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Commit d7e1c52a authored by Sebastian Ebert's avatar Sebastian Ebert
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main as launch mechanism, simplfication of initializations

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libs/pnml-relast-engine-fatjar-0.1.jar
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src/main/java/de/tudresden/inf/st/sample/Main.java
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package de.tudresden.inf.st.sample;
import de.tudresden.inf.st.pnml.engine.execution.TransitionHandlerService;
import de.tudresden.inf.st.pnml.engine.ros.DiNeRosDefaultNode;
import de.tudresden.inf.st.pnml.engine.ros.DiNeRosNode;
import de.tudresden.inf.st.pnml.jastadd.model.*;
import de.tudresden.inf.st.sample.handling.HandlingBinder;
import de.tudresden.inf.st.sample.nodes.ClientNode;
import de.tudresden.inf.st.sample.nodes.PublisherNode;
import de.tudresden.inf.st.sample.nodes.ServerNode;
import de.tudresden.inf.st.sample.nodes.SubscriberNode;
import org.ros.node.DefaultNodeMainExecutor;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;
import org.xml.sax.SAXException;
import javax.xml.parsers.ParserConfigurationException;
import java.io.IOException;
import java.net.URI;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
/**
* <Generated>
......@@ -30,61 +29,48 @@ public class Main {
private static final NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(ROS_HOST);
private static final NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
public static void main(java.lang.String[] args) throws IOException, ParserConfigurationException, SAXException {
public static void main(java.lang.String[] args) {
/*
* <Generated>
* Petri Net base data initialization
*/
// Setup ROS Master
nodeConfiguration.setMasterUri(URI.create(ROS_MASTER_URI));
// actual petri net paths are generated
// Petri Net base data initialization
List<String> petriNetPaths = new ArrayList<>();
petriNetPaths.add("src/main/resources/nets/publisher-net.pnml");
petriNetPaths.add("src/main/resources/nets/subscriber-net.pnml");
petriNetPaths.add("src/main/resources/nets/client-net.pnml");
petriNetPaths.add("src/main/resources/nets/server-net.pnml");
// Parse the PNML files
List<PetriNet> petriNets = new ArrayList<>();
Map<String, BalloonMarking> markings = new HashMap<>();
Map<String, BalloonCallbackStorage> callbackStorages = new HashMap<>();
for(String petriNetPath : petriNetPaths){
petriNets.add(PnmlParser.parsePnml(petriNetPath).get(0));
}
// Initialize the Handling
TransitionHandlerService transitionHandlerService = TransitionHandlerService.getInstance();
for(PetriNet petriNet : petriNets){
markings.put(petriNet.getId(), petriNet.initializeBalloonMarking());
BalloonCallbackStorage storage = petriNet.initializeCallbackStorage();
transitionHandlerService.init(petriNet.getId(), storage);
callbackStorages.put(petriNet.getId(), storage);
}
/*
* <Generated>
* Start of the Dineros NodescallbackMap1
*/
nodeConfiguration.setMasterUri(URI.create(ROS_MASTER_URI));
// generated
DiNeRosNode node1 = new Node1("node1", petriNets.get(0),
markings.get(petriNets.get(0).getId()), callbackStorages.get(petriNets.get(0).getId()));
DiNeRosNode node2 = new Node2("node2", petriNets.get(1),
markings.get(petriNets.get(1).getId()), callbackStorages.get(petriNets.get(1).getId()));
// Create the ROS nodes
DiNeRosNode node0 = new PublisherNode("PublisherNode", petriNets.get(0), MQTT_HOST, "mqtt");
DiNeRosNode node1 = new SubscriberNode("SubscriberNode", petriNets.get(1), MQTT_HOST, "mqtt");
DiNeRosNode node2 = new ClientNode("ClientNode", petriNets.get(2), MQTT_HOST, "mqtt");
DiNeRosNode node3 = new ServerNode("ServerNode", petriNets.get(3), MQTT_HOST, "mqtt");
DiNeRosNode diNeRosNode = new DiNeRosDefaultNode("TestNode", petriNets.get(0),
markings.get(petriNets.get(0).getId()), callbackStorages.get(petriNets.get(0).getId()));
diNeRosNode.getDinerosServiceServers().put("locB", new DiNeRosDefaultServer());
// Setup handlers of the ROS nodes
HandlingBinder.bindHandlersToPublisherNode(petriNets.get(0));
HandlingBinder.bindHandlersToSubscriberNode(petriNets.get(0));
HandlingBinder.bindHandlersToClientNode(petriNets.get(0));
HandlingBinder.bindHandlersToServerNode(petriNets.get(0));
new Thread(() -> nodeMainExecutor.execute(node1, nodeConfiguration)) {{
start();
}};
// Start the ROS nodes
new Thread(() -> nodeMainExecutor.execute(node0, nodeConfiguration)) {{start();}};
new Thread(() -> nodeMainExecutor.execute(node1, nodeConfiguration)) {{start();}};
new Thread(() -> nodeMainExecutor.execute(node2, nodeConfiguration)) {{start();}};
