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Commit 3c405fe4 authored by Sebastian Ebert's avatar Sebastian Ebert
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client side service engine

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with 216 additions and 129 deletions
src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
+ 36
− 3
View file @ 3c405fe4
import de.tudresden.inf.st.pnml.engine.event.*;
aspect BalloonExecution{
syn FiringSelectionSuccess TransitionSelectionResult.asFiringSelectionSuccess()=null;
......@@ -75,9 +77,34 @@ aspect BalloonExecution{
// build set of direct / indirect outgoing places and remove from them
Set<Place> outgoingPlaces = transition.resolveOutputPlaces();
HashMap<String, ArrayList<String>> reqMap = getPetriNet().getChannelElemensByKey(PnmlConstants.CHANNEL_PLACE_TYPE_CLIENT_REQ_KEY);
HashMap<String, ArrayList<String>> pubMap = getPetriNet().getChannelElemensByKey(PnmlConstants.CHANNEL_PLACE_TYPE_PUB_KEY);
boolean connectedToReqPlace = false;
String connectedReqPlaceId = null;
boolean connectedToPubPlace = false;
String connectedPubPlaceId = null;
// place a token in each outgoing place
for(Place place:outgoingPlaces){
for(Map.Entry<String, ArrayList<String>> entry : reqMap.entrySet()){
for(String s : entry.getValue()){
if(s.equals(place.getId()) || (place.getId().startsWith(s) && place.getId().contains("-INSTANCE-"))){
connectedToReqPlace = true;
connectedReqPlaceId = place.getId();
}
}
}
for(Map.Entry<String, ArrayList<String>> entry : reqMap.entrySet()){
for(String s : entry.getValue()){
if(s.equals(place.getId()) || (place.getId().startsWith(s) && place.getId().contains("-INSTANCE-"))){
connectedToPubPlace = true;
connectedPubPlaceId = place.getId();
}
}
}
BalloonMarkedPlace bmp=this.resolveBalloonPlace(place);
org.ros.node.topic.Publisher<std_msgs.String> pub = node.getPublisherByPlaceId(place.getId());
......@@ -96,7 +123,13 @@ aspect BalloonExecution{
this.flushTreeCache();
}
node.notify(node.NOTIFICATION_MARKING_CHANGE);
if(connectedToReqPlace){
node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ, connectedReqPlaceId));
} else if(connectedToPubPlace){
node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_TOPIC_PUB, connectedPubPlaceId));
} else {
node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
}
}
return Optional.of(this);
......
src/main/java/de/tudresden/inf/st/pnml/engine/Main.java
+ 11
− 81
View file @ 3c405fe4
......@@ -21,43 +21,30 @@ public class Main {
public static void main(java.lang.String[] args) {
// topicTest();
topicTest();
// testBaseNet();
// testServiceNets();
isTest();
// isTest();
}
@SuppressWarnings("unused")
private static void testBaseNet() {
java.lang.String pnmlPath = "../pnml-relast-engine/src/main/resources/nets/NodeNetTest.pnml";
PetriNet petriNet = PnmlParser.parsePnml(pnmlPath).get(0);
nodeConfiguration.setMasterUri(URI.create("http://localhost:11311"));
DinerosTestNode diNeRosNode = new DinerosTestNode("TestNode", petriNet);
for(BalloonTransition bt : diNeRosNode.callbackStorage.getTransitionList()){
bt.getBalloonCallbacks().add(new DefaultFinalTransitionHandler("default_final_cb", 1));
private static void topicTest() {
doTest("../pnml-relast-engine/src/main/resources/nets/NodeNetTopicSubTest.pnml");
}
new Thread(() -> nodeMainExecutor.execute(diNeRosNode, nodeConfiguration)) {{
start();
}};
try {
Thread.sleep(2000);
} catch (InterruptedException e) {
e.printStackTrace();
}
@SuppressWarnings("unused")
private static void testBaseNet() {
doTest("../pnml-relast-engine/src/main/resources/nets/NodeNetTest.pnml");
}
@SuppressWarnings("unused")
private static void isTest() {
doTest("../pnml-relast-engine/src/main/resources/nets/NodeNetSignalTest.pnml");
}
java.lang.String pnmlPath = "../pnml-relast-engine/src/main/resources/nets/NodeNetSignalTest.pnml";
private static void doTest(String pnmlPath) {
PetriNet petriNet = PnmlParser.parsePnml(pnmlPath).get(0);
nodeConfiguration.setMasterUri(URI.create("http://localhost:11311"));
......@@ -107,63 +94,6 @@ public class Main {
.dumpAsPNG(Paths.get(filename + ".png"));
}
@SuppressWarnings("unused")
private static void isTest() throws IOException {
java.lang.String pnmlPath = "../pnml-relast-engine/src/main/resources/nets/is-test-2.pnml";
PetriNet petriNet = PnmlParser.parsePnml(pnmlPath).get(0);
System.out.println("Initial Signal Values: ");
for(Transition t : petriNet.allTransitions()){
for(InputSignalBinding staticIsb : t.asInputSignalTransition().getStaticInputSignalBindingList()){
System.out.println(staticIsb.getInputSignalID() + " : " + staticIsb.getInputSignalValue());
}
}
PetriNetInitializer.initInputSignalConnections(petriNet, "localhost", "mqtt");
