cylinderInliers, *coefficients_cylinder);
-
-      outDebug("Size of cluster " << it - clusters.begin() << ": " << clusterCloud->width);
-      outDebug("Number of CYLINDER inliers: " << cylinderInliers->indices.size());
-      if((float)cylinderInliers->indices.size() / clusterCloud->width > 0.5)
-      {
-        rs::Shape shapeAnnotation = rs::create<rs::Shape>(tcas);
-        shapeAnnotation.shape.set("cylinder");
-        it->annotations.append(shapeAnnotation);
-      }
+        AnnotatorContext &ctx = getAnnotatorContext();
+        return readParameters(ctx);
+    }
+
+    TyErrorId destroy()
+    {
+        outInfo("destroy");
+        return UIMA_ERR_NONE;
+    }
+
+    TyErrorId process(CAS &tcas, ResultSpecification const &resSpec)
+    {
+        MEASURE_TIME;
+        outInfo("process begins");
+
+        rs::SceneCas cas(tcas);
+        rs::Scene scene = cas.getScene();
+
+        pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGBA>);
+        pcl::PointCloud<pcl::Normal>::Ptr normals_ptr(new pcl::PointCloud<pcl::Normal>);
+        cas.get(VIEW_CLOUD, *cloud_ptr);
+        cas.get(VIEW_NORMALS, *normals_ptr);
+
+        std::vector<rs::ObjectHypothesis> clusters;
+        scene.identifiables.filter(clusters);
+        outInfo("Processing " << clusters.size() << " point clusters");
+        for(std::vector<rs::ObjectHypothesis>::iterator it = clusters.begin(); it != clusters.end(); ++it)
+        {
+            pcl::PointIndicesPtr clusterIndices(new pcl::PointIndices());
+            rs::conversion::from(((rs::ReferenceClusterPoints)it->points.get()).indices(), *clusterIndices);
+
+
+            pcl::PointCloud<pcl::PointXYZRGBA>::Ptr clusterCloud(new pcl::PointCloud<pcl::PointXYZRGBA>());
+            pcl::PointCloud<pcl::Normal>::Ptr clusterNormal(new pcl::PointCloud<pcl::Normal>);
+
+            pcl::ModelCoefficients::Ptr coefficientsModel(new pcl::ModelCoefficients);
+
+            pcl::PointIndices::Ptr modelInliers(new pcl::PointIndices);
+
+            for(std::vector<int>::const_iterator pit = clusterIndices->indices.begin();
+                pit != clusterIndices->indices.end(); pit++)
+            {
+                clusterCloud->points.push_back(cloud_ptr->points[*pit]);
+                clusterNormal->points.push_back(normals_ptr->points[*pit]);
+            }
+
+            clusterCloud->width = clusterCloud->points.size();
+            clusterCloud->height = 1;
+            clusterCloud->is_dense = true;
+            clusterNormal->width = normals_ptr->points.size();
+            clusterNormal->height = 1;
+            clusterNormal->is_dense = true;
+            outInfo("Fitting the " << name << " SAC model");
+
+            pcl::SACSegmentationFromNormals<pcl::PointXYZRGBA, pcl::Normal> seg;
+            seg.setOptimizeCoefficients(true);
+            seg.setModelType(sacModel);
+            seg.setMethodType(pcl::SAC_RANSAC);
+            seg.setNormalDistanceWeight(0.1);
+            seg.setMaxIterations(1000);
+            seg.setDistanceThreshold(0.03);
+            seg.setRadiusLimits(0, 0.1);
+            seg.setInputCloud(clusterCloud);
+            seg.setInputNormals(clusterNormal);
+
+            // Obtain the cylinder inliers and coefficients
+            seg.segment(*modelInliers, *coefficientsModel);
+
+            outDebug("Size of cluster " << it - clusters.begin() << ": " << clusterCloud->width);
+            outInfo("Number of " << name << " inliers: " << modelInliers->indices.size());
+            if((float)modelInliers->indices.size() / clusterCloud->width > 0.5)
+            {
+                rs::Shape shapeAnnotation = rs::create<rs::Shape>(tcas);
+                shapeAnnotation.shape.set(name);
+                it->annotations.append(shapeAnnotation);
+            }
 
 #if DEBUG_OUTPUT
-      pcl::ExtractIndices<pcl::PointXYZRGBA> extract;
+            pcl::ExtractIndices<pcl::PointXYZRGBA> extract;
       extract.setInputCloud(clusterCloud);
       extract.setIndices(cylinderInliers);
       extract.setNegative(false);
@@ -144,10 +189,9 @@ class SacModelAnnotator : public Annotator
         writer.write(fn.str(), *cloud_cylinder, false);
       }
 #endif
+        }
+        return UIMA_ERR_NONE;
     }
-    return UIMA_ERR_NONE;
-  }
-
 };
 
 MAKE_AE(SacModelAnnotator)
diff --git a/robosherlock/src/core/include/robosherlock/utils/common.h b/robosherlock/src/core/include/robosherlock/utils/common.h
index 7a965238..f3589f58 100644
--- a/robosherlock/src/core/include/robosherlock/utils/common.h
+++ b/robosherlock/src/core/include/robosherlock/utils/common.h
@@ -57,6 +57,14 @@ struct AnnotatorCapabilities
    * @brief iTypeValueRestrictions mapping between input type and possible values (if no restrictions on values vector is empty)
    */
   std::map<std::string, std::vector<std::string>> iTypeValueRestrictions;
+  /**
+   * @brief rOutputTypeValueDomains mapping of output domain values after reconfiguring
+   */
+  std::map<std::string, std::vector<std::string>> rOutputTypeValueDomains;
+  /**
+   * @brief rInputTypeValueRestrictions mapping of input restrictions after reconfiguring
+   */
+  std::map<std::string, std::vector<std::string>> rInputTypeValueRestrictions;
 };
 
 
diff --git a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
index 8185c1bf..05d6ddd5 100644
--- a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
+++ b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
@@ -145,6 +145,20 @@ class RSProcessManager
    */
   bool resetAE(std::string);
 
+  /**
+   * @brief Reconfigures a single annotator
+   * @param annotatorIdx Index of annotator in pipeline
+   * @return true on success
+   */
+  bool reconfigureAnnotator(int annotatorIdx);
+
+  /**
+   * @brief Reconfigures a single annotator
+   * @param annotatorName Name of annotator in pipeline
+   * @return true on success
+   */
+  bool reconfigureAnnotator(std::string &annotatorName);
+
   /**
    * @brief setUseIdentityResolution run identiy resolution for tracking objects over multiple scenes
    * @param useIdentityResoltuion
diff --git a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/YamlToXMLConverter.h b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/YamlToXMLConverter.h
index d0b73913..392c42de 100644
--- a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/YamlToXMLConverter.h
+++ b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/YamlToXMLConverter.h
@@ -126,22 +126,27 @@ class YamlToXMLConverter
   string getType(const YAML::Node& node);
   string getTypeFilePath() const;
 
-  bool genAEInfo(const YAML::Node& node);
+  // TODO: Why identical function implementation?
+  //bool genAEInfo(const YAML::Node& node);
 
   bool parseAnnotatorInfo(const YAML::Node& node);
 
   bool generateAnnotatorConfigParamInfo(const YAML::Node& node);
   bool genConfigParamInfo(const YAML::Node& node, const string analysisEngineName);
 
-  bool parseCapabInfo(const YAML::Node& node, std::string annotator_name = "");
+  bool parseCapabInfo(const YAML::Node& node, string annotator_name = "", string setup_name = "");
   bool genCapabInfo(const YAML::Node& node);
 
   bool genFlowConstraints(const YAML::Node& node);
   bool genFsIndexCollection();
+  bool parseReconfigurationInfo(const YAML::Node &node);
 
-  rs::AnnotatorCapabilities annotatorCap;
+  rs::AnnotatorCapabilities annotCap; // parsing
+  rs::AnnotatorCapabilities annotatorCap; // return value
   std::vector<rs::AnnotatorCapabilities> overwrittenAnnotCaps;
   vector<string> delegates_;
+
+
 };
 
 #endif
diff --git a/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp b/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
index 00960571..deb3eaf4 100644
--- a/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
+++ b/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
@@ -394,6 +394,12 @@ std::string convertAnnotatorYamlToXML(std::string annotator_name,
         if (delegate_capabilities[annotator_name].iTypeValueRestrictions.empty())
           delegate_capabilities[annotator_name].iTypeValueRestrictions =
               converter.getAnnotatorCapabilities().iTypeValueRestrictions;
+        if (delegate_capabilities[annotator_name].rOutputTypeValueDomains.empty())
+          delegate_capabilities[annotator_name].rOutputTypeValueDomains =
+              converter.getAnnotatorCapabilities().rOutputTypeValueDomains;
+        if(delegate_capabilities[annotator_name].rInputTypeValueRestrictions.empty())
+          delegate_capabilities[annotator_name].rInputTypeValueRestrictions =
+              converter.getAnnotatorCapabilities().rInputTypeValueRestrictions;
       }
     }
     catch (YAML::ParserException e)
diff --git a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
index 06670266..e1a80167 100644
--- a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
+++ b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
@@ -573,6 +573,18 @@ bool RSProcessManager::highlightResultsInCloud(const std::vector<bool> &filter,
   return true;
 }
 
+bool RSProcessManager::reconfigureAnnotator(int annotatorIdx) {
+  if(annotatorIdx >= 0 && annotatorIdx < engine_->iv_annotatorMgr.iv_vecEntries.size()) {
+      return engine_->iv_annotatorMgr.iv_vecEntries[annotatorIdx].iv_pEngine->reconfigure() == UIMA_ERR_NONE;
+  }
+
+  return false;
+}
+
+bool RSProcessManager::reconfigureAnnotator(std::string &annotatorName) {
+  return reconfigureAnnotator(engine_->getIndexOfAnnotator(std::move(annotatorName)));
+}
+
 template bool RSProcessManager::drawResultsOnImage<rs::Object>(const std::vector<bool> &filter,
     const std::vector<std::string> &resultDesignators,
     std::string &requestJson, cv::Mat &resImage);
diff --git a/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp b/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp
index 367f5c2c..a67caade 100644
--- a/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp
+++ b/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp
@@ -17,6 +17,7 @@ static const string AE_NODE_NAME = "ae";
 static const string ANNOTATOR_NODE_NAME = "annotator";
 static const string CONFIG_PARAM_NODE_NAME = "parameters";
 static const string CAPAB_NODE_NAME = "capabilities";
+static const string RECONFIG_NODE_NAME = "reconfiguration";
 
 static const string FIXED_FLOW_NODE_NAME = "fixedflow";
 
@@ -72,9 +73,13 @@ void YamlToXMLConverter::parseYamlFile()
         {
           parseCapabInfo(value);
         }
+        else if(nodeName == RECONFIG_NODE_NAME)
+        {
+          parseReconfigurationInfo(value);
+        }
         else
         {
-          std::string msg = "Node's name is unknow to us.";
+          std::string msg = "Node's name is unknown to us.";
           YAML::ParserException e(YAML::Mark::null_mark(), msg);
           throw e;
         }
@@ -102,7 +107,8 @@ void YamlToXMLConverter::parseYamlFile()
         string nodeName = key.as<string>();
         if(nodeName == AE_NODE_NAME)
         {
-          genAEInfo(value);
+          parseAnnotatorInfo(value);
+          //genAEInfo(value);
         }
         else if(rs::common::getAnnotatorPath(nodeName) != "")
         {
@@ -185,7 +191,7 @@ string YamlToXMLConverter::getType(const YAML::Node &node)
 }
 
 
-bool YamlToXMLConverter::genAEInfo(const YAML::Node &node)
+/*bool YamlToXMLConverter::genAEInfo(const YAML::Node &node)
 {
   if(node.Type() == YAML::NodeType::Map)
   {
@@ -213,8 +219,9 @@ bool YamlToXMLConverter::genAEInfo(const YAML::Node &node)
   }
 
   return true;
-}
+}*/
 
+// TODO: Why two equal functions?
 bool YamlToXMLConverter::parseAnnotatorInfo(const YAML::Node &node)
 {
   if(node.Type() == YAML::NodeType::Map)
@@ -638,10 +645,9 @@ bool YamlToXMLConverter::genCapabInfo(const YAML::Node &node)
   return true;
 }
 
-bool YamlToXMLConverter::parseCapabInfo(const YAML::Node &node, std::string annotator_name)
-{
 
-  rs::AnnotatorCapabilities annotCap;
+bool YamlToXMLConverter::parseCapabInfo(const YAML::Node &node, std::string annotator_name, std::string setup_name)
+{
   annotCap.annotatorName = annotator_name;
   if(node.Type() == YAML::NodeType::Map)
   {
@@ -663,7 +669,16 @@ bool YamlToXMLConverter::parseCapabInfo(const YAML::Node &node, std::string anno
             if(sit->Type() == YAML::NodeType::Scalar)
             {
               std::string val = sit->as<std::string>();
-              annotCap.iTypeValueRestrictions[val] = std::vector<std::string>();
+              if(setup_name.empty())
+              {
+                annotCap.iTypeValueRestrictions[val] = std::vector<std::string>();
+              }
+              else
+              {
+                ostringstream id;
+                id << setup_name << ":" << val;
+                annotCap.rInputTypeValueRestrictions[id.str()] = std::vector<std::string>();
+              }
             }
             if(sit->Type() == YAML::NodeType::Map)
             {
@@ -674,13 +689,23 @@ bool YamlToXMLConverter::parseCapabInfo(const YAML::Node &node, std::string anno
                 {
                   if(e.second.Type() == YAML::NodeType::Sequence)
                   {
-                    annotCap.iTypeValueRestrictions[e.first.as<std::string>()] = e.second.as<std::vector<std::string>>();
+                    string val = e.first.as<std::string>();
+                    if(setup_name.empty())
+                    {
+                      annotCap.iTypeValueRestrictions[val] = e.second.as<std::vector<std::string>>();
+                    }
+                    else
+                    {
+                      ostringstream id;
+                      id << setup_name << ":" << val;
+                      annotCap.rInputTypeValueRestrictions[id.str()] = e.second.as<std::vector<std::string>>();
+                    }
                   }
                 }
               }
               else
               {
-                outError("Inpute Type value restriction needs to be a single map entry;");
+                outError("Input Type value restriction needs to be a single map entry;");
                 return false;
               }
             }
@@ -702,7 +727,15 @@ bool YamlToXMLConverter::parseCapabInfo(const YAML::Node &node, std::string anno
             if(n.Type() == YAML::NodeType::Scalar)
             {
               std::string val = n.as<std::string>();
-              annotCap.oTypeValueDomains[val] = std::vector<std::string>();
+              if(setup_name.empty()){
+                annotCap.oTypeValueDomains[val] = std::vector<std::string>();
+              }
+              else
+              {
+                ostringstream id;
+                id << setup_name << ":" << val;
+                annotCap.rOutputTypeValueDomains[id.str()] = std::vector<std::string>();
+              }
             }
             if(n.Type() == YAML::NodeType::Map)
             {
@@ -713,8 +746,16 @@ bool YamlToXMLConverter::parseCapabInfo(const YAML::Node &node, std::string anno
                 {
                   if(e.second.Type() == YAML::NodeType::Sequence)
                   {
-                    std::vector<string> listValue = e.second.as<std::vector<string>>();
-                    annotCap.oTypeValueDomains[e.first.as<std::string>()] = e.second.as<std::vector<std::string>>();
+                    string val = e.first.as<std::string>();
+                    if(setup_name.empty()){
+                      annotCap.oTypeValueDomains[val] = e.second.as<std::vector<std::string>>();
+                    }
+                    else
+                    {
+                      ostringstream id;
+                      id << setup_name << ":" << val;
+                      annotCap.rOutputTypeValueDomains[id.str()] = e.second.as<std::vector<std::string>>();
+                    }
                   }
                 }
               }
@@ -784,3 +825,43 @@ std::vector<rs::AnnotatorCapabilities> YamlToXMLConverter::getOverwrittenAnnotat
 {
   return overwrittenAnnotCaps;
 }
+
+bool YamlToXMLConverter::parseReconfigurationInfo(const YAML::Node &node)
+{
+  for(YAML::const_iterator it = node.begin(); it != node.end(); ++it)
+  {
+    string setup_name = it->first.as<string>();
+
+    for(YAML::const_iterator sit = it->second.begin(); sit != it->second.end(); ++sit)
+    {
+      if(sit->first.Type() == YAML::NodeType::Scalar)
+      {
+        string node_name = sit->first.as<string>();
+
+        if(node_name == CAPAB_NODE_NAME)
+        {
+          parseCapabInfo(sit->second, "", setup_name);
+        }
+        else if(node_name == CONFIG_PARAM_NODE_NAME)
+        {
+          // TODO: Also save params for reconfiguration?
+        }
+        else
+        {
+          string msg = "Node's name is unknown to us.";
+          YAML::ParserException e(YAML::Mark::null_mark(), msg);
+          throw e;
+        }
+      }
+      else
+      {
+        std::string msg = "Node's key should be scalar.";
+        YAML::ParserException e(YAML::Mark::null_mark(), msg);
+        throw e;
+      }
+    }
+  }
+
+  return true;
+}
+
diff --git a/robosherlock/src/queryanswering/include/robosherlock/queryanswering/KnowledgeEngine.h b/robosherlock/src/queryanswering/include/robosherlock/queryanswering/KnowledgeEngine.h
index c6ed3dc1..5e9108d3 100644
--- a/robosherlock/src/queryanswering/include/robosherlock/queryanswering/KnowledgeEngine.h
+++ b/robosherlock/src/queryanswering/include/robosherlock/queryanswering/KnowledgeEngine.h
@@ -169,6 +169,8 @@ class KnowledgeEngine
           outDebug(individualOfAnnotator);
           std::map<std::string, std::vector<std::string>> inputRestrictions = annotatorData.second.iTypeValueRestrictions;
           std::map<std::string, std::vector<std::string>> outputDomains = annotatorData.second.oTypeValueDomains;
+          std::map<std::string, std::vector<std::string>> reconfigInputRestrictions = annotatorData.second.rInputTypeValueRestrictions;
+          std::map<std::string, std::vector<std::string>> reconfigOutputDomains = annotatorData.second.rOutputTypeValueDomains;
 
           if(!inputRestrictions.empty())
           {
@@ -239,6 +241,20 @@ class KnowledgeEngine
               }
             }
           }
+
+          if(!reconfigInputRestrictions.empty()) {
+            // TODO: Add assertations regarding to input restriction reconfiguration
+          }
+
+          if(!reconfigOutputDomains.empty()) {
+            outInfo(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>");
+
+            for(auto e : reconfigOutputDomains){
+              if(!e.second.empty())
+              outInfo(e.first << " <==> " << e.second[0]);
+            }
+            outInfo(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>");
+          }
         }
       }
       else

From 6f91dd155ae3a5ffa0eaca42a42281f943a00226 Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Sun, 29 Mar 2020 20:05:52 +0200
Subject: [PATCH 02/13] Original demo

---
 robosherlock/descriptors/analysis_engines/demo.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/robosherlock/descriptors/analysis_engines/demo.yaml b/robosherlock/descriptors/analysis_engines/demo.yaml
index f5edd174..5027b02b 100644
--- a/robosherlock/descriptors/analysis_engines/demo.yaml
+++ b/robosherlock/descriptors/analysis_engines/demo.yaml
@@ -9,6 +9,5 @@ fixedflow:
   - ImageSegmentationAnnotator
   - PointCloudClusterExtractor
   - ClusterMerger
-  - SacModelAnnotator
 CollectionReader:
   camera_config_files: ['config_kinect_robot.ini']

From aaa71d761428b3239215ebe7bdef1f687731c8de Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Sun, 29 Mar 2020 20:06:52 +0200
Subject: [PATCH 03/13] SacModelAnnotator: changed model value type to string

