{"id":20879627,"url":"https://github.com/khalidbourr/b2xklaim","last_synced_at":"2026-04-14T12:32:18.076Z","repository":{"id":202997925,"uuid":"708580175","full_name":"khalidbourr/B2XKlaim","owner":"khalidbourr","description":"B2XKlaim: Translates BPMN diagrams into executable multi-robot coordination code, letting users design robot missions visually instead of writing code.","archived":false,"fork":false,"pushed_at":"2026-04-04T13:27:14.000Z","size":1277,"stargazers_count":1,"open_issues_count":2,"forks_count":0,"subscribers_count":0,"default_branch":"development","last_synced_at":"2026-04-04T15:55:31.594Z","etag":null,"topics":["bpmn","code-generation","coordination","dsl","mission-design","multi-robot","process-modeling"],"latest_commit_sha":null,"homepage":"https://kbourr.com/b2xklaim/","language":"Java","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/khalidbourr.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2023-10-23T00:19:20.000Z","updated_at":"2026-04-04T13:27:19.000Z","dependencies_parsed_at":"2024-01-09T05:30:36.111Z","dependency_job_id":"ff07048e-9ff7-44b2-8135-904d8fa26eba","html_url":"https://github.com/khalidbourr/B2XKlaim","commit_stats":null,"previous_names":["khalidbourr/b2xklaim"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/khalidbourr/B2XKlaim","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/khalidbourr%2FB2XKlaim","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/khalidbourr%2FB2XKlaim/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/khalidbourr%2FB2XKlaim/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/khalidbourr%2FB2XKlaim/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/khalidbourr","download_url":"https://codeload.github.com/khalidbourr/B2XKlaim/tar.gz/refs/heads/development","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/khalidbourr%2FB2XKlaim/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":31797370,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-14T11:13:53.975Z","status":"ssl_error","status_checked_at":"2026-04-14T11:13:53.299Z","response_time":153,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["bpmn","code-generation","coordination","dsl","mission-design","multi-robot","process-modeling"],"created_at":"2024-11-18T07:17:08.837Z","updated_at":"2026-04-14T12:32:18.069Z","avatar_url":"https://github.com/khalidbourr.png","language":"Java","funding_links":[],"categories":[],"sub_categories":[],"readme":"# B2XKlaim\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"https://github.com/PROSLab/B2XKlaim/blob/main/b2xklaim.jpg\" width=\"500\" height=\"auto\"\u003e\n\u003c/p\u003e\n\n**B2XKlaim** translates BPMN Collaboration diagrams into [X-Klaim](https://github.com/LorenzoBettini/Xklaim) skeleton code for developing multi-robot missions. It bridges the gap between high-level process modeling and executable multi-robot coordination by automatically generating X-Klaim programs from visual BPMN specifications.\n\n## How It Works\n\nB2XKlaim follows a **model-driven development** pipeline:\n\n1. **Design** — Model your multi-robot mission as a BPMN Collaboration diagram using the built-in web editor (powered by [bpmn-js](https://github.com/bpmn-io/bpmn-js)). Each pool represents a robot or participant, and message flows capture inter-robot communication via tuple spaces.\n\n2. **Parse** — The backend parses the `.bpmn` XML, extracting pools, tasks, gateways, events, and message flows into an intermediate representation.\n\n3. **Translate** — A set of mapping rules transforms each BPMN element into its X-Klaim counterpart: pools become `net` declarations, message flows map to `out`/`in` operations on tuple spaces, XOR gateways translate to conditionals, AND gateways to parallel constructs, EB gateways to timeout-based routing (`if … within`), LP gateways to `while` loops, and tasks become `proc` bodies.