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Commit 52aa0769 authored by Sebastian Ebert's avatar Sebastian Ebert
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removed modules

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rosjava/src/rosjava_rag_connector/signal_connector_module/libs/pnml-relast-0.2.jar deleted 100644 → 0
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File deleted
rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_connector_module/SignalConnector.java deleted 100644 → 0
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package de.tudresden.inf.st.rosjava_rag_connector.signal_connector_module;
import de.tudresden.inf.st.pnml.jastadd.model.*;
import de.tudresden.inf.st.service.PetriNetInitService;
import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.Node;
import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import std_msgs.String;
import java.util.List;
import java.util.function.Consumer;
public class SignalConnector extends AbstractNodeMain {
private static final Logger logger = LoggerFactory.getLogger(SignalConnector.class);
private List<Marking> markedGraphs = null;
private JavaHandler jh = JavaHandler.getInstance();
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("pn/signalconnector");
}
@Override
public void onError(Node node, Throwable throwable) {
logger.error("[SIGNALCONNECTOR] An error occurred: " + throwable.getLocalizedMessage());
}
@Override
public void onStart(final ConnectedNode connectedNode) {
// TODO replace path with config-parameter
markedGraphs = PetriNetInitService.initMarkedGraphs("src/rosjava_catkin_package_a/my_pub_sub_tutorial/src/main/resources/minimal.pnml");
for(Marking markedGraph : markedGraphs){
for(Place place : markedGraph.getPetriNet().allPlaces()){
OutputSignalPlace osp = place.asOutputSignalPlace();
for(OutputSignalBinding osBinding : osp.getOutputSignalBindingList()){
final Publisher<String> publisher = connectedNode.newPublisher("/outputsignal/" + osBinding.getId(), std_msgs.String._TYPE);
jh.registerCallback("/outputsignal/" + osBinding.getId(), new Consumer<byte[]>() {
@Override
public void accept(byte[] bytes) {
std_msgs.String str = publisher.newMessage();
str.setData(new java.lang.String(bytes));
publisher.publish(str);
}
});
}
}
for(Transition transition : markedGraph.getPetriNet().allTransitions()){
InputSignalTransition ist = transition.asInputSignalTransition();
for(InputSignalBinding isBinding : ist.getInputSignalBindingList()){
final Subscriber<String> subscriber = connectedNode.newSubscriber("/inputsignal/" /*+ isBinding.getId()*/, std_msgs.String._TYPE);
subscriber.addMessageListener(new MessageListener<String>() {
@Override
public void onNewMessage(std_msgs.String message) {
// jh.push("/inputsignal/" + isBinding.getId(), message.getData().getBytes());
}
}, 1000);
}
}
}
}
}
rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Listener.java deleted 100644 → 0
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/*
* Copyright (C) 2014 Sebastian Ebert.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package de.tudresden.inf.st.rosjava_rag_connector.signal_test;
import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;
// rosrun rosjava_rag_connector signal_connector_module de.tudresden.inf.st.rosjava_rag_connector.signal_connector_module.Listener
/**
* A simple {@link Subscriber} {@link NodeMain}.
*/
public class Listener extends AbstractNodeMain {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("rosjava/listener");
}
@Override
public void onStart(ConnectedNode connectedNode) {
final Log log = connectedNode.getLog();
Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE);
subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
@Override
public void onNewMessage(std_msgs.String message) {
log.info("I heard: \"" + message.getData() + "\"");
}
}, 1000);
}
}
rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/java/de/tudresden/inf/st/rosjava_rag_connector/signal_test/Talker.java deleted 100644 → 0
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− 94
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/*
* Copyright (C) 2014 Sebastian Ebert.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package de.tudresden.inf.st.rosjava_rag_connector.signal_test;
import de.tudresden.inf.st.pnml.jastadd.model.JavaHandler;
import de.tudresden.inf.st.pnml.jastadd.model.Marking;
import de.tudresden.inf.st.service.PetriNetInitService;
import de.tudresden.inf.st.service.PetriNetLoggingService;
import org.ros.concurrent.CancellableLoop;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain;
import org.ros.node.topic.Publisher;
import java.util.List;
import java.util.function.Consumer;
// rosrun rosjava_rag_connector signal_connector_module de.tudresden.inf.st.rosjava_rag_connector.signal_connector_module.Talker
/**
* A simple {@link Publisher} {@link NodeMain}.
*/
public class Talker extends AbstractNodeMain {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("rosjava/talker");
}
@Override
public void onStart(final ConnectedNode connectedNode) {
final Publisher<std_msgs.String> publisher =
connectedNode.newPublisher("chatter", std_msgs.String._TYPE);
JavaHandler jh = JavaHandler.getInstance();
jh.registerCallback("/outputsignal/os1", new Consumer<byte[]>() {
@Override
public void accept(byte[] bytes) {
System.out.println("TEST OS1 CALLBACK");
std_msgs.String str = publisher.newMessage();
str.setData("TEST OS1 CALLBACK ROS");
publisher.publish(str);
}
});
jh.registerCallback("/outputsignal/os2", new Consumer<byte[]>() {
@Override
public void accept(byte[] bytes) {
System.out.println("TEST OS2 CALLBACK");
std_msgs.String str = publisher.newMessage();
str.setData("TEST OS1 CALLBACK ROS");
publisher.publish(str);
}
});
List<Marking> markedGraphs = PetriNetInitService.initMarkedGraphs("src/rosjava_catkin_package_a/my_pub_sub_tutorial/src/main/resources/minimal.pnml");
//PetriNetLoggingService.printInputSignals(markedGraphs.get(0));
PetriNetLoggingService.printOutputSignals(markedGraphs.get(0));
//markedGraphs.get(0).print();
// This CancellableLoop will be canceled automatically when the node shuts
// down.