---
 .../annotation/SacModelAnnotator.yaml         |  4 +--
 .../src/annotation/src/SacModelAnnotator.cpp  | 34 +++++++------------
 2 files changed, 14 insertions(+), 24 deletions(-)

diff --git a/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml b/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
index 7b8893d5..dac378ee 100644
--- a/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
+++ b/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
@@ -21,7 +21,7 @@ parameters:
   minPoints: 200
   radiusLimit1: 0.01
   radiusLimit2: 0.5
-  sacModel: 5
+  sacModel: Cylinder
   useNormals: true
 
 reconfiguration:
@@ -35,7 +35,7 @@ reconfiguration:
     # Overwrite or define new parameters:
     parameters:
       test_param: "success"
-      sacModel: 4
+      sacModel: Sphere
 
   # Example setup
   setup_example:
diff --git a/robosherlock/src/annotation/src/SacModelAnnotator.cpp b/robosherlock/src/annotation/src/SacModelAnnotator.cpp
index 96ce75c6..6e095eab 100644
--- a/robosherlock/src/annotation/src/SacModelAnnotator.cpp
+++ b/robosherlock/src/annotation/src/SacModelAnnotator.cpp
@@ -28,6 +28,7 @@
 #include <pcl/sample_consensus/method_types.h>
 #include <pcl/sample_consensus/model_types.h>
 #include <pcl/segmentation/sac_segmentation.h>
+#include <pcl/io/pcd_io.h>
 
 #include <robosherlock/scene_cas.h>
 #include <robosherlock/utils/time.h>
@@ -35,7 +36,6 @@
 #include <sensor_msgs/PointCloud2.h>
 #include <ros/ros.h>
 
-#include <pcl/io/pcd_io.h>
 
 #define DEBUG_OUTPUT 0
 using namespace uima;
@@ -51,30 +51,20 @@ class SacModelAnnotator : public Annotator
     TyErrorId readParameters(AnnotatorContext &ctx) {
         if(ctx.isParameterDefined("sacModel"))
         {
-            int selectedModel;
-            ctx.extractValue("sacModel", selectedModel);
-
-            switch(selectedModel) {
-                case pcl::SACMODEL_CYLINDER: // 5
-                    name = "CYLINDER";
-                    break;
-                case pcl::SACMODEL_SPHERE: // 4
-                    name = "SPHERE";
-                    break;
-                case pcl::SACMODEL_CIRCLE2D: // 2
-                    name = "CIRCLE";
-                    break;
-                case pcl::SACMODEL_PLANE: // 0
-                    name = "PLANE";
-                    break;
-
-                default:
-                    return UIMA_ERR_NOT_YET_IMPLEMENTED;
+            ctx.extractValue("sacModel", name);
+            std::transform(name.begin(), name.end(), name.begin(), ::toupper);
+
+            if(name == "CYLINDER"){
+                sacModel = pcl::SACMODEL_CYLINDER;
+            }
+            else if(name == "SPHERE"){
+                sacModel = pcl::SACMODEL_NORMAL_SPHERE;
+            }
+            else{
+                return UIMA_ERR_NOT_YET_IMPLEMENTED;
             }
 
-            sacModel = static_cast<pcl::SacModel>(selectedModel);
             outInfo("Selected " << name << " (" << sacModel << ")..");
-
             return UIMA_ERR_NONE;
         }
 

From e3bb806671738e76423d9b813e31690eaec82718 Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Sun, 26 Apr 2020 14:54:59 +0200
Subject: [PATCH 04/13] Prolog rules and service definitions

---
 .../analysis_engines/reconfig_demo.yaml       |  14 ++
 robosherlock/prolog/rs_query_reasoning.pl     | 150 ++++++++++++++----
 .../flowcontrol/RSProcessManager.h            |   6 +
 .../flowcontrol/YamlToXMLConverter.h          |   3 -
 .../src/flowcontrol/src/RSProcessManager.cpp  |  14 +-
 robosherlock_msgs/CMakeLists.txt              |   2 +
 robosherlock_msgs/srv/OverwriteParam.srv      |  27 ++++
 .../srv/ReconfigureAnnotator.srv              |   4 +
 8 files changed, 182 insertions(+), 38 deletions(-)
 create mode 100644 robosherlock/descriptors/analysis_engines/reconfig_demo.yaml
 create mode 100644 robosherlock_msgs/srv/OverwriteParam.srv
 create mode 100644 robosherlock_msgs/srv/ReconfigureAnnotator.srv

diff --git a/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml b/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml
new file mode 100644
index 00000000..f5edd174
--- /dev/null
+++ b/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml
@@ -0,0 +1,14 @@
+ae:
+  name: demo
+fixedflow:
+  - CollectionReader
+  - ImagePreprocessor
+  - PointCloudFilter
+  - NormalEstimator
+  - PlaneAnnotator
+  - ImageSegmentationAnnotator
+  - PointCloudClusterExtractor
+  - ClusterMerger
+  - SacModelAnnotator
+CollectionReader:
+  camera_config_files: ['config_kinect_robot.ini']
diff --git a/robosherlock/prolog/rs_query_reasoning.pl b/robosherlock/prolog/rs_query_reasoning.pl
index 77d18d3b..4eb31790 100644
--- a/robosherlock/prolog/rs_query_reasoning.pl
+++ b/robosherlock/prolog/rs_query_reasoning.pl
@@ -42,7 +42,10 @@
   retract_query_lang/0,
   assert_test_case/0,
   retract_all_annotators/0,
-  retract_query_assertions/0
+  retract_query_assertions/0,
+
+  set_annotator_setup_names/2,
+  assert_reconfiguration_pipeline/0
 ]).
 
 :- rdf_meta
@@ -67,7 +70,7 @@
 
 
 compute_annotators(A) :- 
-	owl_subclass_of(A,rs_components:'RoboSherlockComponent'),
+	owl_subclass_of(A,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
         not(A = 'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'), 
         not(A = 'http://knowrob.org/kb/rs_components.owl#AnnotationComponent'), 
         not(A = 'http://knowrob.org/kb/rs_components.owl#DetectionComponent'), 
@@ -82,28 +85,28 @@
 
 % assert domain restriction for an individual generated from a RoboSherlockComponents
 set_annotator_domain(AnnotatorI, Domain):-
-    owl_individual_of(AnnotatorI,rs_components:'RoboSherlockComponent'),
-    owl_restriction_assert(restriction(rs_components:'outputDomain',all_values_from(union_of(Domain))),R),
+    owl_individual_of(AnnotatorI,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
+    owl_restriction_assert(restriction('http://knowrob.org/kb/rs_components.owl#outputDomain',all_values_from(union_of(Domain))),R),
     rdf_assert(AnnotatorI,rdf:type,R).
 
 %%%% set a domain constraint on the type of the annotator e.g. Primitive Shape annotator returns Shape annotations with value one of [a,b,c]
 %%%% 
 set_annotator_output_type_domain(AnnotatorI, Domain, Type):-
-    owl_individual_of(AnnotatorI,rs_components:'RoboSherlockComponent'),
+    owl_individual_of(AnnotatorI,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
     owl_individual_of(AnnotatorI,Annotator),!,
     compute_annotator_outputs(Annotator, Type),%% you can only set this restriction if the Type is defined as an output type 
     owl_restriction_assert(restriction(Type,all_values_from(union_of(Domain))),R),
     rdf_assert(AnnotatorI,rdf:type,R).
     
 set_annotator_input_type_constraint(AnnotatorI, Constraint, Type):-
-    owl_individual_of(AnnotatorI,rs_components:'RoboSherlockComponent'),
+    owl_individual_of(AnnotatorI,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
     owl_individual_of(AnnotatorI,Annotator),!,
     compute_annotator_inputs(Annotator, Type),%% you can only set this restriction if the Type is defined as an output type 
     owl_restriction_assert(restriction(Type,all_values_from(union_of(Constraint))),R),
     rdf_assert(AnnotatorI,rdf:type,R).
 
 compute_annotator_output_type_domain(AnnotatorI, Type, Domain):-
-    owl_individual_of(AnnotatorI,rs_components:'RoboSherlockComponent'),
+    owl_individual_of(AnnotatorI,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
     owl_individual_of(AnnotatorI,Annotator),!,
     compute_annotator_outputs(Annotator, Type),
     owl_has(AnnotatorI,rdf:type,R),   
@@ -111,7 +114,7 @@
     rdf_has(R,owl:allValuesFrom,V),owl_description(V,union_of(Domain)).
     
 compute_annotator_input_type_restriction(AnnotatorI, Type, Domain):-
-    owl_individual_of(AnnotatorI,rs_components:'RoboSherlockComponent'),
+    owl_individual_of(AnnotatorI,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
     owl_individual_of(AnnotatorI,Annotator),!,
     compute_annotator_inputs(Annotator, Type),
     owl_has(AnnotatorI,rdf:type,R),   
@@ -123,13 +126,13 @@
 compute_annotator_outputs(Annotator,Output) :- 
 	annotators(Annotator), 
 	owl_has(Annotator,rdfs:subClassOf, O),
-    owl_restriction(O, restriction(rs_components:'perceptualOutput',some_values_from(Output))).
+    owl_restriction(O, restriction('http://knowrob.org/kb/rs_components.owl#perceptualOutput',some_values_from(Output))).
 
 % Get inputs of Annotator
 compute_annotator_inputs(Annotator,Input) :- 
 	annotators(Annotator), 
 	owl_has(Annotator,rdfs:subClassOf,O),
-    owl_restriction(O, restriction(rs_components:'perceptualInputRequired',some_values_from(Input))).
+    owl_restriction(O, restriction('http://knowrob.org/kb/rs_components.owl#perceptualInputRequired',some_values_from(Input))).
 
 % cache outputs/inputs
 :- forall(compute_annotator_outputs(A,O), assert(annotator_outputs(A,O)) ).
@@ -354,24 +357,24 @@
 	build_pipeline(Annotators, Pipeline).
 	
 assert_test_pipeline:-
-    kb_create(rs_components:'CollectionReader',_),kb_create(rs_components:'ImagePreprocessor',_),
-    kb_create(rs_components:'RegionFilter',_),
-    kb_create(rs_components:'NormalEstimator',_),
-    kb_create(rs_components:'PlaneAnnotator',_),
-    kb_create(rs_components:'ImageSegmentationAnnotator',_),
-    kb_create(rs_components:'PointCloudClusterExtractor',_),
-    kb_create(rs_components:'ClusterMerger',_),
-    kb_create(rs_components:'Cluster3DGeometryAnnotator',GI),set_annotator_output_type_domain(GI,[rs_components:'Small',rs_components:'Big',rs_components:'Medium'],rs_components:'RsAnnotationGeometry'),
-    kb_create(rs_components:'PrimitiveShapeAnnotator',PI),set_annotator_output_type_domain(PI,[rs_components:'Box',rs_components:'Round'],rs_components:'RsAnnotationShape'),
-    kb_create(rs_components:'ClusterColorHistogramCalculator',CI),set_annotator_output_type_domain(CI,[rs_components:'Yellow',rs_components:'Blue'],rs_components:'RsAnnotationSemanticcolor'),
-    kb_create(rs_components:'SacModelAnnotator',SI),set_annotator_output_type_domain(SI,[rs_components:'Cylinder'],rs_components:'RsAnnotationShape'),
-    kb_create(rs_components:'PCLDescriptorExtractor',_),	
-    kb_create(rs_components:'CaffeAnnotator',_),
-    kb_create(rs_components:'KnnAnnotator',KNNI),set_annotator_output_type_domain(KNNI,[kitchen:'WhiteCeramicIkeaBowl', kitchen:'KoellnMuesliKnusperHonigNuss'], rs_components:'RsAnnotationClassification'),
-    kb_create(rs_components:'HandleAnnotator',HI),set_annotator_output_type_domain(HI,[rs_components:'Handle'], rs_components:'RsAnnotationDetection').
-   
+    kb_create('http://knowrob.org/kb/rs_components.owl#CollectionReader',_),kb_create('http://knowrob.org/kb/rs_components.owl#ImagePreprocessor',_),
+    kb_create('http://knowrob.org/kb/rs_components.owl#RegionFilter',_),
+    kb_create('http://knowrob.org/kb/rs_components.owl#NormalEstimator',_),
+    kb_create('http://knowrob.org/kb/rs_components.owl#PlaneAnnotator',_),
+    kb_create('http://knowrob.org/kb/rs_components.owl#ImageSegmentationAnnotator',_),
+    kb_create('http://knowrob.org/kb/rs_components.owl#PointCloudClusterExtractor',_),
+    kb_create('http://knowrob.org/kb/rs_components.owl#ClusterMerger',_),
+    kb_create('http://knowrob.org/kb/rs_components.owl#Cluster3DGeometryAnnotator',GI),set_annotator_output_type_domain(GI,['http://knowrob.org/kb/rs_components.owl#Small','http://knowrob.org/kb/rs_components.owl#Big','http://knowrob.org/kb/rs_components.owl#Medium'],'http://knowrob.org/kb/rs_components.owl#RsAnnotationGeometry'),
+    kb_create('http://knowrob.org/kb/rs_components.owl#PrimitiveShapeAnnotator',PI),set_annotator_output_type_domain(PI,['http://knowrob.org/kb/rs_components.owl#Box','http://knowrob.org/kb/rs_components.owl#Round'],'http://knowrob.org/kb/rs_components.owl#RsAnnotationShape'),
+    kb_create('http://knowrob.org/kb/rs_components.owl#ClusterColorHistogramCalculator',CI),set_annotator_output_type_domain(CI,['http://knowrob.org/kb/rs_components.owl#Yellow','http://knowrob.org/kb/rs_components.owl#Blue'],'http://knowrob.org/kb/rs_components.owl#RsAnnotationSemanticcolor'),
+    kb_create('http://knowrob.org/kb/rs_components.owl#SacModelAnnotator',SI),set_annotator_output_type_domain(SI,['http://knowrob.org/kb/rs_components.owl#Cylinder'],'http://knowrob.org/kb/rs_components.owl#RsAnnotationShape'),
+    kb_create('http://knowrob.org/kb/rs_components.owl#PCLDescriptorExtractor',_),	
+    kb_create('http://knowrob.org/kb/rs_components.owl#CaffeAnnotator',_),
+    kb_create('http://knowrob.org/kb/rs_components.owl#KnnAnnotator',KNNI),set_annotator_output_type_domain(KNNI,[kitchen:'WhiteCeramicIkeaBowl', kitchen:'KoellnMuesliKnusperHonigNuss'], 'http://knowrob.org/kb/rs_components.owl#RsAnnotationClassification'),
+    kb_create('http://knowrob.org/kb/rs_components.owl#HandleAnnotator',HI),set_annotator_output_type_domain(HI,['http://knowrob.org/kb/rs_components.owl#Handle'], 'http://knowrob.org/kb/rs_components.owl#RsAnnotationDetection').
+
 assert_query:-
-    assert(requestedValueForKey(shape,rs_components:'Box')).
+    assert(requestedValueForKey(shape,'http://knowrob.org/kb/rs_components.owl#Box')).
  
 assert_query_lang:-
 	assert(rs_query_predicate(shape)),
@@ -388,12 +391,12 @@
 	assert(rs_query_predicate(timestamp)),
 	assert(rs_query_predicate(location)),
 	assert(rs_query_predicate(has-ingredient)),
-	rdf_global_id(rs_components:'RsAnnotationShape',A),assert(rs_type_for_predicate(shape, A)),
-	rdf_global_id(rs_components:'RsAnnotationSemanticcolor',B),assert(rs_type_for_predicate(color, B)),
-	rdf_global_id(rs_components:'RsAnnotationGeometry',C),
-	rdf_global_id(rs_components:'RsAnnotationDetection',D),
- 	rdf_global_id(rs_components:'RsAnnotationClassification',E),
-	rdf_global_id(rs_components:'RsAnnotationPose',F),
+	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationShape',A),assert(rs_type_for_predicate(shape, A)),
+	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationSemanticcolor',B),assert(rs_type_for_predicate(color, B)),
+	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationGeometry',C),
+	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationDetection',D),
+ 	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationClassification',E),
+	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationPose',F),
     assert(rs_type_for_predicate(size, C)),
 	assert(rs_type_for_predicate(detection, D)),
 	assert(rs_type_for_predicate(class, E)),
@@ -416,9 +419,88 @@
 	retractall(rs_type_for_predicate(_,_)).
    	
 retract_all_annotators:-
-    forall(owl_subclass_of(S,rs_components:'RoboSherlockComponent'),
+    forall(owl_subclass_of(S,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
     rdf_retractall(_,rdf:type,S)).   
     
 retract_query_assertions:-
     retract(requestedValueForKey(_,_)).
     
+%% Reconfiguration Rules
+
+assert_reconfiguration_pipeline:-
+    assert_test_pipeline,
+    owl_individual_of(I, 'http://knowrob.org/kb/rs_components.owl#SacModelAnnotator'),
+    set_annotator_setup_names(I, ['SetupCylinder', 'SetupSphere']),
+    set_annotator_setup_output_type_domain(I, 'SetupCylinder', 'http://knowrob.org/kb/rs_components.owl#RsAnnotationShape', ['http://knowrob.org/kb/rs_components.owl#Cylinder']),
+    set_annotator_setup_output_type_domain(I, 'SetupSphere', 'http://knowrob.org/kb/rs_components.owl#RsAnnotationShape', ['http://knowrob.org/kb/rs_components.owl#Sphere']),
+    set_annotator_setup_input_type_constraint(I, 'SetupSphere', 'http://knowrob.org/kb/rs_components.owl#perceptualInputRequired', ['http://knowrob.org/kb/rs_components.owl#RsSceneMergedhypothesis'] ).
+
+
+set_annotator_setup_names(AnnotatorI, Setups) :-
+    foreach(member(Setup, Setups),
+        assert(annotator_setup_names(AnnotatorI, Setup))).
+
+set_annotator_setup_output_type_domain(AnnotatorI, Setup, Type, Domain) :-
+    annotator_setup_names(AnnotatorI, Setup), %% check if setup exists
+    assert(annotator_setup_output_type((AnnotatorI, Setup), Type)),
+    assert(annotator_setup_output_domain((AnnotatorI, Setup), Domain)).
+
+set_annotator_setup_input_type_constraint(AnnotatorI, Setup, Type, Constraint) :-
+    annotator_setup_names(AnnotatorI, Setup), %% check if setup exists
+    assert(annotator_setup_input_type((AnnotatorI, Setup), Type)),
+    assert(annotator_setup_input_constraint((AnnotatorI, Setup), Constraint)).
+
+set_annotator_setup_parameter(AnnotatorI, Setup, Parameter, Value) :-
+    annotator_setup_names(AnnotatorI, Setup), %% check if setup exists
+    assert(annotator_setup_parameter((AnnotatorI, Setup), [Parameter, Value])).
+
+
+load_annotator_setup(AnnotatorI, Setup) :-
+    annotator_setup_names(AnnotatorI, Setup), %% check if setup exists
+    %% Update output and input
+    load_annotator_setup_input(AnnotatorI, Setup),
+    load_annotator_setup_output(AnnotatorI, Setup).
+    %% TODO: Call Cpp Rule to reconfigure annotator
+
+load_annotator_setup_input(AnnotatorI, Setup) :-
+    annotator_setup_input_type((AnnotatorI, Setup), Type),
+    annotator_setup_input_constraint((AnnotatorI, Setup), Constraint),
+    write(Type),nl,write(Constraint),nl,
+    %% TODO: retract old input
+    set_annotator_input_type_constraint(AnnotatorI, Constraint, Type).
+
+load_annotator_setup_output(AnnotatorI, Setup) :-
+    annotator_setup_output_type((AnnotatorI, Setup), Type),
+    annotator_setup_output_domain((AnnotatorI, Setup), Domain),
+    write('Annotator: '),writeln(AnnotatorI),
+    write('Domain: '),writeln(Domain),
+    write('Type: '),writeln(Type),
+    %% TODO: retract old output
+    set_annotator_output_type_domain(AnnotatorI, Domain, Type).
+
+load_annotator_setup_parameter(AnnotatorI, Setup, Parameter, Value) :-
+    annotator_setup_names(AnnotatorI, Setup), %% check if setup exists
+    annotator_setup_parameter((AnnotatorI, Setup), Parameter, Value).
+    %% TODO: Overwrite param with Cpp Rule
+
+
+find_annotator_setup_for_output_type_domain(AnnotatorI, Setup, Type, Domain) :-
+    annotator_setup_output_type((AnnotatorI, Setup), Type),
+    annotator_setup_output_domain((AnnotatorI, Setup), Domain).
+
+find_annotator_setup_for_input_type_constraint(AnnotatorI, Setup, Type, Constraint) :-
+    annotator_setup_input_type((AnnotatorI, Setup), Type),
+    annotator_setup_input_constraint((AnnotatorI, Setup), Constraint).
+
+
+%% TEST TODO: REMOVE
+find_sphere_setup(A, S) :-
+    find_annotator_setup_for_output_type_domain(A, S, 'http://knowrob.org/kb/rs_components.owl#RsAnnotationShape', ['http://knowrob.org/kb/rs_components.owl#Sphere']).
+
+load_sphere_setup:-
+    owl_individual_of(I,'http://knowrob.org/kb/rs_components.owl#SacModelAnnotator'),
+    load_annotator_setup_output(I, 'SetupSphere').
+
+load_cylinder_setup:-
+    owl_individual_of(I,'http://knowrob.org/kb/rs_components.owl#SacModelAnnotator'),
+    load_annotator_setup(I, 'SetupCylinder').
\ No newline at end of file
diff --git a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
index 05d6ddd5..64cf557b 100644
--- a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
+++ b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
@@ -159,6 +159,12 @@ class RSProcessManager
    */
   bool reconfigureAnnotator(std::string &annotatorName);
 
