simplifications on nodes, added utils for communication

src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd

@@ -30,7 +30,7 @@ aspect BalloonExecution{
 
             for(Map.Entry<String, ArrayList<String>> entry : reqMap.entrySet()){
                 for(String s : entry.getValue()){
-                    if(s.equals(bmp.getPlace().getId()) ||
+                    if(s.replace("\n", "").replace(" ", "").equals(bmp.getPlace().getId().replace(" ", "").replace("\n", ""))  ||
                         (bmp.getPlace().getId().startsWith(s) && bmp.getPlace().getId().contains("-INSTANCE-"))){
                         System.out.println("Calling service from orphan request place: " + bmp.getPlace().getId());
                         node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ_CLIENT, bmp.getPlace().getId()));

src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosDefaultNode.java

@@ -25,10 +25,34 @@ public class DiNeRosDefaultNode extends DiNeRosNode{
     }
 
     protected TransitionSelectionResult onChange(List<Transition> enabledTransitions){
-        return null;
+
+        printTransitions(enabledTransitions);
+
+        if(enabledTransitions.size() == 0){
+            return new FiringSelectionNone();
+        }
+
+        TransitionSelectionResult res = fireRandomEnabledTransition(enabledTransitions);
+        System.out.println("Selected transition: " + res.asFiringSelectionSuccess().getTransition().getId());
+        return res;
     }
 
     protected TransitionSelectionResult onStartupEnded(List<Transition> enabledTransitions){
-        return null;
+
+        printTransitions(enabledTransitions);
+
+        if(enabledTransitions.size() == 0){
+            return new FiringSelectionNone();
+        }
+
+        TransitionSelectionResult res = fireRandomEnabledTransition(enabledTransitions);
+        System.out.println("Selected transition: " + res.asFiringSelectionSuccess().getTransition().getId());
+        return res;
+    }
+
+    public static void printTransitions(List<Transition> list){
+        for(Transition t : list){
+            System.out.println("Enabled t: " + t.getId());
+        }
     }
 }

src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java

 package de.tudresden.inf.st.pnml.engine.ros;
 
+import com.google.gson.Gson;
+import com.google.gson.GsonBuilder;
+import com.google.gson.reflect.TypeToken;
 import de.tudresden.inf.st.pnml.base.constants.PnmlConstants;
 import de.tudresden.inf.st.pnml.base.data.ClauseValuesDefinition;
 import de.tudresden.inf.st.pnml.engine.event.DiNeRosEvent;
@@ -28,6 +31,7 @@ import std_msgs.String;
 
 import javax.xml.parsers.ParserConfigurationException;
 import java.io.IOException;
+import java.lang.reflect.Type;
 import java.util.*;
 import java.util.function.Function;
 
@@ -141,13 +145,14 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
 
     private void onTopicPublisherAvailable(java.lang.String placeId) {
 
-        java.lang.String[] split = placeId.split("-");
+        java.lang.String[] split = placeId.split("-INSTANCE-");
         java.lang.String originalId = split[0];
-        java.lang.String topicName = petriNet.getPortNameByPlaceId(originalId);
+        java.lang.String topicName = petriNet.getPortNameByPlaceId(originalId, PnmlConstants.CHANNEL_PLACE_TYPE_PUB_KEY);
         Place place = petriNet.getPlaceById(placeId);
         BalloonMarkedPlace bmp = this.marking.resolveBalloonPlace(place);
         RosCommunicationUtil.publish(topicName, bmp.getBalloonMarking(0).getValue().getBytes(),
                 this.connectedNode, getPublisherByPlaceId(placeId));
+        System.out.println("[DiNeROS-Node] [" + nodeName + "] Published msg: " + bmp.getBalloonMarking(0).getValue());
         bmp.getBalloonMarking(0).removeSelf();
         petriNet.flushTreeCache();
         this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
@@ -178,15 +183,15 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
 
         // crop name if place is within a server instance
         // Naming pattern is here: original PlaceID + "-INSTANCE-" + instanceId
-        java.lang.String[] split = placeId.split("-");
+        java.lang.String[] split = placeId.split("-INSTANCE-");
         java.lang.String originalId = split[0];
 