\n\n4. **Generate** — The tool outputs a structured `.xklaim` package:\n\n```\nsrc/main/java/xklaim/\n├── Collaboration.xklaim        # net definition\n├── processes/                   # one proc per pool\n├── tasks/                       # script task stubs\n└── branches/                    # AND gateway branches\n```\n\nThe generated code is downloadable as a ready-to-compile project for the X-Klaim runtime with ROS 2 integration.\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"https://github.com/khalidbourr/B2XKlaim/blob/development/media/rover_drone_example.png\" width=\"90%\"\u003e\n  \u003cbr\u003e\u003cem\u003eBPMN Collaboration diagram designed in the B2XKlaim editor\u003c/em\u003e\n\u003c/p\u003e\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"https://github.com/khalidbourr/B2XKlaim/blob/development/media/generated_rover_drone.png\" width=\"90%\"\u003e\n  \u003cbr\u003e\u003cem\u003eGenerated X-Klaim code output\u003c/em\u003e\n\u003c/p\u003e\n\n\n### X-Klaim\n\nTo compile and run the generated code, you need [X-Klaim](https://github.com/LorenzoBettini/xklaim):\n\n- **Eclipse update site**: https://lorenzobettini.github.io/xklaim-releases/\n\n- **Eclipse distributions with X-Klaim pre-installed**: https://sourceforge.net/projects/xklaim/files/products/\n\n\n## Supported BPMN Elements\n\n| Category | Elements |\n|----------|----------|\n| **Gateways** | XOR (Exclusive), AND (Parallel), EB (Event-Based), LP (Loop) |\n| **Events** | Start, Intermediate, End — None, Message, Signal, Timer variants |\n| **Tasks** | Script Task, Call Activity |\n| **Structure** | Pools, Message Flow, Event Subprocess |\n\n## Setup\n\n### Backend (Java 21 + Spring Boot)\n\n```bash\ncd B2XKlaim/B2XKlaim-BackEnd\nmvn clean install -DskipTests\nmvn clean compile\n```\n\nThen run `B2XKlaimApplication`.\n\n### Frontend (Vue 3 + bpmn-js)\n\n```bash\ncd B2XKlaim/B2XKlaim-FrontEnd\nnpm install\n```\n\n### Run\n\n```bash\ncd B2XKlaim\nnpm start\n```\n\nDraw a BPMN Collaboration diagram in the editor, hit **Translate**, and download the generated X-Klaim code.\n\n## How to Use\n\nSee the full guide: [How to use B2XKlaim](https://kbourr.com/how-to-use-b2xkaim-tool/)\n\nA hosted version is available at [kbourr.com/bxklaim](https://kbourr.com/bxklaim) — a new release will be deployed soon.\n\n## References\n\nIf you use B2XKlaim in your research, please cite:\n\n\u003e K. Bourr, F. Tiezzi, L. Bettini, and S. Seriani, \"Translating BPMN models into X-KLAIM programs for developing multi-robot missions,\" *International Journal on Software Tools for Technology Transfer*, pp. 1–19, 2026, Springer.\n\n\u003e K. Bourr, F. Tiezzi, and L. Bettini, \"Model-driven development of multi-robot systems: from BPMN models to X-Klaim code,\" in *International Symposium on Leveraging Applications of Formal Methods (ISoLA)*, pp. 224–242, 2024, Springer.\n\n\u003cdetails\u003e\n\u003csummary\u003eBibTeX\u003c/summary\u003e\n\n```bibtex\n@article{bourr2026translating,\n  title     = {Translating BPMN models into X-KLAIM programs for developing multi-robot missions},\n  author    = {Bourr, Khalid and Tiezzi, Francesco and Bettini, Lorenzo and Seriani, Stefano},\n  journal   = {International Journal on Software Tools for Technology Transfer},\n  pages     = {1--19},\n  year      = {2026},\n  publisher = {Springer}\n}\n\n@inproceedings{bourr2024model,\n  title        = {Model-driven development of multi-robot systems: from BPMN models to X-Klaim code},\n  author       = {Bourr, Khalid and Tiezzi, Francesco and Bettini, Lorenzo},\n  booktitle    = {International Symposium on Leveraging Applications of Formal Methods},\n  pages        = {224--242},\n  year         = {2024},\n  organization = {Springer}\n}\n```\n\n\u003c/details\u003e\n\n## License\n\nSee [LICENSE](LICENSE) for details.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkhalidbourr%2Fb2xklaim","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkhalidbourr%2Fb2xklaim","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkhalidbourr%2Fb2xklaim/lists"}