+  bool handleReconfigureAnnotator(robosherlock_msgs::ReconfigureAnnotator::Request &req,
+          robosherlock_msgs::ReconfigureAnnotator::Respone &res);
+
+  bool handleOverwriteParam(robosherlock_msgs::OverwriteParam::Request &req,
+          robosherlock_msgs::OverwriteParam::Response &res);
+
   /**
    * @brief setUseIdentityResolution run identiy resolution for tracking objects over multiple scenes
    * @param useIdentityResoltuion
diff --git a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/YamlToXMLConverter.h b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/YamlToXMLConverter.h
index 392c42de..4831ed8b 100644
--- a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/YamlToXMLConverter.h
+++ b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/YamlToXMLConverter.h
@@ -126,9 +126,6 @@ class YamlToXMLConverter
   string getType(const YAML::Node& node);
   string getTypeFilePath() const;
 
-  // TODO: Why identical function implementation?
-  //bool genAEInfo(const YAML::Node& node);
-
   bool parseAnnotatorInfo(const YAML::Node& node);
 
   bool generateAnnotatorConfigParamInfo(const YAML::Node& node);
diff --git a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
index e1a80167..2fa735e8 100644
--- a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
+++ b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
@@ -24,7 +24,7 @@ RSProcessManager::RSProcessManager(std::string engineFile, const bool useVisuali
     if(ros::service::waitForService("rosprolog/query", ros::Duration(60.0)))
       knowledge_engine_ = std::make_shared<rs::RosPrologInterface>();
     else
-      throw rs::Exception("rosprolog client sercivice not reachable");
+      throw rs::Exception("rosprolog client service not reachable");
 #else
     throw rs::Exception("rosprolog was not found at compile time!");
 #endif
@@ -46,6 +46,7 @@ RSProcessManager::RSProcessManager(std::string engineFile, const bool useVisuali
   setFlowService_ = nh_.advertiseService("execute_pipeline", &RSProcessManager::executePipelineCallback, this);
   queryService_ = nh_.advertiseService("query", &RSProcessManager::jsonQueryCallback, this);
 
+
   // ROS publisher declarations
   result_pub_ = nh_.advertise<robosherlock_msgs::RSObjectDescriptions>(std::string("result_advertiser"), 1);
   image_pub_ = it_.advertise("result_image", 1, true);
@@ -585,6 +586,17 @@ bool RSProcessManager::reconfigureAnnotator(std::string &annotatorName) {
   return reconfigureAnnotator(engine_->getIndexOfAnnotator(std::move(annotatorName)));
 }
 
+bool RSProcessManager::handleReconfigureAnnotator(robosherlock_msgs::ReconfigureAnnotator::Request &req,
+                                                  robosherlock_msgs::ReconfigureAnnotator::Respone &res) {
+  req.
+    return false;
+}
+
+bool RSProcessManager::handleOverwriteParam(robosherlock_msgs::ReconfigureAnnotator::Request &req,
+                                            robosherlock_msgs::ReconfigureAnnotator::Respone &res) {
+    return false;
+}
+
 template bool RSProcessManager::drawResultsOnImage<rs::Object>(const std::vector<bool> &filter,
     const std::vector<std::string> &resultDesignators,
     std::string &requestJson, cv::Mat &resImage);
diff --git a/robosherlock_msgs/CMakeLists.txt b/robosherlock_msgs/CMakeLists.txt
index 447f99ff..0191fc53 100644
--- a/robosherlock_msgs/CMakeLists.txt
+++ b/robosherlock_msgs/CMakeLists.txt
@@ -23,6 +23,8 @@ add_service_files(FILES
   RSVisControl.srv
   UpdateObjects.srv
   ExecutePipeline.srv
+  OverwriteParam.srv
+  ReconfigureAnnotator.srv
 )
 
 add_action_files(DIRECTORY action FILES RSQuery.action)
diff --git a/robosherlock_msgs/srv/OverwriteParam.srv b/robosherlock_msgs/srv/OverwriteParam.srv
new file mode 100644
index 00000000..4aae7ca4
--- /dev/null
+++ b/robosherlock_msgs/srv/OverwriteParam.srv
@@ -0,0 +1,27 @@
+string annotatorName
+string parameterName
+uint8 parameterType
+
+int32 parameterInteger
+float64 parameterFloat
+string parameterString
+bool parameterBool
+
+int32[] parameterIntegerVector
+float64[] parameterFloatVector
+string[] parameterStringVector
+bool[] parameterBoolVector
+
+---
+bool result
+
+
+# Parameter Types:
+uint8 INT = 0
+uint8 FLOAT = 1
+uint8 STRING = 2
+uint8 BOOl = 3
+uint8 INT_VECTOR = 4
+uint8 FLOAT_VECTOR = 5
+uint8 STRING_VECTOR = 6
+uint8 BOOL_VECTOR = 7
diff --git a/robosherlock_msgs/srv/ReconfigureAnnotator.srv b/robosherlock_msgs/srv/ReconfigureAnnotator.srv
new file mode 100644
index 00000000..b8e0fd01
--- /dev/null
+++ b/robosherlock_msgs/srv/ReconfigureAnnotator.srv
@@ -0,0 +1,4 @@
+string annotatorName
+string setupName
+---
+bool result

From 6fe61b315736b3360480dc15a919ea3c91325165 Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Tue, 28 Apr 2020 20:50:59 +0200
Subject: [PATCH 05/13] Moved reconfigure methods to RSAggregateAnalysisEngine

---
 .../flowcontrol/RSAggregateAnalysisEngine.h       | 15 +++++++++++++++
 .../robosherlock/flowcontrol/RSProcessManager.h   | 13 -------------
 .../flowcontrol/src/RSAggregateAnalysisEngine.cpp | 13 +++++++++++++
 .../src/flowcontrol/src/RSProcessManager.cpp      | 14 +-------------
 4 files changed, 29 insertions(+), 26 deletions(-)

diff --git a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h
index 74879435..657d839a 100644
--- a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h
+++ b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h
@@ -325,6 +325,21 @@ class RSAggregateAnalysisEngine : public uima::internal::AggregateEngine
     cr_context->assignValue(UnicodeString(param_name.c_str()), conversionString);
   }
 
+  /**
+   * @brief RSProcessManager::resetAE reset analysis engine that was instantiated; Use this method i
+   * if you want to change the AAE loaded at startup
+   * @param newAAEName name of the new aggregate analysis engine;
+   * @return true/false
+   */
+  bool resetAE(std::string);
+
+  /**
+   * @brief Reconfigures a single annotator
+   * @param annotatorIdx Index of annotator in pipeline
+   * @return true on success
+   */
+  bool reconfigureAnnotator(int annotatorIdx);
+
   // this variable is for fail safe mechanism to fall back to linear execution if query orderings fail
 
   bool querySuccess;
diff --git a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
index 64cf557b..f48804a8 100644
--- a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
+++ b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
@@ -137,20 +137,7 @@ class RSProcessManager
    */
   bool virtual handleQuery(std::string &req, std::vector<std::string> &res);
 
-  /**
-   * @brief RSProcessManager::resetAE reset analysis engine that was instantiated; Use this method i
-   * if you want to change the AAE loaded at startup
-   * @param newAAEName name of the new aggregate analysis engine;
-   * @return true/false
-   */
-  bool resetAE(std::string);
 
-  /**
-   * @brief Reconfigures a single annotator
-   * @param annotatorIdx Index of annotator in pipeline
-   * @return true on success
-   */
-  bool reconfigureAnnotator(int annotatorIdx);
 
   /**
    * @brief Reconfigures a single annotator
diff --git a/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp b/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
index deb3eaf4..67f9734e 100644
--- a/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
+++ b/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
@@ -642,4 +642,17 @@ RSAggregateAnalysisEngine* createParallelAnalysisEngine(uima::AnnotatorContext&
   }
   return NULL;
 }
+
+bool RSProcessManager::reconfigureAnnotator(int annotatorIdx) {
+  if(annotatorIdx >= 0 && annotatorIdx < engine_->iv_annotatorMgr.iv_vecEntries.size()) {
+    return engine_->iv_annotatorMgr.iv_vecEntries[annotatorIdx].iv_pEngine->reconfigure() == UIMA_ERR_NONE;
+  }
+
+  return false;
+}
+
+bool RSProcessManager::reconfigureAnnotator(std::string &annotatorName) {
+  return reconfigureAnnotator(engine_->getIndexOfAnnotator(std::move(annotatorName)));
+}
+
 }  // namespace rs
diff --git a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
index 2fa735e8..72f4201f 100644
--- a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
+++ b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
@@ -574,25 +574,13 @@ bool RSProcessManager::highlightResultsInCloud(const std::vector<bool> &filter,
   return true;
 }
 
-bool RSProcessManager::reconfigureAnnotator(int annotatorIdx) {
-  if(annotatorIdx >= 0 && annotatorIdx < engine_->iv_annotatorMgr.iv_vecEntries.size()) {
-      return engine_->iv_annotatorMgr.iv_vecEntries[annotatorIdx].iv_pEngine->reconfigure() == UIMA_ERR_NONE;
-  }
-
-  return false;
-}
-
-bool RSProcessManager::reconfigureAnnotator(std::string &annotatorName) {
-  return reconfigureAnnotator(engine_->getIndexOfAnnotator(std::move(annotatorName)));
-}
-
 bool RSProcessManager::handleReconfigureAnnotator(robosherlock_msgs::ReconfigureAnnotator::Request &req,
                                                   robosherlock_msgs::ReconfigureAnnotator::Respone &res) {
   req.
     return false;
 }
 
-bool RSProcessManager::handleOverwriteParam(robosherlock_msgs::ReconfigureAnnotator::Request &req,
+bool RSProcessManager::handleOverwriteParam(robosherlock_msgs::OverwriteParam:: &req,
                                             robosherlock_msgs::ReconfigureAnnotator::Respone &res) {
     return false;
 }

From 18422053e0f4011f630187153203a2426a5e4812 Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Tue, 28 Apr 2020 22:27:56 +0200
Subject: [PATCH 06/13] Fixed copyPasta, removed duplicated code

---
 .../flowcontrol/RSAggregateAnalysisEngine.h   | 13 ++---
 .../flowcontrol/RSProcessManager.h            | 17 +++---
 .../src/RSAggregateAnalysisEngine.cpp         | 25 ++++-----
 .../src/flowcontrol/src/RSProcessManager.cpp  | 56 ++++++++++++++++---
 .../flowcontrol/src/YamlToXMLConverter.cpp    | 32 -----------
 5 files changed, 76 insertions(+), 67 deletions(-)

diff --git a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h
index 657d839a..c059eafa 100644
--- a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h
+++ b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h
@@ -326,19 +326,18 @@ class RSAggregateAnalysisEngine : public uima::internal::AggregateEngine
   }
 
   /**
-   * @brief RSProcessManager::resetAE reset analysis engine that was instantiated; Use this method i
-   * if you want to change the AAE loaded at startup
-   * @param newAAEName name of the new aggregate analysis engine;
-   * @return true/false
+   * @brief Reconfigures a single annotator
+   * @param annotatorIdx Index of annotator in pipeline
+   * @return true on success
    */
-  bool resetAE(std::string);
+  bool reconfigureAnnotator(int annotatorIdx);
 
   /**
    * @brief Reconfigures a single annotator
-   * @param annotatorIdx Index of annotator in pipeline
+   * @param annotatorName Name of annotator in pipeline
    * @return true on success
    */
-  bool reconfigureAnnotator(int annotatorIdx);
+  bool reconfigureAnnotator(std::string &annotatorName);
 
   // this variable is for fail safe mechanism to fall back to linear execution if query orderings fail
 
diff --git a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
index f48804a8..cf32cb9f 100644
--- a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
+++ b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSProcessManager.h
@@ -12,6 +12,8 @@
 #include <robosherlock_msgs/RSObjectDescriptions.h>
 #include <robosherlock_msgs/RSVisControl.h>
 #include <robosherlock_msgs/ExecutePipeline.h>
+#include <robosherlock_msgs/ReconfigureAnnotator.h>
+#include <robosherlock_msgs/OverwriteParam.h>
 
 #include <mongo/client/dbclient.h>
 
@@ -58,7 +60,7 @@ class RSProcessManager
 
   ros::AsyncSpinner spinner_;
 
-  ros::ServiceServer setContextService_, queryService_, setFlowService_;
+  ros::ServiceServer setContextService_, queryService_, setFlowService_, reconfigureService_, overwriteParamService_;
   ros::Publisher result_pub_;
   ros::Publisher pc_pub_;
   image_transport::Publisher image_pub_;
@@ -137,17 +139,16 @@ class RSProcessManager
    */
   bool virtual handleQuery(std::string &req, std::vector<std::string> &res);
 
-
-
   /**
-   * @brief Reconfigures a single annotator
-   * @param annotatorName Name of annotator in pipeline
-   * @return true on success
+   * @brief RSProcessManager::resetAE reset analysis engine that was instantiated; Use this method i
+   * if you want to change the AAE loaded at startup
+   * @param newAAEName name of the new aggregate analysis engine;
+   * @return true/false
    */
-  bool reconfigureAnnotator(std::string &annotatorName);
+  bool resetAE(std::string);
 
   bool handleReconfigureAnnotator(robosherlock_msgs::ReconfigureAnnotator::Request &req,
-          robosherlock_msgs::ReconfigureAnnotator::Respone &res);
+          robosherlock_msgs::ReconfigureAnnotator::Response &res);
 
   bool handleOverwriteParam(robosherlock_msgs::OverwriteParam::Request &req,
           robosherlock_msgs::OverwriteParam::Response &res);
diff --git a/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp b/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
index 67f9734e..efd8beb8 100644
--- a/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
+++ b/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
@@ -366,6 +366,18 @@ void RSAggregateAnalysisEngine::setPipelineOrdering(std::vector<std::string> ann
   }
 }
 
+bool RSAggregateAnalysisEngine::reconfigureAnnotator(int annotatorIdx) {
+  if(annotatorIdx >= 0 && annotatorIdx < iv_annotatorMgr.iv_vecEntries.size()) {
+    return iv_annotatorMgr.iv_vecEntries[annotatorIdx].iv_pEngine->reconfigure() == UIMA_ERR_NONE;
+  }
+
+  return false;
+}
+
+bool RSAggregateAnalysisEngine::reconfigureAnnotator(std::string &annotatorName) {
+  return reconfigureAnnotator(getIndexOfAnnotator(std::move(annotatorName)));
+}
+
 namespace rs
 {
 std::string convertAnnotatorYamlToXML(std::string annotator_name,
@@ -642,17 +654,4 @@ RSAggregateAnalysisEngine* createParallelAnalysisEngine(uima::AnnotatorContext&
   }
   return NULL;
 }
-
-bool RSProcessManager::reconfigureAnnotator(int annotatorIdx) {
-  if(annotatorIdx >= 0 && annotatorIdx < engine_->iv_annotatorMgr.iv_vecEntries.size()) {
-    return engine_->iv_annotatorMgr.iv_vecEntries[annotatorIdx].iv_pEngine->reconfigure() == UIMA_ERR_NONE;
-  }
-
-  return false;
-}
-
-bool RSProcessManager::reconfigureAnnotator(std::string &annotatorName) {
-  return reconfigureAnnotator(engine_->getIndexOfAnnotator(std::move(annotatorName)));
-}
-
 }  // namespace rs
diff --git a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
index 72f4201f..88332c78 100644
--- a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
+++ b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
@@ -45,7 +45,8 @@ RSProcessManager::RSProcessManager(std::string engineFile, const bool useVisuali
   setContextService_ = nh_.advertiseService("set_context", &RSProcessManager::resetAECallback, this);
   setFlowService_ = nh_.advertiseService("execute_pipeline", &RSProcessManager::executePipelineCallback, this);
   queryService_ = nh_.advertiseService("query", &RSProcessManager::jsonQueryCallback, this);
-
+  reconfigureService_ = nh_.advertiseService("reconfigure_annotator", &RSProcessManager::handleReconfigureAnnotator, this);
+  overwriteParamService_ = nh_.advertiseService("overwrite_param", &RSProcessManager::handleOverwriteParam, this);
 
   // ROS publisher declarations
   result_pub_ = nh_.advertise<robosherlock_msgs::RSObjectDescriptions>(std::string("result_advertiser"), 1);
@@ -575,14 +576,55 @@ bool RSProcessManager::highlightResultsInCloud(const std::vector<bool> &filter,
 }
 
 bool RSProcessManager::handleReconfigureAnnotator(robosherlock_msgs::ReconfigureAnnotator::Request &req,
-                                                  robosherlock_msgs::ReconfigureAnnotator::Respone &res) {
-  req.
-    return false;
+                                                  robosherlock_msgs::ReconfigureAnnotator::Response &res) {
+  if(req.setupName.empty()) {
+    // No setup provided; reconfigure only.
+    outInfo("No setup name provided, just calling reconfigure() now.");
+    engine_->reconfigureAnnotator(req.annotatorName);
+  }
+  else {
+
+  }
+  return true;
 }
 