 
-        java.lang.String serviceName = petriNet.getPortNameByPlaceId(originalId);
+        java.lang.String serviceName = petriNet.getPortNameByPlaceId(originalId, PnmlConstants.CHANNEL_PLACE_TYPE_CLIENT_REQ_KEY);
         java.lang.String cResPlaceId;
 
         if(split.length > 1){
-            cResPlaceId = petriNet.getServiceClientResponsePlaceId(originalId) + "-INSTANCE-" + placeId.split("-")[split.length - 1];
+            cResPlaceId = petriNet.getServiceClientResponsePlaceId(originalId) + "-INSTANCE-" + placeId.split("-INSTANCE-")[split.length - 1];
         } else {
             cResPlaceId = petriNet.getServiceClientResponsePlaceId(originalId);
         }
@@ -208,16 +213,23 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
 
                 @Override
                 public void onSuccess(StringServiceResponse stringServiceResponse) {
+                    System.out.println("[DiNeROS-Node] [" + nodeName + "] Received response from service: " + serviceName);
                     bmpSource.getBalloonMarking(0).removeSelf();
                     bmpTarget.addBalloonMarking(new BalloonToken(stringServiceResponse.getOutput(), System.currentTimeMillis()));
                     marking.callServiceIfRequest(bmpTarget, self);
+
+                    if(petriNet.getPortNameByPlaceId(cResPlaceId, PnmlConstants.CHANNEL_PLACE_TYPE_PUB_KEY) != null ){
+                        System.out.println("[DiNeROS-Node] [" + nodeName + "] Orphan publisher place ready: " + cResPlaceId);
+                        self.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_TOPIC_PUB, cResPlaceId));
+                    } else {
                         self.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
+                    }
                     serviceClient.shutdown();
                 }
 
                 @Override
                 public void onFailure(RemoteException e) {
-                    System.err.println("Error while calling: token will not be removed!");
+                    System.err.println("[DiNeROS-Node] [" + nodeName + "] Error while calling: token will not be removed!");
                     serviceClient.shutdown();
                 }
             });
@@ -311,6 +323,7 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
     @Override
     public void onStart(final ConnectedNode connectedNode) {
 
+        DiNeRosNode self = this;
         this.connectedNode = connectedNode;
 
         System.out.println("[" + nodeName + "] Initializing node");
@@ -451,6 +464,8 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
 
                     subscriber.addMessageListener(message -> {
 
+                        System.out.println("Received new message on " + key + " : " + message.getData());
+
                         BalloonToken bt = new BalloonToken();
                         bt.setValue(message.getData());
                         bt.setCreationTime(System.currentTimeMillis());
@@ -458,7 +473,10 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
                         BalloonMarkedPlace bmp = marking.resolveBalloonPlace(targetPlace);
                         bmp.getBalloonMarkingList().add(bt);
                         petriNet.flushTreeCache();
+
+                        if(!marking.callServiceIfRequest(bmp, self)){
                             this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
+                        }
 
                     }, petriNet.getChannelElementLimitById(placeId));
                 }
@@ -499,6 +517,12 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
         return fsc;
     }
 
+    protected Map<java.lang.String, Object> parseToken(java.lang.String s) {
+        Gson gson = new GsonBuilder().create();
+        Type mapType = new TypeToken<Map<java.lang.String, Object>>(){}.getType();
+        return gson.fromJson(s, mapType);
+    }
+
     public boolean isServerInstancePlace(java.lang.String placeId) {
         return responsePlaces.contains(placeId);
     }

src/main/java/de/tudresden/inf/st/pnml/engine/ros/RosCommunicationUtil.java

@@ -15,7 +15,7 @@ public class RosCommunicationUtil {
             pub = node.newPublisher(topic, std_msgs.String._TYPE);
         }
 
-        if(pub == null){
+        if(pub != null){
             while(true){
                 if(node != null){
                     break;