try {
System.out.println("Sleeping for 10s");
Thread.sleep(10000);
} catch (InterruptedException e) {
e.printStackTrace();
}
BalloonMarking bm = null;
try {
bm = petriNet.initializeBalloonMarking();
} catch (IOException | SAXException | ParserConfigurationException e) {
e.printStackTrace();
}
BalloonCallbackStorage bcs = petriNet.initializeCallbackStorage();
TransitionCallback tc = new DefaultFinalTransitionCallback("default_final_cb", 1);
List<TransitionCallback> tcl = new ArrayList<>();
tcl.add(tc);
for(Transition t : petriNet.allTransitions()){
bcs.resolveBalloonTransition(t).setBalloonCallbacks(tcl);
}
System.out.println("-- INITIAL MARKING --");
assert bm != null;
System.out.println(bm.print());
for(Transition t : petriNet.allTransitions()){
bm.fireTransition(t, bcs, true);
}
System.out.println("Updated Signal Values: ");
for(Transition t : petriNet.allTransitions()){
for(InputSignalBinding mutualLsb : t.asInputSignalTransition().getMutualInputSignalBindingList()){
System.out.println(mutualLsb.getInputSignalID() + " : " + mutualLsb.getInputSignalValue());
}
}
System.out.println("-- FINAL MARKING --");
System.out.println(bm.print());
}
@SuppressWarnings("unused")
private static void testServiceNets() {
......
src/main/java/de/tudresden/inf/st/pnml/engine/event/DiNeRosEvent.java 0 → 100644
+ 22
− 0
View file @ 3c405fe4
package de.tudresden.inf.st.pnml.engine.event;
public class DiNeRosEvent {
public String eventType;
public String payload;
public DiNeRosEvent(String eventType) {
this(eventType, null);
}
public DiNeRosEvent(String eventType, String payload) {
if(eventType.equals(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE) || eventType.equals(DiNeRosEventTypes.NOTIFICATION_SIGNAL_CHANGE) ||
eventType.equals(DiNeRosEventTypes.NOTIFICATION_WAIT_ENDED) || eventType.equals(DiNeRosEventTypes.NOTIFICATION_STARTUP_ENDED) ||
eventType.equals(DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ) || eventType.equals(DiNeRosEventTypes.NOTIFICATION_TOPIC_PUB)) {
this.eventType = eventType;
} else {
throw new RuntimeException("Invalid event type used!");
}
this.payload = payload;
}
}
src/main/java/de/tudresden/inf/st/pnml/engine/event/DiNeRosEventTypes.java 0 → 100644
+ 11
− 0
View file @ 3c405fe4
package de.tudresden.inf.st.pnml.engine.event;
public class DiNeRosEventTypes {
public static final String NOTIFICATION_MARKING_CHANGE = "markingChange";
public static final String NOTIFICATION_SIGNAL_CHANGE = "signalChange";
public static final String NOTIFICATION_WAIT_ENDED = "waitEnded";
public static final String NOTIFICATION_STARTUP_ENDED = "startEnded";
public static final String NOTIFICATION_SERVICE_REQ = "serviceReq";
public static final String NOTIFICATION_TOPIC_PUB = "topicPub";
}
src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java
+ 85
− 27
View file @ 3c405fe4
......@@ -2,16 +2,25 @@ package de.tudresden.inf.st.pnml.engine.ros;
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;
import de.tudresden.inf.st.pnml.engine.event.DiNeRosEventTypes;
import de.tudresden.inf.st.pnml.engine.transform.PetriNetInitializer;
import de.tudresden.inf.st.pnml.jastadd.model.*;
import org.jetbrains.annotations.NotNull;
import org.ros.concurrent.CancellableLoop;
import org.ros.exception.RemoteException;
import org.ros.exception.ServiceNotFoundException;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.service.ServiceClient;
import org.ros.node.service.ServiceResponseListener;
import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber;
import org.xml.sax.SAXException;
import rosjava_srv.StringService;
import rosjava_srv.StringServiceRequest;
import rosjava_srv.StringServiceResponse;
import std_msgs.String;
import javax.xml.parsers.ParserConfigurationException;
......@@ -21,11 +30,6 @@ import java.util.concurrent.TimeUnit;
public abstract class DiNeRosNode extends AbstractNodeMain {
public static final java.lang.String NOTIFICATION_MARKING_CHANGE = "markingChange";
public static final java.lang.String NOTIFICATION_SIGNAL_CHANGE = "signalChange";
public static final java.lang.String NOTIFICATION_WAIT_ENDED = "waitEnded";
public static final java.lang.String NOTIFICATION_STARTUP_ENDED = "startEnded";
public final java.lang.String nodeName;
public final PetriNet petriNet;
protected BalloonMarking marking;
......@@ -79,27 +83,92 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
this.connectedNode.shutdown();
}
public synchronized void notify(java.lang.String notificationType) {
public synchronized void notify(DiNeRosEvent event) {
Set<Transition> signalFilteredTransitions = getSignalFilteredTransitions();
switch (notificationType) {