-bool RSProcessManager::handleOverwriteParam(robosherlock_msgs::OverwriteParam:: &req,
-                                            robosherlock_msgs::ReconfigureAnnotator::Respone &res) {
-    return false;
+bool RSProcessManager::handleOverwriteParam(robosherlock_msgs::OverwriteParam::Request &req,
+                                            robosherlock_msgs::OverwriteParam::Response &res) {
+  switch(req.parameterType) {
+    case robosherlock_msgs::OverwriteParamRequest::INT:
+      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterInteger);
+      break;
+    case robosherlock_msgs::OverwriteParamRequest::INT_VECTOR:
+      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterIntegerVector);
+      break;
+    case robosherlock_msgs::OverwriteParamRequest::BOOL:
+      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterBool);
+      break;
+    case robosherlock_msgs::OverwriteParamRequest::BOOL_VECTOR:
+      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterBoolVector);
+      break;
+    case robosherlock_msgs::OverwriteParamRequest::FLOAT:
+      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterFloat);
+      break;
+    case robosherlock_msgs::OverwriteParamRequest::FLOAT_VECTOR:
+      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterFloatVector);
+      break;
+    case robosherlock_msgs::OverwriteParamRequest::STRING:
+      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterString);
+      break;
+    case robosherlock_msgs::OverwriteParamRequest::STRING_VECTOR:
+      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterStringVector);
+      break;
+
+    default:
+      outError("Invalid data type in OverwriteParam Service Request.");
+      res.result = false;
+      return false;
+  }
+
+  outInfo("OverwriteParam finished successfully.");
+  res.result = true;
+  return true;
 }
 
 template bool RSProcessManager::drawResultsOnImage<rs::Object>(const std::vector<bool> &filter,
diff --git a/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp b/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp
index a67caade..5af634dd 100644
--- a/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp
+++ b/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp
@@ -190,38 +190,6 @@ string YamlToXMLConverter::getType(const YAML::Node &node)
   }
 }
 
-
-/*bool YamlToXMLConverter::genAEInfo(const YAML::Node &node)
-{
-  if(node.Type() == YAML::NodeType::Map)
-  {
-    for(YAML::const_iterator mit = node.begin(); mit != node.end(); ++mit)
-    {
-      string name = mit->first.as<string>();
-
-      if(name == "name")
-        AEName = mit->second.as<string>();
-      else if(name == "implementation")
-        AEImpl = mit->second.as<string>();
-      else if(name == "description")
-        AEDescription = mit->second.as<string>();
-      else
-      {
-        cerr << mit->second.as<string>() << " is an unknown annotator info to us." << endl;
-        return false;
-      }
-    }
-  }
-  else
-  {
-    cerr << "Please use map structure under annotator node." << endl;
-    return false;
-  }
-
-  return true;
-}*/
-
-// TODO: Why two equal functions?
 bool YamlToXMLConverter::parseAnnotatorInfo(const YAML::Node &node)
 {
   if(node.Type() == YAML::NodeType::Map)

From 2e21eb1b9006c7cca4f6b704c99f76b1b28a7d56 Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Tue, 28 Apr 2020 22:29:54 +0200
Subject: [PATCH 07/13] Overwrite Parameter Service definition update

---
 robosherlock_msgs/srv/OverwriteParam.srv | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/robosherlock_msgs/srv/OverwriteParam.srv b/robosherlock_msgs/srv/OverwriteParam.srv
index 4aae7ca4..592f1a5d 100644
--- a/robosherlock_msgs/srv/OverwriteParam.srv
+++ b/robosherlock_msgs/srv/OverwriteParam.srv
@@ -12,16 +12,17 @@ float64[] parameterFloatVector
 string[] parameterStringVector
 bool[] parameterBoolVector
 
----
-bool result
-
-
 # Parameter Types:
 uint8 INT = 0
 uint8 FLOAT = 1
 uint8 STRING = 2
-uint8 BOOl = 3
+uint8 BOOL = 3
 uint8 INT_VECTOR = 4
 uint8 FLOAT_VECTOR = 5
 uint8 STRING_VECTOR = 6
 uint8 BOOL_VECTOR = 7
+---
+bool result
+
+
+

From 286f0565328057f669c8a9bf7d5093a72d9a2879 Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Tue, 28 Apr 2020 22:58:38 +0200
Subject: [PATCH 08/13] OverwriteParamService, ReconfigureService now
 implemented.

---
 .../src/flowcontrol/src/RSProcessManager.cpp  | 25 +++++++++++++++----
 1 file changed, 20 insertions(+), 5 deletions(-)

diff --git a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
index 88332c78..87c76613 100644
--- a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
+++ b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
@@ -580,12 +580,24 @@ bool RSProcessManager::handleReconfigureAnnotator(robosherlock_msgs::Reconfigure
   if(req.setupName.empty()) {
     // No setup provided; reconfigure only.
     outInfo("No setup name provided, just calling reconfigure() now.");
-    engine_->reconfigureAnnotator(req.annotatorName);
+    res.result = engine_->reconfigureAnnotator(req.annotatorName);
   }
   else {
-
+    auto aCaps = engine_->getDelegateAnnotatorCapabilities();
+    auto result = aCaps.find(req.annotatorName);
+    rs::AnnotatorCapabilities aCap;
+
+    if(result != aCaps.end()) {
+      aCap = result->second;
+      // TODO: Update input- and output-capabilities here
+      res.result = true;
+    }
+    else {
+      outError("Annotator " << req.annotatorName << " could not be found.");
+      res.result = false;
+    }
   }
-  return true;
+  return res.result;
 }
 
 bool RSProcessManager::handleOverwriteParam(robosherlock_msgs::OverwriteParam::Request &req,
@@ -601,8 +613,11 @@ bool RSProcessManager::handleOverwriteParam(robosherlock_msgs::OverwriteParam::R
       engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterBool);
       break;
     case robosherlock_msgs::OverwriteParamRequest::BOOL_VECTOR:
-      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterBoolVector);
-      break;
+      //engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterBoolVector);
+      // REASON: No valid template-function found during compile-time
+      outError("Vectors of booleans are currently not supported by the OverwriteParamService.");
+      res.result = false;
+      return false;
     case robosherlock_msgs::OverwriteParamRequest::FLOAT:
       engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterFloat);
       break;

From 755bb7db434542f1084ac0b71fd78af6d88e4a6a Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Tue, 28 Apr 2020 23:51:19 +0200
Subject: [PATCH 09/13] Prolog CPPQueries: reconfigure_annotator,
 overwrite_param

---
 .../queryanswering/src/PrologCPPQueries.cpp   | 122 ++++++++++++++++++
 1 file changed, 122 insertions(+)

diff --git a/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp b/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp
index c2487f7c..cace2c86 100644
--- a/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp
+++ b/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp
@@ -5,6 +5,8 @@
 
 #include "robosherlock_msgs/RSQueryService.h"
 #include "robosherlock_msgs/ExecutePipeline.h"
+#include "robosherlock_msgs/ReconfigureAnnotator.h"
+#include "robosherlock_msgs/OverwriteParam.h"
 
 #include <ros/package.h>
 
@@ -200,3 +202,123 @@ PREDICATE(write_list, 1)
   }
   return TRUE;
 }
+
+
+/**
+ * Conversion methods, needed for overwrite_param service calls
+ */
+
+std::vector<int> getIntVector(PlTail prologList)
+{
+  std::vector<int> result;
+  PlTerm e;
+
+  while(prologList.next(e)) {
+    result.push_back(e);
+  }
+
+  return result;
+}
+
+// ROS FLOAT = DOUBLE!
+std::vector<double> getFloatVector(PlTail prologList)
+{
+  std::vector<double> result;
+  PlTerm e;
+
+  while(prologList.next(e)) {
+    result.push_back(*(double *)&e);
+  }
+
+  return result;
+}
+
+std::vector<std::string> getStringVector(PlTail prologList)
+{
+  std::vector<std::string> result;
+  PlTerm e;
+
+  while(prologList.next(e)) {
+    result.push_back(static_cast<std::string>((char *)e));
+  }
+  return result;
+}
+
+
+PREDICATE(cpp_reconfigure_annotator, 2)
+{
+  std::string *annotatorName, *setupName;
+  annotatorName = static_cast<std::string *>((void *) PL_A1);
+  setupName = static_cast<std::string *>((void *) PL_A2);
+
+  ros::NodeHandle n;
+  ros::ServiceClient client = n.serviceClient<robosherlock_msgs::ReconfigureAnnotator>("RoboSherlock/reconfigure_annotator");
+  robosherlock_msgs::ReconfigureAnnotator srv;
+
+  srv.request.annotatorName = *annotatorName;
+  srv.request.setupName = *setupName;
+
+  if(client.call(srv)) {
+    std::cout << "Calling RoboSherlock/reconfigure_annotator was successful" << std::endl;
+    return TRUE;
+  }
+  else {
+    std::cout << "Calling RoboSherlock/reconfigure_annotator was unsuccessful" << std::endl;
+    return FALSE;
+  }
+}
+
+
+PREDICATE(cpp_overwrite_param, 4)
+{
+  std::string *annotatorName, *paramName;
+  annotatorName = static_cast<std::string *>((void *) PL_A1);
+  paramName = static_cast<std::string *>((void *) PL_A2);
+  int paramType = PL_A3;
+  void *value = PL_A4;
+
+  ros::NodeHandle n;
+  ros::ServiceClient client = n.serviceClient<robosherlock_msgs::OverwriteParam>("RoboSherlock/overwrite_param");
+  robosherlock_msgs::OverwriteParam srv;
+
+  srv.request.annotatorName = *annotatorName;
+  srv.request.parameterName = *paramName;
+  srv.request.parameterType = paramType;
+
+  switch(paramType) {
+    case robosherlock_msgs::OverwriteParam::Request::INT:
+      srv.request.parameterInteger = PL_A4;
+      break;
+    case robosherlock_msgs::OverwriteParam::Request::INT_VECTOR:
+      srv.request.parameterIntegerVector = getIntVector(PL_A4);
+      break;
+    case robosherlock_msgs::OverwriteParam::Request::BOOL:
+      srv.request.parameterBool = *(bool *)value;
+      break;
+    case robosherlock_msgs::OverwriteParam::Request::FLOAT:
+      srv.request.parameterFloat = PL_A4;
+      break;
+    case robosherlock_msgs::OverwriteParam::Request::FLOAT_VECTOR:
+      srv.request.parameterFloatVector = getFloatVector(PL_A4);
+      break;
+    case robosherlock_msgs::OverwriteParam::Request::STRING:
+      srv.request.parameterString = *(std::string *)value;
+      break;
+    case robosherlock_msgs::OverwriteParam::Request::STRING_VECTOR:
+      srv.request.parameterStringVector = getStringVector(PL_A4);
+      break;
+
+    default:
+      std::cout << "Invalid parameter data type, aborting." << std::endl;
+      return FALSE;
+  }
+
+  if(client.call(srv)) {
+    std::cout << "Calling RoboSherlock/overwrite_param was successful" << std::endl;
+    return TRUE;
+  }
+  else {
+    std::cout << "Calling RoboSherlock/overwrite_param was unsuccessful" << std::endl;
+    return FALSE;
+  }
+}
\ No newline at end of file

From faf222a0c68bb362d15b7f7237a2dd167960e448 Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Wed, 29 Apr 2020 00:25:43 +0200
Subject: [PATCH 10/13] Bugfix in reconfigure service, added reconfiguration to
 rdf_meta to fix name resolving.

---
 robosherlock/prolog/rs_query_reasoning.pl     | 103 ++++++++++--------
 .../src/flowcontrol/src/RSProcessManager.cpp  |   2 +-
 2 files changed, 58 insertions(+), 47 deletions(-)

diff --git a/robosherlock/prolog/rs_query_reasoning.pl b/robosherlock/prolog/rs_query_reasoning.pl
index 4eb31790..18f98863 100644
--- a/robosherlock/prolog/rs_query_reasoning.pl
+++ b/robosherlock/prolog/rs_query_reasoning.pl
@@ -59,7 +59,18 @@
    set_annotator_output_type_domain(r,t,r),
    set_annotator_input_type_constraint(r,t,r),
    compute_annotator_output_type_domain(r,r,t),
-   compute_annotator_input_type_restriction(r,r,t).
+   compute_annotator_input_type_restriction(r,r,t),
+   % reconfiguration:
+   set_annotator_setup_names(r,t),
+   set_annotator_setup_output_type_domain(r,t,t,t),
+   set_annotator_setup_input_type_constraint(r,t,t,t),
+   set_annotator_setup_parameter(r,t,t,t),
+   load_annotator_setup(r,t),
+   load_annotator_setup_input(r,t),
+   load_annotator_setup_output(r,t),
+   load_annotator_setup_parameter(r,t,t,t),
+   find_annotator_setup_for_output_type_domain(r,t,t,t),
+   find_annotator_setup_for_input_type_constraint(r,t,t,t).
 
 
 
@@ -70,13 +81,13 @@
 
 
 compute_annotators(A) :- 
-	owl_subclass_of(A,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
-        not(A = 'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'), 
-        not(A = 'http://knowrob.org/kb/rs_components.owl#AnnotationComponent'), 
-        not(A = 'http://knowrob.org/kb/rs_components.owl#DetectionComponent'), 
-        not(A = 'http://knowrob.org/kb/rs_components.owl#IoComponent'), 
-        not(A = 'http://knowrob.org/kb/rs_components.owl#PeopleComponent'), 
-        not(A = 'http://knowrob.org/kb/rs_components.owl#SegmentationComponent').
+	owl_subclass_of(A,rs_components:'RoboSherlockComponent'),
+        not(A = rs_components:'RoboSherlockComponent'), 
+        not(A = rs_components:'AnnotationComponent'), 
+        not(A = rs_components:'DetectionComponent'), 
+        not(A = rs_components:'IoComponent'), 
+        not(A = rs_components:'PeopleComponent'), 
+        not(A = rs_components:'SegmentationComponent').
                 
         
 % cache the annotators
@@ -85,28 +96,28 @@
 
 % assert domain restriction for an individual generated from a RoboSherlockComponents
 set_annotator_domain(AnnotatorI, Domain):-
-    owl_individual_of(AnnotatorI,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
-    owl_restriction_assert(restriction('http://knowrob.org/kb/rs_components.owl#outputDomain',all_values_from(union_of(Domain))),R),
+    owl_individual_of(AnnotatorI,rs_components:'RoboSherlockComponent'),
+    owl_restriction_assert(restriction(rs_components:'outputDomain',all_values_from(union_of(Domain))),R),
     rdf_assert(AnnotatorI,rdf:type,R).
 
 %%%% set a domain constraint on the type of the annotator e.g. Primitive Shape annotator returns Shape annotations with value one of [a,b,c]
 %%%% 
 set_annotator_output_type_domain(AnnotatorI, Domain, Type):-
-    owl_individual_of(AnnotatorI,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
+    owl_individual_of(AnnotatorI,rs_components:'RoboSherlockComponent'),
     owl_individual_of(AnnotatorI,Annotator),!,
     compute_annotator_outputs(Annotator, Type),%% you can only set this restriction if the Type is defined as an output type 
     owl_restriction_assert(restriction(Type,all_values_from(union_of(Domain))),R),
     rdf_assert(AnnotatorI,rdf:type,R).
     
 set_annotator_input_type_constraint(AnnotatorI, Constraint, Type):-
-    owl_individual_of(AnnotatorI,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
+    owl_individual_of(AnnotatorI,rs_components:'RoboSherlockComponent'),
     owl_individual_of(AnnotatorI,Annotator),!,
     compute_annotator_inputs(Annotator, Type),%% you can only set this restriction if the Type is defined as an output type 
     owl_restriction_assert(restriction(Type,all_values_from(union_of(Constraint))),R),
     rdf_assert(AnnotatorI,rdf:type,R).
 
 compute_annotator_output_type_domain(AnnotatorI, Type, Domain):-
-    owl_individual_of(AnnotatorI,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
+    owl_individual_of(AnnotatorI,rs_components:'RoboSherlockComponent'),
     owl_individual_of(AnnotatorI,Annotator),!,
     compute_annotator_outputs(Annotator, Type),
     owl_has(AnnotatorI,rdf:type,R),   
@@ -114,7 +125,7 @@
     rdf_has(R,owl:allValuesFrom,V),owl_description(V,union_of(Domain)).
     
 compute_annotator_input_type_restriction(AnnotatorI, Type, Domain):-
-    owl_individual_of(AnnotatorI,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
+    owl_individual_of(AnnotatorI,rs_components:'RoboSherlockComponent'),
     owl_individual_of(AnnotatorI,Annotator),!,
     compute_annotator_inputs(Annotator, Type),
     owl_has(AnnotatorI,rdf:type,R),   
@@ -126,13 +137,13 @@
 compute_annotator_outputs(Annotator,Output) :- 
 	annotators(Annotator), 
 	owl_has(Annotator,rdfs:subClassOf, O),
-    owl_restriction(O, restriction('http://knowrob.org/kb/rs_components.owl#perceptualOutput',some_values_from(Output))).
+    owl_restriction(O, restriction(rs_components:'perceptualOutput',some_values_from(Output))).
 
 % Get inputs of Annotator
 compute_annotator_inputs(Annotator,Input) :- 
 	annotators(Annotator), 
 	owl_has(Annotator,rdfs:subClassOf,O),
-    owl_restriction(O, restriction('http://knowrob.org/kb/rs_components.owl#perceptualInputRequired',some_values_from(Input))).
+    owl_restriction(O, restriction(rs_components:'perceptualInputRequired',some_values_from(Input))).
 
 % cache outputs/inputs
 :- forall(compute_annotator_outputs(A,O), assert(annotator_outputs(A,O)) ).
@@ -357,24 +368,24 @@
 	build_pipeline(Annotators, Pipeline).
 	
 assert_test_pipeline:-
-    kb_create('http://knowrob.org/kb/rs_components.owl#CollectionReader',_),kb_create('http://knowrob.org/kb/rs_components.owl#ImagePreprocessor',_),
-    kb_create('http://knowrob.org/kb/rs_components.owl#RegionFilter',_),
-    kb_create('http://knowrob.org/kb/rs_components.owl#NormalEstimator',_),
-    kb_create('http://knowrob.org/kb/rs_components.owl#PlaneAnnotator',_),
-    kb_create('http://knowrob.org/kb/rs_components.owl#ImageSegmentationAnnotator',_),
-    kb_create('http://knowrob.org/kb/rs_components.owl#PointCloudClusterExtractor',_),
-    kb_create('http://knowrob.org/kb/rs_components.owl#ClusterMerger',_),
-    kb_create('http://knowrob.org/kb/rs_components.owl#Cluster3DGeometryAnnotator',GI),set_annotator_output_type_domain(GI,['http://knowrob.org/kb/rs_components.owl#Small','http://knowrob.org/kb/rs_components.owl#Big','http://knowrob.org/kb/rs_components.owl#Medium'],'http://knowrob.org/kb/rs_components.owl#RsAnnotationGeometry'),
-    kb_create('http://knowrob.org/kb/rs_components.owl#PrimitiveShapeAnnotator',PI),set_annotator_output_type_domain(PI,['http://knowrob.org/kb/rs_components.owl#Box','http://knowrob.org/kb/rs_components.owl#Round'],'http://knowrob.org/kb/rs_components.owl#RsAnnotationShape'),
-    kb_create('http://knowrob.org/kb/rs_components.owl#ClusterColorHistogramCalculator',CI),set_annotator_output_type_domain(CI,['http://knowrob.org/kb/rs_components.owl#Yellow','http://knowrob.org/kb/rs_components.owl#Blue'],'http://knowrob.org/kb/rs_components.owl#RsAnnotationSemanticcolor'),
-    kb_create('http://knowrob.org/kb/rs_components.owl#SacModelAnnotator',SI),set_annotator_output_type_domain(SI,['http://knowrob.org/kb/rs_components.owl#Cylinder'],'http://knowrob.org/kb/rs_components.owl#RsAnnotationShape'),
-    kb_create('http://knowrob.org/kb/rs_components.owl#PCLDescriptorExtractor',_),	
-    kb_create('http://knowrob.org/kb/rs_components.owl#CaffeAnnotator',_),
-    kb_create('http://knowrob.org/kb/rs_components.owl#KnnAnnotator',KNNI),set_annotator_output_type_domain(KNNI,[kitchen:'WhiteCeramicIkeaBowl', kitchen:'KoellnMuesliKnusperHonigNuss'], 'http://knowrob.org/kb/rs_components.owl#RsAnnotationClassification'),
-    kb_create('http://knowrob.org/kb/rs_components.owl#HandleAnnotator',HI),set_annotator_output_type_domain(HI,['http://knowrob.org/kb/rs_components.owl#Handle'], 'http://knowrob.org/kb/rs_components.owl#RsAnnotationDetection').
+    kb_create(rs_components:'CollectionReader',_),kb_create(rs_components:'ImagePreprocessor',_),
+    kb_create(rs_components:'RegionFilter',_),
+    kb_create(rs_components:'NormalEstimator',_),
+    kb_create(rs_components:'PlaneAnnotator',_),
+    kb_create(rs_components:'ImageSegmentationAnnotator',_),
+    kb_create(rs_components:'PointCloudClusterExtractor',_),
+    kb_create(rs_components:'ClusterMerger',_),
+    kb_create(rs_components:'Cluster3DGeometryAnnotator',GI),set_annotator_output_type_domain(GI,[rs_components:'Small',rs_components:'Big',rs_components:'Medium'],rs_components:'RsAnnotationGeometry'),
+    kb_create(rs_components:'PrimitiveShapeAnnotator',PI),set_annotator_output_type_domain(PI,[rs_components:'Box',rs_components:'Round'],rs_components:'RsAnnotationShape'),
+    kb_create(rs_components:'ClusterColorHistogramCalculator',CI),set_annotator_output_type_domain(CI,[rs_components:'Yellow',rs_components:'Blue'],rs_components:'RsAnnotationSemanticcolor'),
+    kb_create(rs_components:'SacModelAnnotator',SI),set_annotator_output_type_domain(SI,[rs_components:'Cylinder'],rs_components:'RsAnnotationShape'),
+    kb_create(rs_components:'PCLDescriptorExtractor',_),	
+    kb_create(rs_components:'CaffeAnnotator',_),
+    kb_create(rs_components:'KnnAnnotator',KNNI),set_annotator_output_type_domain(KNNI,[kitchen:'WhiteCeramicIkeaBowl', kitchen:'KoellnMuesliKnusperHonigNuss'], rs_components:'RsAnnotationClassification'),
+    kb_create(rs_components:'HandleAnnotator',HI),set_annotator_output_type_domain(HI,[rs_components:'Handle'], rs_components:'RsAnnotationDetection').
 