new Thread(() -> nodeMainExecutor.execute(node3, nodeConfiguration)) {{start();}};
new Thread(() -> nodeMainExecutor.execute(node2, nodeConfiguration)) {{
start();
}};
}
}
src/main/java/de/tudresden/inf/st/sample/handling/Handlers.java → src/main/java/de/tudresden/inf/st/sample/handling/HandlerFunctions.java
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package de.tudresden.inf.st.sample.handling;
import de.tudresden.inf.st.pnml.engine.execution.TransitionHandler;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.function.Function;
public final class Handlers {
public final class HandlerFunctions {
TransitionHandler sampleHandlerColor = new TransitionHandler(1, maps -> {
final static Function<List<Map<String, Object>>, List<Map<String, Object>>> SAMPLE_COLOR_HANDLING_FUNCTION = maps -> {
for(Map<String, Object> m : maps){
m.keySet().stream().filter(s -> false).forEach(s -> m.replace("color", "light-red"));
}
return maps;
});
};
TransitionHandler sampleHandlerStatus = new TransitionHandler(1, maps -> {
final static Function<List<Map<String, Object>>, List<Map<String, Object>>> SAMPLE_SUCCESS_HANDLING_FUNCTION = maps -> {
for(Map<String, Object> m : maps){
m.keySet().stream().filter(s -> false).forEach(s -> m.replace("pickPlaceSuccess", true));
}
return maps;
});
};
TransitionHandler sampleFinalHandler = new TransitionHandler(1, maps -> {
final static Function<List<Map<String, Object>>, List<Map<String, Object>>> SAMPLE_FINAL_HANDLING_FUNCTION = maps -> {
List<Map<String, Object>> sList = new ArrayList<>();
sList.add(maps.get(0));
return sList;
});
};
}
src/main/java/de/tudresden/inf/st/sample/handling/HandlingBinder.java
+ 15
− 35
View file @ d7e1c52a
package de.tudresden.inf.st.sample.handling;
import de.tudresden.inf.st.pnml.jastadd.model.PetriNet;
/**
* <Generated>
*/
public class HandlingBinder {
// methods generated for each petri net
/* public static final Map<String, List<AbstractNetCallback>> initCallbacksForNode1(PetriNet petriNet){
Map<String, List<AbstractNetCallback>> callbackMap = new HashMap<>();
// TODO: implementation by user
SampleNetCallback callback = new SampleNetCallback("default_cb", 1, new ArrayList<>());
for(Transition t : petriNet.allTransitions()){
if(t.asInputSignalTransition().getStaticTransitionInformation().isDefaultTransitionInformation()){
List<AbstractNetCallback> cbList = new ArrayList<>();
cbList.add(callback);
callbackMap.put(t.getId(), cbList);
}
public static void bindHandlersToClientNode(PetriNet petriNet){
petriNet.registerHandler("ClientTransition1", 1, HandlerFunctions.SAMPLE_FINAL_HANDLING_FUNCTION);
}
return callbackMap;
public static void bindHandlersToServerNode(PetriNet petriNet){
petriNet.registerHandler("ConnectorTransition", 1, HandlerFunctions.SAMPLE_SUCCESS_HANDLING_FUNCTION);
petriNet.registerHandler("ConnectorTransition", 2, HandlerFunctions.SAMPLE_FINAL_HANDLING_FUNCTION);
}
// methods generated for each petri net
public static final Map<String, List<AbstractNetCallback>> initCallbacksForNode2(PetriNet petriNet){
Map<String, List<AbstractNetCallback>> callbackMap = new HashMap<>();
// TODO: implementation by user
SampleNetCallback callback = new SampleNetCallback("default_cb", 1, new ArrayList<>());
for(Transition t : petriNet.allTransitions()){
if(t.asInputSignalTransition().getStaticTransitionInformation().isDefaultTransitionInformation()){
List<AbstractNetCallback> cbList = new ArrayList<>();
cbList.add(callback);
callbackMap.put(t.getId(), cbList);
}
public static void bindHandlersToPublisherNode(PetriNet petriNet){
petriNet.registerHandler("SortRed", 1, HandlerFunctions.SAMPLE_COLOR_HANDLING_FUNCTION);
petriNet.registerHandler("SortRed", 2, HandlerFunctions.SAMPLE_FINAL_HANDLING_FUNCTION);
}
return callbackMap;
}*/
public static void bindHandlersToSubscriberNode(PetriNet petriNet){
petriNet.registerHandler("SubTransition", 1, HandlerFunctions.SAMPLE_FINAL_HANDLING_FUNCTION);
}
}
src/main/java/de/tudresden/inf/st/sample/nodes/ClientNode.java
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......@@ -11,22 +11,15 @@ public class ClientNode extends DiNeRosNode {
super(nodeName, petriNet, rcHost, gcProtocol);
}
public ClientNode(String nodeName, PetriNet petriNet, BalloonMarking marking, BalloonCallbackStorage callbackStorage, InputSignalConnector inputSignalConnector) {
super(nodeName, petriNet, marking, callbackStorage, inputSignalConnector);
}
@Override
protected void nodeLoop() {
}
@Override
protected TransitionSelectionResult onChange(List<Transition> list) {
return null;
return list.size() == 0 ?
