diff --git a/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd b/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
index f934af43c1e20231bacaee83e3f67f16b10eaee4..e0d5630c2ab762465db978be0ab5322378444940 100644
--- a/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
+++ b/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()));
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosDefaultNode.java b/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosDefaultNode.java
index bfbbd917dccb5804fa8f10b5649b35b30b32df40..c7183a72fa0cac74ebd1c8dbacc6e17799ef7306 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosDefaultNode.java
+++ b/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());
+ }
}
}
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java b/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java
index 8f32ae7e01cfd09e034ff70253c0b6c2128e58f1..810bafad75316dfb3e0b12d1140e4e75ab636ea0 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java
@@ -1,5 +1,8 @@
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);
- self.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
+
+ 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();
- this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
+
+ 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);
}
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/ros/RosCommunicationUtil.java b/src/main/java/de/tudresden/inf/st/pnml/engine/ros/RosCommunicationUtil.java
index 2c7ad453e8894b4e1e6c61f95c44ccf6f96aa80a..4a3ea31adb44406ce0b475d2396364a53b0b6118 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/ros/RosCommunicationUtil.java
+++ b/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;