 assert_query:-
-    assert(requestedValueForKey(shape,'http://knowrob.org/kb/rs_components.owl#Box')).
+    assert(requestedValueForKey(shape,rs_components:'Box')).
  
 assert_query_lang:-
 	assert(rs_query_predicate(shape)),
@@ -391,12 +402,12 @@
 	assert(rs_query_predicate(timestamp)),
 	assert(rs_query_predicate(location)),
 	assert(rs_query_predicate(has-ingredient)),
-	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationShape',A),assert(rs_type_for_predicate(shape, A)),
-	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationSemanticcolor',B),assert(rs_type_for_predicate(color, B)),
-	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationGeometry',C),
-	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationDetection',D),
- 	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationClassification',E),
-	rdf_global_id('http://knowrob.org/kb/rs_components.owl#RsAnnotationPose',F),
+	rdf_global_id(rs_components:'RsAnnotationShape',A),assert(rs_type_for_predicate(shape, A)),
+	rdf_global_id(rs_components:'RsAnnotationSemanticcolor',B),assert(rs_type_for_predicate(color, B)),
+	rdf_global_id(rs_components:'RsAnnotationGeometry',C),
+	rdf_global_id(rs_components:'RsAnnotationDetection',D),
+ 	rdf_global_id(rs_components:'RsAnnotationClassification',E),
+	rdf_global_id(rs_components:'RsAnnotationPose',F),
     assert(rs_type_for_predicate(size, C)),
 	assert(rs_type_for_predicate(detection, D)),
 	assert(rs_type_for_predicate(class, E)),
@@ -419,7 +430,7 @@
 	retractall(rs_type_for_predicate(_,_)).
    	
 retract_all_annotators:-
-    forall(owl_subclass_of(S,'http://knowrob.org/kb/rs_components.owl#RoboSherlockComponent'),
+    forall(owl_subclass_of(S,rs_components:'RoboSherlockComponent'),
     rdf_retractall(_,rdf:type,S)).   
     
 retract_query_assertions:-
@@ -429,11 +440,11 @@
 
 assert_reconfiguration_pipeline:-
     assert_test_pipeline,
-    owl_individual_of(I, 'http://knowrob.org/kb/rs_components.owl#SacModelAnnotator'),
+    owl_individual_of(I, rs_components:'SacModelAnnotator'),
     set_annotator_setup_names(I, ['SetupCylinder', 'SetupSphere']),
-    set_annotator_setup_output_type_domain(I, 'SetupCylinder', 'http://knowrob.org/kb/rs_components.owl#RsAnnotationShape', ['http://knowrob.org/kb/rs_components.owl#Cylinder']),
-    set_annotator_setup_output_type_domain(I, 'SetupSphere', 'http://knowrob.org/kb/rs_components.owl#RsAnnotationShape', ['http://knowrob.org/kb/rs_components.owl#Sphere']),
-    set_annotator_setup_input_type_constraint(I, 'SetupSphere', 'http://knowrob.org/kb/rs_components.owl#perceptualInputRequired', ['http://knowrob.org/kb/rs_components.owl#RsSceneMergedhypothesis'] ).
+    set_annotator_setup_output_type_domain(I, 'SetupCylinder', rs_components:'RsAnnotationShape', [rs_components:'Cylinder']),
+    set_annotator_setup_output_type_domain(I, 'SetupSphere', rs_components:'RsAnnotationShape', [rs_components:'Sphere']),
+    set_annotator_setup_input_type_constraint(I, 'SetupSphere', rs_components:'perceptualInputRequired', [rs_components:'RsSceneMergedhypothesis'] ).
 
 
 set_annotator_setup_names(AnnotatorI, Setups) :-
@@ -495,12 +506,12 @@
 
 %% TEST TODO: REMOVE
 find_sphere_setup(A, S) :-
-    find_annotator_setup_for_output_type_domain(A, S, 'http://knowrob.org/kb/rs_components.owl#RsAnnotationShape', ['http://knowrob.org/kb/rs_components.owl#Sphere']).
+    find_annotator_setup_for_output_type_domain(A, S, rs_components:'RsAnnotationShape', [rs_components:'Sphere']).
 
 load_sphere_setup:-
-    owl_individual_of(I,'http://knowrob.org/kb/rs_components.owl#SacModelAnnotator'),
+    owl_individual_of(I,rs_components:'SacModelAnnotator'),
     load_annotator_setup_output(I, 'SetupSphere').
 
 load_cylinder_setup:-
-    owl_individual_of(I,'http://knowrob.org/kb/rs_components.owl#SacModelAnnotator'),
+    owl_individual_of(I,rs_components:'SacModelAnnotator'),
     load_annotator_setup(I, 'SetupCylinder').
\ No newline at end of file
diff --git a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
index 87c76613..6590721f 100644
--- a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
+++ b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
@@ -590,7 +590,7 @@ bool RSProcessManager::handleReconfigureAnnotator(robosherlock_msgs::Reconfigure
     if(result != aCaps.end()) {
       aCap = result->second;
       // TODO: Update input- and output-capabilities here
-      res.result = true;
+      res.result = engine_->reconfigureAnnotator(req.annotatorName);
     }
     else {
       outError("Annotator " << req.annotatorName << " could not be found.");

From a7fac2f53f8f9ef0e1ba6b9eb2c0cf3f5f595207 Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Tue, 19 May 2020 22:20:02 +0200
Subject: [PATCH 11/13] It works now

---
 robosherlock/config/config_reconfig_demo.ini  |  12 ++
 .../analysis_engines/reconfig_demo.yaml       |   2 +-
 .../annotators/annotation/CaffeAnnotator.yaml |  19 +++
 .../annotation/SacModelAnnotator.yaml         |  13 +--
 robosherlock/prolog/rs_query_reasoning.pl     |  26 +++--
 .../core/include/robosherlock/utils/common.h  |  30 ++++-
 .../flowcontrol/RSAggregateAnalysisEngine.h   |  41 +++++++
 .../src/RSAggregateAnalysisEngine.cpp         |   9 +-
 .../src/flowcontrol/src/RSProcessManager.cpp  |  87 +++++++-------
 .../flowcontrol/src/YamlToXMLConverter.cpp    |  66 ++++++++---
 .../queryanswering/KnowledgeEngine.h          |   9 +-
 .../queryanswering/src/PrologCPPQueries.cpp   | 109 ++++--------------
 robosherlock_msgs/srv/OverwriteParam.srv      |  21 +---
 13 files changed, 251 insertions(+), 193 deletions(-)
 create mode 100644 robosherlock/config/config_reconfig_demo.ini

diff --git a/robosherlock/config/config_reconfig_demo.ini b/robosherlock/config/config_reconfig_demo.ini
new file mode 100644
index 00000000..26cbaa78
--- /dev/null
+++ b/robosherlock/config/config_reconfig_demo.ini
@@ -0,0 +1,12 @@
+[camera]
+interface=MongoDB
+
+[mongodb]
+host=localhost
+db=classification_test_training
+continual=false
+loop=true
+playbackSpeed=0.0
+
+[tf]
+semanticMap=semantic_map_iai_kitchen.yaml
diff --git a/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml b/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml
index f5edd174..7010b65c 100644
--- a/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml
+++ b/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml
@@ -11,4 +11,4 @@ fixedflow:
   - ClusterMerger
   - SacModelAnnotator
 CollectionReader:
-  camera_config_files: ['config_kinect_robot.ini']
+  camera_config_files: ['config_reconfig_demo.ini']
diff --git a/robosherlock/descriptors/annotators/annotation/CaffeAnnotator.yaml b/robosherlock/descriptors/annotators/annotation/CaffeAnnotator.yaml
index 5bf1a432..96459561 100644
--- a/robosherlock/descriptors/annotators/annotation/CaffeAnnotator.yaml
+++ b/robosherlock/descriptors/annotators/annotation/CaffeAnnotator.yaml
@@ -11,3 +11,22 @@ parameters:
 capabilities:
   inputs: ['rs.scene.MergedHypothesis']
   outputs: ['rs.annotation.Features']
+
+reconfiguration:
+  # BVLC setup
+  setup_bvlc:
+    parameters:
+      caffe_annotator_model_file: '/caffe/models/bvlc_reference_caffenet/deploy.prototxt' # paths are relative to rs_resources
+      caffe_annotator_trained_file: '/caffe/models/bvlc_reference_caffenet/bvlc_reference_caffenet.caffemodel'
+      caffe_annotator_mean_file: '/caffe/data/imagenet_mean.binaryproto'
+      caffe_annotator_label_file: '/caffe/data/synset_words.txt'
+      caffe_annotator_noramlize: true
+
+  # VHF setup
+  setup_vfh:
+    parameters:
+      caffe_annotator_model_file: 'vfh path' # paths are relative to rs_resources
+      caffe_annotator_trained_file: 'vfh path'
+      caffe_annotator_mean_file: 'vfh path'
+      caffe_annotator_label_file: 'vfh path'
+      caffe_annotator_noramlize: true
\ No newline at end of file
diff --git a/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml b/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
index dac378ee..9df9f19d 100644
--- a/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
+++ b/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
@@ -21,7 +21,7 @@ parameters:
   minPoints: 200
   radiusLimit1: 0.01
   radiusLimit2: 0.5
-  sacModel: Cylinder
+  sacModel: "CYLINDER"
   useNormals: true
 
 reconfiguration:
@@ -34,15 +34,14 @@ reconfiguration:
 
     # Overwrite or define new parameters:
     parameters:
-      test_param: "success"
-      sacModel: Sphere
+      sacModel: "SPHERE"
 
   # Example setup
-  setup_example:
+  setup_cylinder:
     capabilities:
       outputs:
-      - rs.annotation.Shape: [example]
-      domain: [example]
+      - rs.annotation.Shape: [cylinder]
+      domain: [cylinder]
 
     parameters:
-      useNormals: false
\ No newline at end of file
+      sacModel: "CYLINDER"
\ No newline at end of file
diff --git a/robosherlock/prolog/rs_query_reasoning.pl b/robosherlock/prolog/rs_query_reasoning.pl
index 18f98863..d503ae4b 100644
--- a/robosherlock/prolog/rs_query_reasoning.pl
+++ b/robosherlock/prolog/rs_query_reasoning.pl
@@ -43,9 +43,11 @@
   assert_test_case/0,
   retract_all_annotators/0,
   retract_query_assertions/0,
-
   set_annotator_setup_names/2,
-  assert_reconfiguration_pipeline/0
+  assert_reconfiguration_pipeline/0,
+  load_sphere_setup/0,
+  find_sphere_setup/2,
+  test_overwrite_param/0
 ]).
 
 :- rdf_meta
@@ -73,6 +75,8 @@
    find_annotator_setup_for_input_type_constraint(r,t,t,t).
 
 
+:- use_foreign_library('librs_prologQueries.so').
+
 
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % Pipeline Planning
@@ -470,8 +474,9 @@
     annotator_setup_names(AnnotatorI, Setup), %% check if setup exists
     %% Update output and input
     load_annotator_setup_input(AnnotatorI, Setup),
-    load_annotator_setup_output(AnnotatorI, Setup).
-    %% TODO: Call Cpp Rule to reconfigure annotator
+    load_annotator_setup_output(AnnotatorI, Setup),
+    write('Loading new setup: '), nl, write(AnnotatorI), nl, write(Setup),
+    cpp_reconfigure_annotator(AnnotatorI, Setup).
 
 load_annotator_setup_input(AnnotatorI, Setup) :-
     annotator_setup_input_type((AnnotatorI, Setup), Type),
@@ -491,8 +496,9 @@
 
 load_annotator_setup_parameter(AnnotatorI, Setup, Parameter, Value) :-
     annotator_setup_names(AnnotatorI, Setup), %% check if setup exists
-    annotator_setup_parameter((AnnotatorI, Setup), Parameter, Value).
-    %% TODO: Overwrite param with Cpp Rule
+    annotator_setup_parameter((AnnotatorI, Setup), Parameter, Value),
+    write('Overwriting param now'), nl, write(AnnotatorI), nl,
+    cpp_overwrite_param(AnnotatorI, Parameter, 2, Value).
 
 
 find_annotator_setup_for_output_type_domain(AnnotatorI, Setup, Type, Domain) :-
@@ -509,9 +515,11 @@
     find_annotator_setup_for_output_type_domain(A, S, rs_components:'RsAnnotationShape', [rs_components:'Sphere']).
 
 load_sphere_setup:-
-    owl_individual_of(I,rs_components:'SacModelAnnotator'),
-    load_annotator_setup_output(I, 'SetupSphere').
+    cpp_reconfigure_annotator('SacModelAnnotator', 'setup_spheres').
 
 load_cylinder_setup:-
     owl_individual_of(I,rs_components:'SacModelAnnotator'),
-    load_annotator_setup(I, 'SetupCylinder').
\ No newline at end of file
+    load_annotator_setup(I, 'SetupCylinder').
+
+test_overwrite_param:-
+    cpp_overwrite_param('SacModelAnnotator', 'sacModel', ['CYLINDER']).
\ No newline at end of file
diff --git a/robosherlock/src/core/include/robosherlock/utils/common.h b/robosherlock/src/core/include/robosherlock/utils/common.h
index f3589f58..8af42b27 100644
--- a/robosherlock/src/core/include/robosherlock/utils/common.h
+++ b/robosherlock/src/core/include/robosherlock/utils/common.h
@@ -37,12 +37,33 @@
 
 #include <tf/tf.h>
 
+
 namespace rs
 {
 
 #define AE_SEARCHPATH "/descriptors/analysis_engines/"
 #define ANNOT_SEARCHPATH "/descriptors/annotators/"
 
+struct AnnotatorSetup
+{
+  /**
+   * @brief Holds the type name for each parameter:
+   */
+  std::map<std::string, std::string> paramTypes;
+  /**
+   * @brief Holds the value for each parameter in this setup:
+   */
+  std::map<std::string, std::vector<std::string>> paramValues;
+  /**
+   * @brief rOutputTypeValueDomains mapping of output domain values after reconfiguring
+   */
+  std::map<std::string, std::vector<std::string>> rOutputTypeValueDomains;
+  /**
+   * @brief rInputTypeValueRestrictions mapping of input restrictions after reconfiguring
+   */
+  std::map<std::string, std::vector<std::string>> rInputTypeValueRestrictions;
+};
+
 struct AnnotatorCapabilities
 {
   /**
@@ -58,16 +79,15 @@ struct AnnotatorCapabilities
    */
   std::map<std::string, std::vector<std::string>> iTypeValueRestrictions;
   /**
-   * @brief rOutputTypeValueDomains mapping of output domain values after reconfiguring
+   * @brief The default setup
    */
-  std::map<std::string, std::vector<std::string>> rOutputTypeValueDomains;
+  AnnotatorSetup defaultSetup;
   /**
-   * @brief rInputTypeValueRestrictions mapping of input restrictions after reconfiguring
+   * @brief Contains all setups for this annotator
    */
-  std::map<std::string, std::vector<std::string>> rInputTypeValueRestrictions;
+  std::map<std::string, AnnotatorSetup> reconfigurationSetups;
 };
 
-
 namespace common
 {
 
diff --git a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h
index c059eafa..88a5ac8b 100644
--- a/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h
+++ b/robosherlock/src/flowcontrol/include/robosherlock/flowcontrol/RSAggregateAnalysisEngine.h
@@ -311,6 +311,12 @@ class RSAggregateAnalysisEngine : public uima::internal::AggregateEngine
     cr_context->assignValue(UnicodeString(param_name.c_str()), (UnicodeString) param.c_str());
   }
 
+  /**
+   * @brief overwriteParam specific case for vectors of strings because of uima working with UnicodeStrings
+   * @param ae_ame
+   * @param param_name
+   * @param param
+   */
   void overwriteParam(const std::string &ae_name, const std::string &param_name, const std::vector<std::string> &param)
   {
     uima::AnnotatorContext &annotContext = getAnnotatorContext();
@@ -325,6 +331,41 @@ class RSAggregateAnalysisEngine : public uima::internal::AggregateEngine
     cr_context->assignValue(UnicodeString(param_name.c_str()), conversionString);
   }
 