/*connectedNode.executeCancellableLoop(new CancellableLoop() {
private int sequenceNumber;
@Override
protected void setup() {
sequenceNumber = 0;
}
@Override
protected void loop() throws InterruptedException {
std_msgs.String str = publisher.newMessage();
str.setData("Hello world! " + sequenceNumber);
publisher.publish(str);
sequenceNumber++;
Thread.sleep(1000);
}
});*/
}
}
rosjava/src/rosjava_rag_connector/signal_connector_module/src/main/resources/minimal.pnml deleted 100644 → 0
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− 149
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<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="n-E2D0-BCF46-0" type ="http://www.pnml.org/version-2009/grammar/ptnet">
<name>
<text>minimal</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
</toolspecific>
<page id="g-E2D0-BCF68-1">
<place id="p-E2D0-BCF6F-2">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
<location>node-1</location>
<type>discretePlaceType</type>
<outputsignalbindings>
<outputsignalbinding>
<placeID>p-E2D0-BCF6F-2</placeID>
<outputsignalID>os2</outputsignalID>
<initialvalue>1</initialvalue> <!-- -1 = undefined -->
<outputmappings>
<equal>
<value>1</value>
<result>3</result>
</equal>
<equal>
<value>0</value>
<result>2</result>
</equal>
<threshold>
<value>6</value>
<result>0</result>
</threshold>
<range>
<upperbound>5</upperbound>
<lowerbound>3</lowerbound>
<result>1</result>
</range>
</outputmappings>
</outputsignalbinding>
</outputsignalbindings>
</toolspecific>
<name>
<text>p0</text>
<graphics>
<offset x="0" y="-10" />
</graphics>
</name>
<initialMarking>
<text>1</text>
</initialMarking>
<graphics>
<position x="30" y="50"/>
</graphics>
</place>
<place id="p-E2D0-BCF9D-3">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
<location>node-1</location>
<type>discretePlaceType</type>
<outputsignalbindings>
<outputsignalbinding>
<placeID>p-E2D0-BCF9D-3</placeID>
<outputsignalID>os1</outputsignalID>
<initialvalue>4</initialvalue> <!-- -1 = undefined -->
<outputmappings>
<equal>
<value>1</value>
<result>1</result>
</equal>
<threshold>
<value>6</value>
<result>0</result>
</threshold>
<range>
<upperbound>5</upperbound>
<lowerbound>3</lowerbound>
<result>1</result>
</range>
</outputmappings>
</outputsignalbinding>
</outputsignalbindings>
</toolspecific>
<name>
<text>p1</text>
<graphics>
<offset x="0" y="-10" />
</graphics>
</name>
<graphics>
<position x="635" y="90"/>
</graphics>
</place>
<transition id="t1">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
<location>node-1</location>
<type>discreteTransitionType</type>
<inputsignalbindings>
<inputsignalbinding>
<transitionID>t1</transitionID>
<inputsignalID>is1</inputsignalID>
<initialvalue>1</initialvalue>
</inputsignalbinding>
<inputsignalbinding>
<transitionID>t1</transitionID>
<inputsignalID>is3</inputsignalID>
<initialvalue>1</initialvalue>
</inputsignalbinding>
</inputsignalbindings>
</toolspecific>
<name>
<text>t0</text>
<graphics>
<offset x="0" y="0" />
</graphics>
</name>
<graphics>
<position x="300" y="50"/>
</graphics>
</transition>
<transition id="t2">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
<location>node-1</location>
<type>discreteTransitionType</type>
<inputsignalbindings>
<inputsignalbinding>
<transitionID>t2</transitionID>
<inputsignalID>is2</inputsignalID>
<initialvalue>0</initialvalue>
</inputsignalbinding>
</inputsignalbindings>
</toolspecific>
<name>
<text>t1</text>
<graphics>
<offset x="0" y="0" />
</graphics>
</name>
<graphics>
<position x="285" y="205"/>
</graphics>
</transition>
<arc id="e-E2D0-BCFCD-6" source="t2" target="p-E2D0-BCF6F-2">
</arc>
<arc id="e-E2D0-BCFDB-7" source="p-E2D0-BCF9D-3" target="t2">
</arc>
<arc id="e-E2D0-BCFF3-8" source="t1" target="p-E2D0-BCF9D-3">
</arc>
<arc id="e-E2D0-BCFFB-9" source="p-E2D0-BCF6F-2" target="t1">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
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