new FiringSelectionNone() : fireRandomEnabledTransition(list);
}
@Override
protected TransitionSelectionResult onStartupEnded(List<Transition> list) {
return null;
return list.size() == 0 ?
new FiringSelectionNone() : fireRandomEnabledTransition(list);
}
}
src/main/java/de/tudresden/inf/st/sample/nodes/PublisherNode.java
+ 4
− 11
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......@@ -11,22 +11,15 @@ public class PublisherNode extends DiNeRosNode {
super(nodeName, petriNet, rcHost, gcProtocol);
}
public PublisherNode(String nodeName, PetriNet petriNet, BalloonMarking marking, BalloonCallbackStorage callbackStorage, InputSignalConnector inputSignalConnector) {
super(nodeName, petriNet, marking, callbackStorage, inputSignalConnector);
}
@Override
protected void nodeLoop() {
}
@Override
protected TransitionSelectionResult onChange(List<Transition> list) {
return null;
return list.size() == 0 ?
new FiringSelectionNone() : fireRandomEnabledTransition(list);
}
@Override
protected TransitionSelectionResult onStartupEnded(List<Transition> list) {
return null;
return list.size() == 0 ?
new FiringSelectionNone() : fireRandomEnabledTransition(list);
}
}
src/main/java/de/tudresden/inf/st/sample/nodes/ServerNode.java
+ 4
− 11
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......@@ -11,22 +11,15 @@ public class ServerNode extends DiNeRosNode {
super(nodeName, petriNet, rcHost, gcProtocol);
}
public ServerNode(String nodeName, PetriNet petriNet, BalloonMarking marking, BalloonCallbackStorage callbackStorage, InputSignalConnector inputSignalConnector) {
super(nodeName, petriNet, marking, callbackStorage, inputSignalConnector);
}
@Override
protected void nodeLoop() {
}
@Override
protected TransitionSelectionResult onChange(List<Transition> list) {
return null;
return list.size() == 0 ?
new FiringSelectionNone() : fireRandomEnabledTransition(list);
}
@Override
protected TransitionSelectionResult onStartupEnded(List<Transition> list) {
return null;
return list.size() == 0 ?
new FiringSelectionNone() : fireRandomEnabledTransition(list);
}
}
src/main/java/de/tudresden/inf/st/sample/nodes/SubscriberNode.java
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− 11
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......@@ -11,22 +11,15 @@ public class SubscriberNode extends DiNeRosNode {
super(nodeName, petriNet, rcHost, gcProtocol);
}
public SubscriberNode(String nodeName, PetriNet petriNet, BalloonMarking marking, BalloonCallbackStorage callbackStorage, InputSignalConnector inputSignalConnector) {
super(nodeName, petriNet, marking, callbackStorage, inputSignalConnector);
}
@Override
protected void nodeLoop() {
}
@Override
protected TransitionSelectionResult onChange(List<Transition> list) {
return null;
return list.size() == 0 ?
new FiringSelectionNone() : fireRandomEnabledTransition(list);
}
@Override
protected TransitionSelectionResult onStartupEnded(List<Transition> list) {
return null;
return list.size() == 0 ?
new FiringSelectionNone() : fireRandomEnabledTransition(list);
}
}
src/main/resources/nets/subscriber-net.pnml
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......@@ -17,6 +17,29 @@
<text>0</text>
</initialMarking>
</place>
<transition id="SubTransition">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<node>n3</node>
<subnet>s3</subnet>
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>SubTransition</text>
</name>
</transition>
<place id="sub2">
<name>
<text>sub2</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<node>n3</node>
<subnet>s3</subnet>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
</place>
</page>
</page>
<name>
......
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