+    /**
+   * @brief overwriteParam specific case for strings because of uima working with UnicodeStrings
+   * @param ae_ame Name of the Annotator
+   * @param param_name Name of the parameter
+   * @param param_value New value
+   * @param param_type Name of the type as string
+   */
+  void overwriteParam(const std::string &ae_name, const std::string &param_name, const std::vector<std::string> &param_value, const std::string &param_type){
+      if(param_type == "String")
+        overwriteParam(ae_name, param_name, param_value[0]);
+      else if(param_type == "Integer")
+        overwriteParam(ae_name, param_name, std::stoi(param_value[0]));
+      else if(param_type == "Float")
+        overwriteParam(ae_name, param_name, std::stod(param_value[0]));
+      else if(param_type == "Boolean")
+        overwriteParam(ae_name, param_name, param_value[0] == "True");
+      else if(param_type == "ListString")
+        overwriteParam(ae_name, param_name, param_value);
+      else if(param_type == "ListInteger") {
+        std::vector<int> temp;
+        for(string s : param_value)
+          temp.push_back(std::stoi(s));
+
+        overwriteParam(ae_name, param_name, temp);
+      }
+      else if(param_type == "ListFloat") {
+        std::vector<double> temp;
+        for(string s : param_value)
+          temp.push_back(std::stod(s));
+
+        overwriteParam(ae_name, param_name, temp);
+      }
+      // ListBoolean not supported.
+  }
+
   /**
    * @brief Reconfigures a single annotator
    * @param annotatorIdx Index of annotator in pipeline
diff --git a/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp b/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
index efd8beb8..ac3fe86e 100644
--- a/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
+++ b/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
@@ -406,12 +406,9 @@ std::string convertAnnotatorYamlToXML(std::string annotator_name,
         if (delegate_capabilities[annotator_name].iTypeValueRestrictions.empty())
           delegate_capabilities[annotator_name].iTypeValueRestrictions =
               converter.getAnnotatorCapabilities().iTypeValueRestrictions;
-        if (delegate_capabilities[annotator_name].rOutputTypeValueDomains.empty())
-          delegate_capabilities[annotator_name].rOutputTypeValueDomains =
-              converter.getAnnotatorCapabilities().rOutputTypeValueDomains;
-        if(delegate_capabilities[annotator_name].rInputTypeValueRestrictions.empty())
-          delegate_capabilities[annotator_name].rInputTypeValueRestrictions =
-              converter.getAnnotatorCapabilities().rInputTypeValueRestrictions;
+
+        delegate_capabilities[annotator_name].defaultSetup = converter.getAnnotatorCapabilities().defaultSetup;
+        delegate_capabilities[annotator_name].reconfigurationSetups = converter.getAnnotatorCapabilities().reconfigurationSetups;
       }
     }
     catch (YAML::ParserException e)
diff --git a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
index 6590721f..d35c4bcb 100644
--- a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
+++ b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
@@ -577,9 +577,15 @@ bool RSProcessManager::highlightResultsInCloud(const std::vector<bool> &filter,
 
 bool RSProcessManager::handleReconfigureAnnotator(robosherlock_msgs::ReconfigureAnnotator::Request &req,
                                                   robosherlock_msgs::ReconfigureAnnotator::Response &res) {
+  if(req.annotatorName.empty()) {
+    outError("No annotator name set. Aborting..");
+    res.result = false;
+    return false;
+  }
+
   if(req.setupName.empty()) {
     // No setup provided; reconfigure only.
-    outInfo("No setup name provided, just calling reconfigure() now.");
+    outInfo("No setup name provided, just calling reconfigure() on \"" << req.annotatorName << "\".");
     res.result = engine_->reconfigureAnnotator(req.annotatorName);
   }
   else {
@@ -589,8 +595,30 @@ bool RSProcessManager::handleReconfigureAnnotator(robosherlock_msgs::Reconfigure
 
     if(result != aCaps.end()) {
       aCap = result->second;
-      // TODO: Update input- and output-capabilities here
-      res.result = engine_->reconfigureAnnotator(req.annotatorName);
+      auto setup = aCap.reconfigurationSetups.find(req.setupName);
+
+      // Check if requested setup exists:
+      if(setup != aCap.reconfigurationSetups.end()) {
+        // Load all parameters from setup:
+        map<std::string, std::string>::iterator paramIt;
+        for( paramIt = aCap.reconfigurationSetups[req.setupName].paramTypes.begin();
+             paramIt != aCap.reconfigurationSetups[req.setupName].paramTypes.end();
+             paramIt++)
+        {
+          std::string parameter = paramIt->first;
+          std::string type = paramIt->second;
+          std::vector<std::string> values = aCap.reconfigurationSetups[req.setupName].paramValues[paramIt->first];
+
+          outInfo("Updating parameter \"" << parameter << "\" of type " << type << " with the new value \"" << values[0] << "\".");
+          engine_->overwriteParam(req.annotatorName, parameter, values, type);
+        }
+
+        outInfo("Loading setup \"" << req.setupName << "\" for the annotator \"" << req.annotatorName << "\".");
+        res.result = engine_->reconfigureAnnotator(req.annotatorName);
+      }
+      else {
+        outError("The requested setup \"" << req.setupName << "\" for the annotator \"" << req.annotatorName << "\" could not be found.");
+      }
     }
     else {
       outError("Annotator " << req.annotatorName << " could not be found.");
@@ -602,44 +630,25 @@ bool RSProcessManager::handleReconfigureAnnotator(robosherlock_msgs::Reconfigure
 
 bool RSProcessManager::handleOverwriteParam(robosherlock_msgs::OverwriteParam::Request &req,
                                             robosherlock_msgs::OverwriteParam::Response &res) {
-  switch(req.parameterType) {
-    case robosherlock_msgs::OverwriteParamRequest::INT:
-      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterInteger);
-      break;
-    case robosherlock_msgs::OverwriteParamRequest::INT_VECTOR:
-      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterIntegerVector);
-      break;
-    case robosherlock_msgs::OverwriteParamRequest::BOOL:
-      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterBool);
-      break;
-    case robosherlock_msgs::OverwriteParamRequest::BOOL_VECTOR:
-      //engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterBoolVector);
-      // REASON: No valid template-function found during compile-time
-      outError("Vectors of booleans are currently not supported by the OverwriteParamService.");
-      res.result = false;
-      return false;
-    case robosherlock_msgs::OverwriteParamRequest::FLOAT:
-      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterFloat);
-      break;
-    case robosherlock_msgs::OverwriteParamRequest::FLOAT_VECTOR:
-      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterFloatVector);
-      break;
-    case robosherlock_msgs::OverwriteParamRequest::STRING:
-      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterString);
-      break;
-    case robosherlock_msgs::OverwriteParamRequest::STRING_VECTOR:
-      engine_->overwriteParam(req.annotatorName, req.parameterName, req.parameterStringVector);
-      break;
-
-    default:
-      outError("Invalid data type in OverwriteParam Service Request.");
+  auto aCaps = engine_->getDelegateAnnotatorCapabilities();
+  auto result = aCaps.find(req.annotatorName);
+  rs::AnnotatorCapabilities aCap;
+
+  if(result != aCaps.end()) {
+    aCap = result->second;
+
+    if(aCap.defaultSetup.paramTypes.count(req.parameterName) == 1) {
+      engine_->overwriteParam(req.annotatorName, req.parameterName, req.values, aCap.defaultSetup.paramTypes[req.parameterName]);
+      outInfo("OverwriteParam finished successfully.");
+      res.result = true;
+    }
+    else {
+      outError("OverwriteParam failed!");
       res.result = false;
-      return false;
-  }
+    }
 
-  outInfo("OverwriteParam finished successfully.");
-  res.result = true;
-  return true;
+    return res.result;
+  }
 }
 
 template bool RSProcessManager::drawResultsOnImage<rs::Object>(const std::vector<bool> &filter,
diff --git a/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp b/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp
index 5af634dd..f3785640 100644
--- a/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp
+++ b/robosherlock/src/flowcontrol/src/YamlToXMLConverter.cpp
@@ -466,6 +466,9 @@ bool YamlToXMLConverter::generateAnnotatorConfigParamInfo(const YAML::Node &node
         configParamSettings.append("</value>\n");
         configParamSettings.append("</nameValuePair>\n");
 
+        // Save parameter info into default setup:
+        annotCap.defaultSetup.paramTypes[configName] = type;
+        annotCap.defaultSetup.paramValues[configName] = { mit->second.as<string>() };
       }
       else if(mit->second.Type() == YAML::NodeType::Sequence)      // list
       {
@@ -524,6 +527,8 @@ bool YamlToXMLConverter::generateAnnotatorConfigParamInfo(const YAML::Node &node
         configParamSettings.append("</value>\n");
         configParamSettings.append("</nameValuePair>\n");
 
+        annotCap.defaultSetup.paramTypes[configName] = type;
+        annotCap.defaultSetup.paramValues[configName] = listValue;
       }
       else
       {
@@ -643,9 +648,7 @@ bool YamlToXMLConverter::parseCapabInfo(const YAML::Node &node, std::string anno
               }
               else
               {
-                ostringstream id;
-                id << setup_name << ":" << val;
-                annotCap.rInputTypeValueRestrictions[id.str()] = std::vector<std::string>();
+                annotCap.reconfigurationSetups[setup_name].rInputTypeValueRestrictions[val] = std::vector<std::string>();
               }
             }
             if(sit->Type() == YAML::NodeType::Map)
@@ -664,9 +667,7 @@ bool YamlToXMLConverter::parseCapabInfo(const YAML::Node &node, std::string anno
                     }
                     else
                     {
-                      ostringstream id;
-                      id << setup_name << ":" << val;
-                      annotCap.rInputTypeValueRestrictions[id.str()] = e.second.as<std::vector<std::string>>();
+                      annotCap.reconfigurationSetups[setup_name].rInputTypeValueRestrictions[val] = e.second.as<std::vector<std::string>>();
                     }
                   }
                 }
@@ -700,9 +701,7 @@ bool YamlToXMLConverter::parseCapabInfo(const YAML::Node &node, std::string anno
               }
               else
               {
-                ostringstream id;
-                id << setup_name << ":" << val;
-                annotCap.rOutputTypeValueDomains[id.str()] = std::vector<std::string>();
+                annotCap.reconfigurationSetups[setup_name].rOutputTypeValueDomains[val] = std::vector<std::string>();
               }
             }
             if(n.Type() == YAML::NodeType::Map)
@@ -720,9 +719,7 @@ bool YamlToXMLConverter::parseCapabInfo(const YAML::Node &node, std::string anno
                     }
                     else
                     {
-                      ostringstream id;
-                      id << setup_name << ":" << val;
-                      annotCap.rOutputTypeValueDomains[id.str()] = e.second.as<std::vector<std::string>>();
+                      annotCap.reconfigurationSetups[setup_name].rOutputTypeValueDomains[val] = e.second.as<std::vector<std::string>>();
                     }
                   }
                 }
@@ -800,6 +797,12 @@ bool YamlToXMLConverter::parseReconfigurationInfo(const YAML::Node &node)
   {
     string setup_name = it->first.as<string>();
 
+    if(setup_name.empty()){
+      continue;
+    }
+
+    outInfo("Reconfiguration: Found setup " << setup_name);
+
     for(YAML::const_iterator sit = it->second.begin(); sit != it->second.end(); ++sit)
     {
       if(sit->first.Type() == YAML::NodeType::Scalar)
@@ -808,11 +811,48 @@ bool YamlToXMLConverter::parseReconfigurationInfo(const YAML::Node &node)
 
         if(node_name == CAPAB_NODE_NAME)
         {
+          outInfo("Reconfiguration: Found capabilities for setup " << setup_name);
           parseCapabInfo(sit->second, "", setup_name);
         }
         else if(node_name == CONFIG_PARAM_NODE_NAME)
         {
-          // TODO: Also save params for reconfiguration?
+          outInfo("Reconfiguration: Found parameter definition for " << setup_name);
+
+          if(sit->second.Type() == YAML::NodeType::Map)
+          {
+            for(YAML::const_iterator mit = sit->second.begin(); mit != sit->second.end(); ++mit)
+            {
+              string configName = mit->first.as<string>();
+              outInfo("Reconfiguration: Saving parameter " << configName);
+
+              if(mit->second.Type() == YAML::NodeType::Scalar)
+              {
+                // Single values:
+                outInfo("Saving " << setup_name << " - " << configName << " : " << getType(mit->second) << " value:" << mit->second.as<string>());
+                annotCap.reconfigurationSetups[setup_name].paramTypes[configName] = getType(mit->second);
+                annotCap.reconfigurationSetups[setup_name].paramValues[configName] = { mit->second.as<string>() };
+              }
+              else if(mit->second.Type() == YAML::NodeType::Sequence)
+              {
+                // Lists:
+                YAML::const_iterator listIt = mit->second.begin();
+                string type = getType(*listIt);
+                vector<string> listValue = mit->second.as<std::vector<string>>();
+
+                outInfo("Saving " << setup_name << " - " << configName << " : " << getType(mit->second) << " value:" << mit->second.as<string>());
+                annotCap.reconfigurationSetups[setup_name].paramTypes[configName] = "List" + getType(mit->second);
+                annotCap.reconfigurationSetups[setup_name].paramValues[configName] = listValue;
+              }
+              else {
+                // ERROR: Invalid type
+                outError("Reconfiguration: Invalid data type");
+              }
+            }
+          }
+          else {
+            // ERROR: use map structure
+            outError("Reconfiguration: Please use map structure");
+          }
         }
         else
         {
diff --git a/robosherlock/src/queryanswering/include/robosherlock/queryanswering/KnowledgeEngine.h b/robosherlock/src/queryanswering/include/robosherlock/queryanswering/KnowledgeEngine.h
index 5e9108d3..20a26563 100644
--- a/robosherlock/src/queryanswering/include/robosherlock/queryanswering/KnowledgeEngine.h
+++ b/robosherlock/src/queryanswering/include/robosherlock/queryanswering/KnowledgeEngine.h
@@ -169,8 +169,9 @@ class KnowledgeEngine
           outDebug(individualOfAnnotator);
           std::map<std::string, std::vector<std::string>> inputRestrictions = annotatorData.second.iTypeValueRestrictions;
           std::map<std::string, std::vector<std::string>> outputDomains = annotatorData.second.oTypeValueDomains;
-          std::map<std::string, std::vector<std::string>> reconfigInputRestrictions = annotatorData.second.rInputTypeValueRestrictions;
-          std::map<std::string, std::vector<std::string>> reconfigOutputDomains = annotatorData.second.rOutputTypeValueDomains;
+          //std::map<std::string, std::vector<std::string>> reconfigInputRestrictions = annotatorData.second.rInputTypeValueRestrictions;
+          //std::map<std::string, std::vector<std::string>> reconfigOutputDomains = annotatorData.second.rOutputTypeValueDomains;
+          // TODO: Get info from RSAnnotatorSetup object
 
           if(!inputRestrictions.empty())
           {
@@ -242,7 +243,7 @@ class KnowledgeEngine
             }
           }
 
-          if(!reconfigInputRestrictions.empty()) {
+          /*if(!reconfigInputRestrictions.empty()) {
             // TODO: Add assertations regarding to input restriction reconfiguration
           }
 
@@ -254,7 +255,7 @@ class KnowledgeEngine
               outInfo(e.first << " <==> " << e.second[0]);
             }
             outInfo(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>");
-          }
+          }*/
         }
       }
       else
diff --git a/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp b/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp
index cace2c86..90f9ea6b 100644
--- a/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp
+++ b/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp
@@ -204,121 +204,52 @@ PREDICATE(write_list, 1)
 }
 
 
-/**
- * Conversion methods, needed for overwrite_param service calls
- */
-
-std::vector<int> getIntVector(PlTail prologList)
-{
-  std::vector<int> result;
-  PlTerm e;
-
-  while(prologList.next(e)) {
-    result.push_back(e);
-  }
-
-  return result;
-}
-
-// ROS FLOAT = DOUBLE!
-std::vector<double> getFloatVector(PlTail prologList)
-{
-  std::vector<double> result;
-  PlTerm e;
-
-  while(prologList.next(e)) {
-    result.push_back(*(double *)&e);
-  }
-
-  return result;
-}
-
-std::vector<std::string> getStringVector(PlTail prologList)
-{
-  std::vector<std::string> result;
-  PlTerm e;
-
-  while(prologList.next(e)) {
-    result.push_back(static_cast<std::string>((char *)e));
-  }
-  return result;
-}
-
-
 PREDICATE(cpp_reconfigure_annotator, 2)
 {
-  std::string *annotatorName, *setupName;
-  annotatorName = static_cast<std::string *>((void *) PL_A1);
-  setupName = static_cast<std::string *>((void *) PL_A2);
+  std::string annotatorName, setupName;
+  annotatorName = (std::string) PL_A1;
+  setupName = (std::string) PL_A2;
 
   ros::NodeHandle n;
-  ros::ServiceClient client = n.serviceClient<robosherlock_msgs::ReconfigureAnnotator>("RoboSherlock/reconfigure_annotator");
+  ros::ServiceClient client = n.serviceClient<robosherlock_msgs::ReconfigureAnnotator>(std::string("RoboSherlock_") + getenv("USER") + "/reconfigure_annotator");
   robosherlock_msgs::ReconfigureAnnotator srv;
 
-  srv.request.annotatorName = *annotatorName;
-  srv.request.setupName = *setupName;
+  srv.request.annotatorName = annotatorName;
+  srv.request.setupName = setupName;
 
   if(client.call(srv)) {
-    std::cout << "Calling RoboSherlock/reconfigure_annotator was successful" << std::endl;
+    std::cout << "Calling reconfigure_annotator was successful" << std::endl;
     return TRUE;
   }
   else {
-    std::cout << "Calling RoboSherlock/reconfigure_annotator was unsuccessful" << std::endl;
+    std::cerr << "Service call reconfigure_annotator failed!" << std::endl;
     return FALSE;
   }
 }
 
 
-PREDICATE(cpp_overwrite_param, 4)
+PREDICATE(cpp_overwrite_param, 3)
 {
-  std::string *annotatorName, *paramName;
-  annotatorName = static_cast<std::string *>((void *) PL_A1);
-  paramName = static_cast<std::string *>((void *) PL_A2);
-  int paramType = PL_A3;
-  void *value = PL_A4;
+  std::string annotatorName, paramName;
+  std::vector<std::string> values;
+  annotatorName = (std::string) PL_A1;
+  paramName = (std::string) PL_A2;
+  values = (std::vector<std::string>) PL_A3;
 
   ros::NodeHandle n;
-  ros::ServiceClient client = n.serviceClient<robosherlock_msgs::OverwriteParam>("RoboSherlock/overwrite_param");
+  ros::ServiceClient client = n.serviceClient<robosherlock_msgs::OverwriteParam>(std::string("RoboSherlock_") + getenv("USER") + "/overwrite_param");
   robosherlock_msgs::OverwriteParam srv;
 
-  srv.request.annotatorName = *annotatorName;
-  srv.request.parameterName = *paramName;
-  srv.request.parameterType = paramType;
-
-  switch(paramType) {
-    case robosherlock_msgs::OverwriteParam::Request::INT:
-      srv.request.parameterInteger = PL_A4;
-      break;
-    case robosherlock_msgs::OverwriteParam::Request::INT_VECTOR:
-      srv.request.parameterIntegerVector = getIntVector(PL_A4);
-      break;
-    case robosherlock_msgs::OverwriteParam::Request::BOOL:
-      srv.request.parameterBool = *(bool *)value;
-      break;
-    case robosherlock_msgs::OverwriteParam::Request::FLOAT:
-      srv.request.parameterFloat = PL_A4;
-      break;
-    case robosherlock_msgs::OverwriteParam::Request::FLOAT_VECTOR:
-      srv.request.parameterFloatVector = getFloatVector(PL_A4);
-      break;
-    case robosherlock_msgs::OverwriteParam::Request::STRING:
-      srv.request.parameterString = *(std::string *)value;
-      break;
-    case robosherlock_msgs::OverwriteParam::Request::STRING_VECTOR:
-      srv.request.parameterStringVector = getStringVector(PL_A4);
-      break;
-
-    default:
-      std::cout << "Invalid parameter data type, aborting." << std::endl;
-      return FALSE;
-  }
+  srv.request.annotatorName = annotatorName;
+  srv.request.parameterName = paramName;
+  srv.request.values = values;
 
   if(client.call(srv)) {
-    std::cout << "Calling RoboSherlock/overwrite_param was successful" << std::endl;
+    std::cout << "Calling overwrite_param was successful" << std::endl;
     return TRUE;
   }
   else {
-    std::cout << "Calling RoboSherlock/overwrite_param was unsuccessful" << std::endl;
+    std::cerr << "Service call overwrite_param failed!" << std::endl;
     return FALSE;
   }
 }
\ No newline at end of file
diff --git a/robosherlock_msgs/srv/OverwriteParam.srv b/robosherlock_msgs/srv/OverwriteParam.srv
index 592f1a5d..32b9683f 100644
--- a/robosherlock_msgs/srv/OverwriteParam.srv
+++ b/robosherlock_msgs/srv/OverwriteParam.srv
@@ -1,26 +1,7 @@
 string annotatorName
 string parameterName
-uint8 parameterType
+string[] values
 
-int32 parameterInteger
-float64 parameterFloat
-string parameterString
-bool parameterBool
-
-int32[] parameterIntegerVector
-float64[] parameterFloatVector
-string[] parameterStringVector
-bool[] parameterBoolVector
-
-# Parameter Types:
-uint8 INT = 0
-uint8 FLOAT = 1
-uint8 STRING = 2
-uint8 BOOL = 3
-uint8 INT_VECTOR = 4
-uint8 FLOAT_VECTOR = 5
-uint8 STRING_VECTOR = 6
-uint8 BOOL_VECTOR = 7
 ---
 bool result
 

From d2eb750acce82f5f3791dad45da9ccd2bfde6fa5 Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Wed, 3 Jun 2020 18:18:47 +0200
Subject: [PATCH 12/13] Changes for debugging

---
 robosherlock/cmake/FindAPR.cmake              |  30 ----
 robosherlock/cmake/FindICUUC.cmake            |  23 ---
 .../cmake/FindMongoClientLibrary.cmake        |  31 ----
 robosherlock/cmake/project_config.cmake.in    |   6 -
 robosherlock/cmake/robosherlock.cmake         | 152 ------------------
 .../cmake/robosherlock_config.cmake.em        |  17 --
 robosherlock/config/config_reconfig_demo.ini  |   2 +-
 .../analysis_engines/reconfig_demo.yaml       |  14 +-
 .../annotation/SacModelAnnotator.yaml         |   2 +
 robosherlock/prolog/rs_query_reasoning.pl     |  12 +-
 .../src/RSAggregateAnalysisEngine.cpp         |   3 +
 .../src/flowcontrol/src/RSProcessManager.cpp  |   3 +
 robosherlock/src/flowcontrol/src/run.cpp      |   2 +-
 robosherlock/src/flowcontrol/src/runAAE.cpp   |   2 +-
 .../queryanswering/src/PrologCPPQueries.cpp   |   6 +-
 .../include/uima/annotator_abase.hpp          |   2 +
 16 files changed, 40 insertions(+), 267 deletions(-)
 delete mode 100644 robosherlock/cmake/FindAPR.cmake
 delete mode 100644 robosherlock/cmake/FindICUUC.cmake
 delete mode 100644 robosherlock/cmake/FindMongoClientLibrary.cmake
 delete mode 100644 robosherlock/cmake/project_config.cmake.in
 delete mode 100644 robosherlock/cmake/robosherlock.cmake
 delete mode 100644 robosherlock/cmake/robosherlock_config.cmake.em

diff --git a/robosherlock/cmake/FindAPR.cmake b/robosherlock/cmake/FindAPR.cmake
deleted file mode 100644
index 30bf6233..00000000
--- a/robosherlock/cmake/FindAPR.cmake
+++ /dev/null
@@ -1,30 +0,0 @@
-# APR_LIBRARY_FOUND - system has Mongo Client
-# APR_LIBRARY - Mongo Client Library
-# APR_INCLUDE_DIR - Mongo Client Library
-
-find_package(PkgConfig)
-pkg_check_modules(PC_LIBAPR QUIET apr-1)
-set(LIBAPR_DEFINITIONS ${PC_LIBAPR_CFLAGS_OTHER})
-
-find_path(LIBAPR_INCLUDE_DIR
-  apr.h
-  HINTS ${PC_LIBAPR_INCLUDEDIR} ${PC_LIBAPR_INCLUDE_DIRS}
-  DOC "Found LIBAPR include directory"
-)
-
-find_library(LIBAPR_LIBRARY
-  NAMES apr-1.0 apr-1 libapr-1.0 libapr-1
-  HINTS ${PC_LIBAPR_LIBDIR} ${PC_LIBAPR_LIBRARY_DIRS}
-  DOC "Found LIBAPR library"
-)
-
-set(LIBAPR_LIBRARIES ${LIBAPR_LIBRARY} )
-set(LIBAPR_INCLUDE_DIRS ${LIBAPR_INCLUDE_DIR} )
-
-include(FindPackageHandleStandardArgs)
-# handle the QUIETLY and REQUIRED arguments and set LIBXML2_FOUND to TRUE
-# if all listed variables are TRUE
-find_package_handle_standard_args(LibAPR1  DEFAULT_MSG
-  LIBAPR_LIBRARY LIBAPR_INCLUDE_DIR)
-
-mark_as_advanced(LIBAPR_INCLUDE_DIR LIBAPR_LIBRARY )
diff --git a/robosherlock/cmake/FindICUUC.cmake b/robosherlock/cmake/FindICUUC.cmake
deleted file mode 100644
index bc771646..00000000
--- a/robosherlock/cmake/FindICUUC.cmake
+++ /dev/null
@@ -1,23 +0,0 @@
-# ICUUC_LIBRARY_FOUND - system has ICUUC
-# ICUUC_LIBRARY - ICUUC Library
-
-find_library(ICUUC_LIB
-  NAMES libicuuc.so
-  DOC "Found ICUUC library"
-  PATHS /usr/local/lib
-)
-
-if(ICUUC_LIB)
-  set(ICUUC_LIBRARY ${ICUUC_LIB})
-  set(ICUUC_LIBRARIES ${ICUUC_LIB})
-  message(STATUS "Found ICUUC Library: ${ICUUC_LIB}")
-  set(ICUUC_LIBRARY_FOUND true)
-else()
-  set(ICUUC_LIBRARY_FOUND false)
-  if(ICUUC_LIBRARY_FIND_REQUIRED)
-    message(FATAL_ERROR "ICUUC library not found!")
-  else()
-    message(STATUS "ICUUC library not found!")
-  endif()
-endif()
-
diff --git a/robosherlock/cmake/FindMongoClientLibrary.cmake b/robosherlock/cmake/FindMongoClientLibrary.cmake
deleted file mode 100644
index c1a57cbc..00000000
--- a/robosherlock/cmake/FindMongoClientLibrary.cmake
+++ /dev/null
@@ -1,31 +0,0 @@
-# MONGO_CLIENT_LIBRARY_FOUND - system has Mongo Client
-# MONGO_CLIENT_LIBRARY - Mongo Client Library
-
-message(STATUS "Looking for Mongo Client Library...")
-
-find_library(MONGO_CLIENT_LIBRARY
-  NAMES libmongoclient.so
-  DOC "Found MONGO library"
-  PATHS /usr/local/lib
-)
-
-if(MONGO_CLIENT_LIBRARY)
-  set(MONGO_CLIENT_LIBRARY_FOUND 1)
-        
-  if(NOT MONGO_CLIENT_LIBRARY_FIND_QUIETLY)
-    message(STATUS "Found Mongo CLient Library: ${MONGO_CLIENT_LIBRARY}")
-  endif(NOT MONGO_CLIENT_LIBRARY_FIND_QUIETLY)
-
-else(MONGO_CLIENT_LIBRARY)
-
-  set(MONGO_CLIENT_LIBRARY_FOUND 0 CACHE BOOL "Mongo Client Library not found")
-  if(MONGO_CLIENT_LIBRARY_FIND_REQUIRED)
-    message(FATAL_ERROR "Mongo Client Library not found, error")
-  else()
-    MESSAGE(STATUS "Mongo Client Library not found, disabled")
-  endif()
-endif(MONGO_CLIENT_LIBRARY)
-
-MARK_AS_ADVANCED(MONGO_CLIENT_LIBRARY)
-
-
diff --git a/robosherlock/cmake/project_config.cmake.in b/robosherlock/cmake/project_config.cmake.in
deleted file mode 100644
index 2e5b1896..00000000
--- a/robosherlock/cmake/project_config.cmake.in
+++ /dev/null
@@ -1,6 +0,0 @@
-set(${PROJECT_NAME}_NAMESPACE           ${NAMESPACE})
-set(${PROJECT_NAME}_TYPESYSTEM_CPP_PATH ${TYPESYSTEM_CPP_PATH})
-set(${PROJECT_NAME}_TYPESYSTEM_XML_PATH ${TYPESYSTEM_XML_PATH})
-set(${PROJECT_NAME}_ANNOTATOR_PATH      ${ANNOTATOR_PATH})
-set(${PROJECT_NAME}_ENGINE_PATH         ${ENGINE_PATH})
-
diff --git a/robosherlock/cmake/robosherlock.cmake b/robosherlock/cmake/robosherlock.cmake
deleted file mode 100644
index e72a8103..00000000
--- a/robosherlock/cmake/robosherlock.cmake
+++ /dev/null
@@ -1,152 +0,0 @@
-
-#############################################################################
-## Check for c++11 support                                                 ##
-#############################################################################
-include(CheckCXXCompilerFlag)
-check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
-if(COMPILER_SUPPORTS_CXX11)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-else()
-  message(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
-endif()
-
-#############################################################################
-## Set cxx flags                                                           ##
-#############################################################################
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBT_USE_DOUBLE_PRECISION -Wno-deprecated")
-# Unused warnings
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wuninitialized -Winit-self -Wunused-function -Wunused-label -Wunused-variable -Wunused-but-set-parameter")#-Wunused-but-set-variable
-# Additional warnings
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wreorder -Warray-bounds -Wtype-limits -Wreturn-type -Wsequence-point -Wparentheses -Wmissing-braces -Wchar-subscripts -Wswitch -Wwrite-strings -Wenum-compare -Wempty-body")# -Wlogical-op")
-
-#############################################################################
-## Check for openMP support                                                ##
-#############################################################################
-find_package(OpenMP)
-if(OPENMP_FOUND)
-  message(STATUS "OpenMP found.")
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-endif()
-
-
-#############################################################################
-## Check for Caffe Support                                                 ##
-#############################################################################
-find_package(Caffe QUIET)
-if(Caffe_FOUND)
-  message(STATUS "Caffe FOUND! Building related components")
-
-  include_directories(${Caffe_INCLUDE_DIRS})
-  add_definitions( -DCAFFE_FOUND ${Caffe_DEFINITIONS})
-
-  set(RS_CAFFE_LIB rs_caffeProxy)
-  set(RS_WITH_CAFFE TRUE)
-else()
-  set(RS_WITH_CAFFE FALSE)
-endif(Caffe_FOUND)
-
-
-#############################################################################
-## Check for Protobuf Support                                              ##
-#############################################################################
-find_package(Protobuf QUIET)
-if(PROTOBUF_FOUND AND PROTOBUF_PROTOC_EXECUTABLE)
-  message (STATUS "Found Protobuf and Protobuf executable.")	
-  set(RS_WEB_LIB rs_web)
-  set(RS_WITH_GG TRUE)
-else()
-  set(RS_WITH_GG FALSE)
-endif()
-
-
-#############################################################################
-## Adding include dirs defined in CPATH (needed for xstow)                 ##
-#############################################################################
-if($ENV{CPATH})
-  string(REPLACE ":" ";" paths $ENV{CPATH})
-  foreach(path ${paths})
-    include_directories(${path})
-  endforeach()
-endif()
-
-#############################################################################
-## Add library macro                                                       ##
-#############################################################################
-macro(rs_add_library libname)
-  add_library(${libname} SHARED ${ARGN})
-  target_link_libraries(${libname} ${LIBAPR_LIBRARY} ${UIMA_LIBRARY} ${ICUUC_LIBRARY} ${catkin_LIBRARIES})
-  set_target_properties(${libname} PROPERTIES PREFIX "")
-endmacro(rs_add_library)
-
-#############################################################################
-## Add executable macro                                                    ##
-#############################################################################
-macro(rs_add_executable execname)
-  add_executable(${execname} ${ARGN})
-  target_link_libraries(${execname} ${LIBAPR_LIBRARY} ${UIMA_LIBRARY} ${ICUUC_LIBRARY} ${catkin_LIBRARIES})
-endmacro(rs_add_executable)
-
-#############################################################################
-## Generate classes from the typesystem xml files                          ##
-#############################################################################
-macro(generate_type_system)
-  set(script ${RS_SCRIPT_PATH}/generate_typesystem.py)
-  set(projects ${PROJECT_NAME}:${NAMESPACE}:${TYPESYSTEM_XML_PATH}:${TYPESYSTEM_CPP_PATH})
-
-  foreach(arg ${ARGN}) 
-    set(projects ${projects} ${arg}:${${arg}_NAMESPACE}:${${arg}_TYPESYSTEM_XML_PATH}:${${arg}_TYPESYSTEM_CPP_PATH})
-  endforeach()
-  
-  execute_process(COMMAND python ${script} ${projects})
-endmacro(generate_type_system)
-
-#############################################################################
-## Find all include directories for export                                 ##
-#############################################################################
-macro(find_include_dirs result)
-  set(search_pattern -name "include" -type d)
-
-  foreach(arg ${ARGN})
-    set(exclude ${exclude} ! -path "${PROJECT_SOURCE_DIR}/${arg}/*")
-  endforeach()
-
-  message(STATUS "find path: ${PROJECT_SOURCE_DIR}/${arg}")
-
-  execute_process(COMMAND find "-L" ${PROJECT_SOURCE_DIR} ${exclude} ${search_pattern} OUTPUT_VARIABLE found_include_dirs)
-  message(STATUS "executed: find ${PROJECT_SOURCE_DIR} ${exclude} ${search_pattern}")
-
-  message(STATUS "found include path: ${found_include_dirs}")
-
-  if(NOT "${found_include_dirs}" STREQUAL "")
-    string(REPLACE "\n" "/\;" ${result} ${found_include_dirs})
-    #message(STATUS "additional include dirs: ${${result}}")
-  endif()
-endmacro(find_include_dirs)
-
-#############################################################################
-## Hack for QT Creator to include all relevant files                       ##
-#############################################################################
-macro(find_additional_files)
-  set(search_pattern -type f)
-
-  foreach(arg ${ARGN}) 
-    set(exclude ${exclude} ! -path "${PROJECT_SOURCE_DIR}/${arg}/*")
-  endforeach()
-  execute_process(COMMAND find "-L" ${PROJECT_SOURCE_DIR} ${exclude} ${search_pattern} OUTPUT_VARIABLE found_files)
-  if(NOT "${found_files}" STREQUAL "")
-    string(REPLACE "\n" ";" found_files_list ${found_files})
-  add_custom_target(${PROJECT_NAME}_additional_files SOURCES ${found_files_list})
-  endif()
-endmacro(find_additional_files)
-
-#############################################################################
-## Message on option status                                                ##
-#############################################################################
-macro(check_option var)
-  if(${var})
-    message(STATUS "${var} activated")
-  else(${var})
-    message(STATUS "${var} deactivated")
-  endif(${var})
-endmacro(check_option)
-
diff --git a/robosherlock/cmake/robosherlock_config.cmake.em b/robosherlock/cmake/robosherlock_config.cmake.em
deleted file mode 100644
index 3827aa70..00000000
--- a/robosherlock/cmake/robosherlock_config.cmake.em
+++ /dev/null
@@ -1,17 +0,0 @@
-set(robosherlock_NAMESPACE rs)
-@[if DEVELSPACE]@
-
-set(robosherlock_TYPESYSTEM_CPP_PATH "@(PROJECT_SOURCE_DIR)/src/core/include/robosherlock/types")
-set(robosherlock_TYPESYSTEM_XML_PATH "@(PROJECT_SOURCE_DIR)/descriptors/typesystem")
-set(robosherlock_ANNOTATOR_PATH      "@(PROJECT_SOURCE_DIR)/descriptors/annotators")
-set(robosherlock_ENGINE_PATH         "@(PROJECT_SOURCE_DIR)/descriptors/analysis_engines")
-set(RS_SCRIPT_PATH "@(PROJECT_SOURCE_DIR)/scripts")
-set(RS_PROJECT_CONFIG "@(PROJECT_SOURCE_DIR)/cmake/project_config.cmake.in")
-@[else]@
-set(robosherlock_TYPESYSTEM_CPP_PATH "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_INCLUDE_DESTINATION)/types")
-set(robosherlock_TYPESYSTEM_XML_PATH "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_SHARE_DESTINATION)/descriptors/typesystem")
-set(robosherlock_ANNOTATOR_PATH      "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_SHARE_DESTINATION)/descriptors/annotators")
-set(robosherlock_ENGINE_PATH         "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_SHARE_DESTINATION)/descriptors/analysis_engines")
-set(RS_SCRIPT_PATH         "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_SHARE_DESTINATION)/scripts")
-set(RS_PROJECT_CONFIG      "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_SHARE_DESTINATION)/cmake/project_config.cmake.in")
-@[end if]@
diff --git a/robosherlock/config/config_reconfig_demo.ini b/robosherlock/config/config_reconfig_demo.ini
index 26cbaa78..7c033644 100644
--- a/robosherlock/config/config_reconfig_demo.ini
+++ b/robosherlock/config/config_reconfig_demo.ini
@@ -3,7 +3,7 @@ interface=MongoDB
 
 [mongodb]
 host=localhost
-db=classification_test_training
+db=classification_test_table
 continual=false
 loop=true
 playbackSpeed=0.0
diff --git a/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml b/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml
index 7010b65c..ef04a229 100644
--- a/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml
+++ b/robosherlock/descriptors/analysis_engines/reconfig_demo.yaml
@@ -6,9 +6,21 @@ fixedflow:
   - PointCloudFilter
   - NormalEstimator
   - PlaneAnnotator
-  - ImageSegmentationAnnotator
   - PointCloudClusterExtractor
   - ClusterMerger
   - SacModelAnnotator
+  - CaffeAnnotator
+  - KnnAnnotator
+  #- ReconfigAnnotator
+
 CollectionReader:
   camera_config_files: ['config_reconfig_demo.ini']
+
+PointCloudFilter:
+  minX: -1.0
+  maxX: 1.0
+  minY: 0.0
+  maxY: 1.0
+  minZ: 0.0
+  maxZ: 1.0
+  transform_cloud: true
diff --git a/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml b/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
index 9df9f19d..a8ae274f 100644
--- a/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
+++ b/robosherlock/descriptors/annotators/annotation/SacModelAnnotator.yaml
@@ -34,6 +34,7 @@ reconfiguration:
 
     # Overwrite or define new parameters:
     parameters:
+      distanceThreshold: 0.10
       sacModel: "SPHERE"
 
   # Example setup
@@ -44,4 +45,5 @@ reconfiguration:
       domain: [cylinder]
 
     parameters:
+      minPoints: 400
       sacModel: "CYLINDER"
\ No newline at end of file
diff --git a/robosherlock/prolog/rs_query_reasoning.pl b/robosherlock/prolog/rs_query_reasoning.pl
index d503ae4b..daff8267 100644
--- a/robosherlock/prolog/rs_query_reasoning.pl
+++ b/robosherlock/prolog/rs_query_reasoning.pl
@@ -47,7 +47,9 @@
   assert_reconfiguration_pipeline/0,
   load_sphere_setup/0,
   find_sphere_setup/2,
-  test_overwrite_param/0
+  test_overwrite_param/0,
+  load_knn_one/0,
+  load_knn_two/0
 ]).
 
 :- rdf_meta
@@ -522,4 +524,10 @@
     load_annotator_setup(I, 'SetupCylinder').
 
 test_overwrite_param:-
-    cpp_overwrite_param('SacModelAnnotator', 'sacModel', ['CYLINDER']).
\ No newline at end of file
+    cpp_overwrite_param('SacModelAnnotator', 'sacModel', ['CYLINDER']).
+
+load_knn_one:-
+    cpp_reconfigure_annotator('KnnAnnotator', 'setup_one').
+
+load_knn_two:-
+    cpp_reconfigure_annotator('KnnAnnotator', 'setup_two').
diff --git a/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp b/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
index ac3fe86e..0a4c219e 100644
--- a/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
+++ b/robosherlock/src/flowcontrol/src/RSAggregateAnalysisEngine.cpp
@@ -370,6 +370,9 @@ bool RSAggregateAnalysisEngine::reconfigureAnnotator(int annotatorIdx) {
   if(annotatorIdx >= 0 && annotatorIdx < iv_annotatorMgr.iv_vecEntries.size()) {
     return iv_annotatorMgr.iv_vecEntries[annotatorIdx].iv_pEngine->reconfigure() == UIMA_ERR_NONE;
   }
+  else {
+    outError("Annotator index is invalid.");
+  }
 
   return false;
 }
diff --git a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
index d35c4bcb..aaa93dfb 100644
--- a/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
+++ b/robosherlock/src/flowcontrol/src/RSProcessManager.cpp
@@ -615,6 +615,9 @@ bool RSProcessManager::handleReconfigureAnnotator(robosherlock_msgs::Reconfigure
 
         outInfo("Loading setup \"" << req.setupName << "\" for the annotator \"" << req.annotatorName << "\".");
         res.result = engine_->reconfigureAnnotator(req.annotatorName);
+
+        // TODO: Remove it
+        engine_->reconfigure();
       }
       else {
         outError("The requested setup \"" << req.setupName << "\" for the annotator \"" << req.annotatorName << "\" could not be found.");
diff --git a/robosherlock/src/flowcontrol/src/run.cpp b/robosherlock/src/flowcontrol/src/run.cpp
index cee5dbb6..499744c7 100644
--- a/robosherlock/src/flowcontrol/src/run.cpp
+++ b/robosherlock/src/flowcontrol/src/run.cpp
@@ -80,7 +80,7 @@ int main(int argc, char* argv[])
     return 1;
   }
 
-  ros::init(argc, argv, std::string("RoboSherlock_") + getenv("USER"));
+  ros::init(argc, argv, std::string("RoboSherlock"));
   
   if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug))
   {
diff --git a/robosherlock/src/flowcontrol/src/runAAE.cpp b/robosherlock/src/flowcontrol/src/runAAE.cpp
index 3d545e18..d7485e33 100644
--- a/robosherlock/src/flowcontrol/src/runAAE.cpp
+++ b/robosherlock/src/flowcontrol/src/runAAE.cpp
@@ -81,7 +81,7 @@ int main(int argc, char* argv[])
     return 1;
   }
 
-  ros::init(argc, argv, std::string("RoboSherlock_") + getenv("USER"));
+  ros::init(argc, argv, std::string("RoboSherlock"));
 
   if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) )
      ros::console::notifyLoggerLevelsChanged();
diff --git a/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp b/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp
index 90f9ea6b..6eef8284 100644
--- a/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp
+++ b/robosherlock/src/queryanswering/src/PrologCPPQueries.cpp
@@ -211,7 +211,8 @@ PREDICATE(cpp_reconfigure_annotator, 2)
   setupName = (std::string) PL_A2;
 
   ros::NodeHandle n;
-  ros::ServiceClient client = n.serviceClient<robosherlock_msgs::ReconfigureAnnotator>(std::string("RoboSherlock_") + getenv("USER") + "/reconfigure_annotator");
+  // TODO: Change to nodename String name
+  ros::ServiceClient client = n.serviceClient<robosherlock_msgs::ReconfigureAnnotator>("RoboSherlock/reconfigure_annotator");
   robosherlock_msgs::ReconfigureAnnotator srv;
 
   srv.request.annotatorName = annotatorName;
@@ -237,7 +238,8 @@ PREDICATE(cpp_overwrite_param, 3)
   values = (std::vector<std::string>) PL_A3;
 
   ros::NodeHandle n;
-  ros::ServiceClient client = n.serviceClient<robosherlock_msgs::OverwriteParam>(std::string("RoboSherlock_") + getenv("USER") + "/overwrite_param");
+  // TODO: Change to nodename String name
+  ros::ServiceClient client = n.serviceClient<robosherlock_msgs::OverwriteParam>("RoboSherlock/overwrite_param");
   robosherlock_msgs::OverwriteParam srv;
 
   srv.request.annotatorName = annotatorName;
diff --git a/uimacpp_ros/src/framework/include/uima/annotator_abase.hpp b/uimacpp_ros/src/framework/include/uima/annotator_abase.hpp
index 29d610b5..86b505bd 100644
--- a/uimacpp_ros/src/framework/include/uima/annotator_abase.hpp
+++ b/uimacpp_ros/src/framework/include/uima/annotator_abase.hpp
@@ -41,6 +41,7 @@
 #include <uima/pragmas.hpp> // must be first file to be included to get pragmas
 ////#include "uima/annotator_api.h"
 #include <uima/cas.hpp>
+#include <iostream>
 
 /* ----------------------------------------------------------------------- */
 /*       Constants                                                         */
@@ -177,6 +178,7 @@ namespace uima {
   }
 
   inline TyErrorId Annotator::reconfigure() {
+    std::cout << "\n\nCalling base reconfigure()\n\n";
     return (TyErrorId)UIMA_ERR_NONE;
   }
 

From d88c4c507ec2c4d8a0fe0f690395d52491852218 Mon Sep 17 00:00:00 2001
From: Evan Kapitzke <evan@uni-bremen.de>
Date: Thu, 4 Jun 2020 17:24:11 +0200
Subject: [PATCH 13/13] Restore original cmake files

---
 robosherlock/cmake/FindAPR.cmake              |  30 ++++
 robosherlock/cmake/FindICUUC.cmake            |  23 +++
 .../cmake/FindMongoClientLibrary.cmake        |  31 ++++
 robosherlock/cmake/project_config.cmake.in    |   6 +
 robosherlock/cmake/robosherlock.cmake         | 152 ++++++++++++++++++
 .../cmake/robosherlock_config.cmake.em        |  17 ++
 6 files changed, 259 insertions(+)
 create mode 100644 robosherlock/cmake/FindAPR.cmake
 create mode 100644 robosherlock/cmake/FindICUUC.cmake
 create mode 100644 robosherlock/cmake/FindMongoClientLibrary.cmake
 create mode 100644 robosherlock/cmake/project_config.cmake.in
 create mode 100644 robosherlock/cmake/robosherlock.cmake
 create mode 100644 robosherlock/cmake/robosherlock_config.cmake.em

diff --git a/robosherlock/cmake/FindAPR.cmake b/robosherlock/cmake/FindAPR.cmake
new file mode 100644
index 00000000..30bf6233
--- /dev/null
+++ b/robosherlock/cmake/FindAPR.cmake
@@ -0,0 +1,30 @@
+# APR_LIBRARY_FOUND - system has Mongo Client
+# APR_LIBRARY - Mongo Client Library
+# APR_INCLUDE_DIR - Mongo Client Library
+
+find_package(PkgConfig)
+pkg_check_modules(PC_LIBAPR QUIET apr-1)
+set(LIBAPR_DEFINITIONS ${PC_LIBAPR_CFLAGS_OTHER})
+
+find_path(LIBAPR_INCLUDE_DIR
+  apr.h
+  HINTS ${PC_LIBAPR_INCLUDEDIR} ${PC_LIBAPR_INCLUDE_DIRS}
+  DOC "Found LIBAPR include directory"
+)
+
+find_library(LIBAPR_LIBRARY
+  NAMES apr-1.0 apr-1 libapr-1.0 libapr-1
+  HINTS ${PC_LIBAPR_LIBDIR} ${PC_LIBAPR_LIBRARY_DIRS}
+  DOC "Found LIBAPR library"
+)
+
+set(LIBAPR_LIBRARIES ${LIBAPR_LIBRARY} )
+set(LIBAPR_INCLUDE_DIRS ${LIBAPR_INCLUDE_DIR} )
+
+include(FindPackageHandleStandardArgs)
+# handle the QUIETLY and REQUIRED arguments and set LIBXML2_FOUND to TRUE
+# if all listed variables are TRUE
+find_package_handle_standard_args(LibAPR1  DEFAULT_MSG
+  LIBAPR_LIBRARY LIBAPR_INCLUDE_DIR)
+
+mark_as_advanced(LIBAPR_INCLUDE_DIR LIBAPR_LIBRARY )
diff --git a/robosherlock/cmake/FindICUUC.cmake b/robosherlock/cmake/FindICUUC.cmake
new file mode 100644
index 00000000..bc771646
--- /dev/null
+++ b/robosherlock/cmake/FindICUUC.cmake
@@ -0,0 +1,23 @@
+# ICUUC_LIBRARY_FOUND - system has ICUUC
+# ICUUC_LIBRARY - ICUUC Library
+
+find_library(ICUUC_LIB
+  NAMES libicuuc.so
+  DOC "Found ICUUC library"
+  PATHS /usr/local/lib
+)
+
+if(ICUUC_LIB)
+  set(ICUUC_LIBRARY ${ICUUC_LIB})
+  set(ICUUC_LIBRARIES ${ICUUC_LIB})
+  message(STATUS "Found ICUUC Library: ${ICUUC_LIB}")
+  set(ICUUC_LIBRARY_FOUND true)
+else()
+  set(ICUUC_LIBRARY_FOUND false)
+  if(ICUUC_LIBRARY_FIND_REQUIRED)
+    message(FATAL_ERROR "ICUUC library not found!")
+  else()
+    message(STATUS "ICUUC library not found!")
+  endif()
+endif()
+
diff --git a/robosherlock/cmake/FindMongoClientLibrary.cmake b/robosherlock/cmake/FindMongoClientLibrary.cmake
new file mode 100644
index 00000000..c1a57cbc
--- /dev/null
+++ b/robosherlock/cmake/FindMongoClientLibrary.cmake
@@ -0,0 +1,31 @@
+# MONGO_CLIENT_LIBRARY_FOUND - system has Mongo Client
+# MONGO_CLIENT_LIBRARY - Mongo Client Library
+
+message(STATUS "Looking for Mongo Client Library...")
+
+find_library(MONGO_CLIENT_LIBRARY
+  NAMES libmongoclient.so
+  DOC "Found MONGO library"
+  PATHS /usr/local/lib
+)
+
+if(MONGO_CLIENT_LIBRARY)
+  set(MONGO_CLIENT_LIBRARY_FOUND 1)
+        
+  if(NOT MONGO_CLIENT_LIBRARY_FIND_QUIETLY)
+    message(STATUS "Found Mongo CLient Library: ${MONGO_CLIENT_LIBRARY}")
+  endif(NOT MONGO_CLIENT_LIBRARY_FIND_QUIETLY)
+
+else(MONGO_CLIENT_LIBRARY)
+
+  set(MONGO_CLIENT_LIBRARY_FOUND 0 CACHE BOOL "Mongo Client Library not found")
+  if(MONGO_CLIENT_LIBRARY_FIND_REQUIRED)
+    message(FATAL_ERROR "Mongo Client Library not found, error")
+  else()
+    MESSAGE(STATUS "Mongo Client Library not found, disabled")
+  endif()
+endif(MONGO_CLIENT_LIBRARY)
+
+MARK_AS_ADVANCED(MONGO_CLIENT_LIBRARY)
+
+
diff --git a/robosherlock/cmake/project_config.cmake.in b/robosherlock/cmake/project_config.cmake.in
new file mode 100644
index 00000000..2e5b1896
--- /dev/null
+++ b/robosherlock/cmake/project_config.cmake.in
@@ -0,0 +1,6 @@
+set(${PROJECT_NAME}_NAMESPACE           ${NAMESPACE})
+set(${PROJECT_NAME}_TYPESYSTEM_CPP_PATH ${TYPESYSTEM_CPP_PATH})
+set(${PROJECT_NAME}_TYPESYSTEM_XML_PATH ${TYPESYSTEM_XML_PATH})
+set(${PROJECT_NAME}_ANNOTATOR_PATH      ${ANNOTATOR_PATH})
+set(${PROJECT_NAME}_ENGINE_PATH         ${ENGINE_PATH})
+
diff --git a/robosherlock/cmake/robosherlock.cmake b/robosherlock/cmake/robosherlock.cmake
new file mode 100644
index 00000000..e72a8103
--- /dev/null
+++ b/robosherlock/cmake/robosherlock.cmake
@@ -0,0 +1,152 @@
+
+#############################################################################
+## Check for c++11 support                                                 ##
+#############################################################################
+include(CheckCXXCompilerFlag)
+check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
+if(COMPILER_SUPPORTS_CXX11)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+else()
+  message(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+#############################################################################
+## Set cxx flags                                                           ##
+#############################################################################
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBT_USE_DOUBLE_PRECISION -Wno-deprecated")
+# Unused warnings
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wuninitialized -Winit-self -Wunused-function -Wunused-label -Wunused-variable -Wunused-but-set-parameter")#-Wunused-but-set-variable
+# Additional warnings
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wreorder -Warray-bounds -Wtype-limits -Wreturn-type -Wsequence-point -Wparentheses -Wmissing-braces -Wchar-subscripts -Wswitch -Wwrite-strings -Wenum-compare -Wempty-body")# -Wlogical-op")
+
+#############################################################################
+## Check for openMP support                                                ##
+#############################################################################
+find_package(OpenMP)
+if(OPENMP_FOUND)
+  message(STATUS "OpenMP found.")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+endif()
+
+
+#############################################################################
+## Check for Caffe Support                                                 ##
+#############################################################################
+find_package(Caffe QUIET)
+if(Caffe_FOUND)
+  message(STATUS "Caffe FOUND! Building related components")
+
+  include_directories(${Caffe_INCLUDE_DIRS})
+  add_definitions( -DCAFFE_FOUND ${Caffe_DEFINITIONS})
+
+  set(RS_CAFFE_LIB rs_caffeProxy)
+  set(RS_WITH_CAFFE TRUE)
+else()
+  set(RS_WITH_CAFFE FALSE)
+endif(Caffe_FOUND)
+
+
+#############################################################################
+## Check for Protobuf Support                                              ##
+#############################################################################
+find_package(Protobuf QUIET)
+if(PROTOBUF_FOUND AND PROTOBUF_PROTOC_EXECUTABLE)
+  message (STATUS "Found Protobuf and Protobuf executable.")	
+  set(RS_WEB_LIB rs_web)
+  set(RS_WITH_GG TRUE)
+else()
+  set(RS_WITH_GG FALSE)
+endif()
+
+
+#############################################################################
+## Adding include dirs defined in CPATH (needed for xstow)                 ##
+#############################################################################
+if($ENV{CPATH})
+  string(REPLACE ":" ";" paths $ENV{CPATH})
+  foreach(path ${paths})
+    include_directories(${path})
+  endforeach()
+endif()
+
+#############################################################################
+## Add library macro                                                       ##
+#############################################################################
+macro(rs_add_library libname)
+  add_library(${libname} SHARED ${ARGN})
+  target_link_libraries(${libname} ${LIBAPR_LIBRARY} ${UIMA_LIBRARY} ${ICUUC_LIBRARY} ${catkin_LIBRARIES})
+  set_target_properties(${libname} PROPERTIES PREFIX "")
+endmacro(rs_add_library)
+
+#############################################################################
+## Add executable macro                                                    ##
+#############################################################################
+macro(rs_add_executable execname)
+  add_executable(${execname} ${ARGN})
+  target_link_libraries(${execname} ${LIBAPR_LIBRARY} ${UIMA_LIBRARY} ${ICUUC_LIBRARY} ${catkin_LIBRARIES})
+endmacro(rs_add_executable)
+
+#############################################################################
+## Generate classes from the typesystem xml files                          ##
+#############################################################################
+macro(generate_type_system)
+  set(script ${RS_SCRIPT_PATH}/generate_typesystem.py)
+  set(projects ${PROJECT_NAME}:${NAMESPACE}:${TYPESYSTEM_XML_PATH}:${TYPESYSTEM_CPP_PATH})
+
+  foreach(arg ${ARGN}) 
+    set(projects ${projects} ${arg}:${${arg}_NAMESPACE}:${${arg}_TYPESYSTEM_XML_PATH}:${${arg}_TYPESYSTEM_CPP_PATH})
+  endforeach()
+  
+  execute_process(COMMAND python ${script} ${projects})
+endmacro(generate_type_system)
+
+#############################################################################
+## Find all include directories for export                                 ##
+#############################################################################
+macro(find_include_dirs result)
+  set(search_pattern -name "include" -type d)
+
+  foreach(arg ${ARGN})
+    set(exclude ${exclude} ! -path "${PROJECT_SOURCE_DIR}/${arg}/*")
+  endforeach()
+
+  message(STATUS "find path: ${PROJECT_SOURCE_DIR}/${arg}")
+
+  execute_process(COMMAND find "-L" ${PROJECT_SOURCE_DIR} ${exclude} ${search_pattern} OUTPUT_VARIABLE found_include_dirs)
+  message(STATUS "executed: find ${PROJECT_SOURCE_DIR} ${exclude} ${search_pattern}")
+
+  message(STATUS "found include path: ${found_include_dirs}")
+
+  if(NOT "${found_include_dirs}" STREQUAL "")
+    string(REPLACE "\n" "/\;" ${result} ${found_include_dirs})
+    #message(STATUS "additional include dirs: ${${result}}")
+  endif()
+endmacro(find_include_dirs)
+
+#############################################################################
+## Hack for QT Creator to include all relevant files                       ##
+#############################################################################
+macro(find_additional_files)
+  set(search_pattern -type f)
+
+  foreach(arg ${ARGN}) 
+    set(exclude ${exclude} ! -path "${PROJECT_SOURCE_DIR}/${arg}/*")
+  endforeach()
+  execute_process(COMMAND find "-L" ${PROJECT_SOURCE_DIR} ${exclude} ${search_pattern} OUTPUT_VARIABLE found_files)
+  if(NOT "${found_files}" STREQUAL "")
+    string(REPLACE "\n" ";" found_files_list ${found_files})
+  add_custom_target(${PROJECT_NAME}_additional_files SOURCES ${found_files_list})
+  endif()
+endmacro(find_additional_files)
+
+#############################################################################
+## Message on option status                                                ##
+#############################################################################
+macro(check_option var)
+  if(${var})
+    message(STATUS "${var} activated")
+  else(${var})
+    message(STATUS "${var} deactivated")
+  endif(${var})
+endmacro(check_option)
+
diff --git a/robosherlock/cmake/robosherlock_config.cmake.em b/robosherlock/cmake/robosherlock_config.cmake.em
new file mode 100644
index 00000000..3827aa70
--- /dev/null
+++ b/robosherlock/cmake/robosherlock_config.cmake.em
@@ -0,0 +1,17 @@
+set(robosherlock_NAMESPACE rs)
+@[if DEVELSPACE]@
+
+set(robosherlock_TYPESYSTEM_CPP_PATH "@(PROJECT_SOURCE_DIR)/src/core/include/robosherlock/types")
+set(robosherlock_TYPESYSTEM_XML_PATH "@(PROJECT_SOURCE_DIR)/descriptors/typesystem")
+set(robosherlock_ANNOTATOR_PATH      "@(PROJECT_SOURCE_DIR)/descriptors/annotators")
+set(robosherlock_ENGINE_PATH         "@(PROJECT_SOURCE_DIR)/descriptors/analysis_engines")
+set(RS_SCRIPT_PATH "@(PROJECT_SOURCE_DIR)/scripts")
+set(RS_PROJECT_CONFIG "@(PROJECT_SOURCE_DIR)/cmake/project_config.cmake.in")
+@[else]@
+set(robosherlock_TYPESYSTEM_CPP_PATH "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_INCLUDE_DESTINATION)/types")
+set(robosherlock_TYPESYSTEM_XML_PATH "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_SHARE_DESTINATION)/descriptors/typesystem")
+set(robosherlock_ANNOTATOR_PATH      "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_SHARE_DESTINATION)/descriptors/annotators")
+set(robosherlock_ENGINE_PATH         "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_SHARE_DESTINATION)/descriptors/analysis_engines")
+set(RS_SCRIPT_PATH         "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_SHARE_DESTINATION)/scripts")
+set(RS_PROJECT_CONFIG      "${robosherlock_PREFIX}/@(CATKIN_PACKAGE_SHARE_DESTINATION)/cmake/project_config.cmake.in")
+@[end if]@