case NOTIFICATION_MARKING_CHANGE:
switch (event.eventType) {
case DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE:
onMarkingChangeInternal(signalFilteredTransitions);
break;
case NOTIFICATION_SIGNAL_CHANGE:
case DiNeRosEventTypes.NOTIFICATION_SIGNAL_CHANGE:
onSignalChangeInternal(signalFilteredTransitions);
break;
case NOTIFICATION_WAIT_ENDED:
case DiNeRosEventTypes.NOTIFICATION_WAIT_ENDED:
onWaitEndedInternal(signalFilteredTransitions);
break;
case NOTIFICATION_STARTUP_ENDED:
case DiNeRosEventTypes.NOTIFICATION_STARTUP_ENDED:
onStartupEndedInternal(signalFilteredTransitions);
break;
case DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ:
onServiceRequestAvailableOnClientSide(event.payload);
break;
case DiNeRosEventTypes.NOTIFICATION_TOPIC_PUB:
onTopicPublisherAvailable(event.payload);
break;
}
}
private void onTopicPublisherAvailable(java.lang.String placeId){
java.lang.String[] split = placeId.split("-");
java.lang.String originalId = split[0];
java.lang.String topicName = petriNet.getPortNameByPlaceId(originalId);
Place place = petriNet.getPlaceById(placeId);
BalloonMarkedPlace bmp = this.marking.resolveBalloonPlace(place);
RosCommunicationUtil.publish(topicName, bmp.getBalloonMarking(0).getValue().getBytes(),
this.connectedNode, getPublisherByPlaceId(placeId));
bmp.getBalloonMarking(0).removeSelf();
petriNet.flushTreeCache();
this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
}
private void onServiceRequestAvailableOnClientSide(java.lang.String placeId){
ServiceClient<StringServiceRequest, StringServiceResponse> serviceClient;
// 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 originalId = split[0];
java.lang.String serviceName = petriNet.getPortNameByPlaceId(originalId);
java.lang.String cResPlaceId = petriNet.getServiceClientResponsePlaceId(originalId) + "-INSTANCE-" + placeId.split("-")[split.length-1];
Place targetPlace = petriNet.getPlaceById(cResPlaceId);
Place sourcePlace = petriNet.getPlaceById(placeId);
BalloonMarkedPlace bmpSource = this.marking.resolveBalloonPlace(sourcePlace);
BalloonMarkedPlace bmpTarget = this.marking.resolveBalloonPlace(targetPlace);
try {
serviceClient = connectedNode.newServiceClient(serviceName, StringService._TYPE);
final StringServiceRequest request = serviceClient.newMessage();
request.setInput(bmpSource.getBalloonMarking(0).getValue());
serviceClient.call(request, new ServiceResponseListener<>() {
@Override
public void onSuccess(StringServiceResponse stringServiceResponse) {
bmpSource.getBalloonMarking(0).removeSelf();
bmpTarget.addBalloonMarking(new BalloonToken(stringServiceResponse.getOutput()));
}
@Override
public void onFailure(RemoteException e) {
System.err.println("Error while calling: token will not be removed!");
}
});
serviceClient.shutdown();
this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
} catch (ServiceNotFoundException e) {
System.err.println("Error while calling service. ");
}
}
@NotNull
protected Set<Transition> getSignalFilteredTransitions() {
Set<Transition> signalFilteredTransitions = new HashSet<>();
......@@ -130,13 +199,12 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
return signalFilteredTransitions;
}
@NotNull
private TransitionSelectionResult getTransitionSelectionResult(TransitionSelectionResult res) {
private void getTransitionSelectionResult(TransitionSelectionResult res) {
if (res.isFiringSelectionWait()) {
try {
TimeUnit.MILLISECONDS.sleep(res.asFiringSelectionWait().getWaitingTime());
onWaitEndedInternal(getSignalFilteredTransitions());
return res;
return;
} catch (InterruptedException e) {
e.printStackTrace();
}
......@@ -144,14 +212,13 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
if (res.isFiringSelectionFail()) {
System.err.println("[DiNeROS-Node] [" + nodeName + "] Firing selection action failed!");
return res;
return;
}
System.out.println("FIRING TRANSITION");
marking.fireTransition(res.asFiringSelectionSuccess()
.getTransition(), callbackStorage, inputSignalConnector, this, true);
return res;
}
private void onStartupEndedInternal(Set<Transition> enabledTransitions) {
......@@ -208,9 +275,6 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
System.out.println("[INIT NODE] Initializing node: " + nodeName);
// init service clients
// TODO
// init service servers (deep copies)
// TODO
......@@ -243,6 +307,7 @@ 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));
}, petriNet.getChannelElementLimitById(placeId));
......@@ -251,14 +316,7 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
}
System.out.println("[INIT NODE] Executing first marking query.");
// TransitionSelectionResult firstFiringResult =
this.notify(NOTIFICATION_STARTUP_ENDED);
/* if(firstFiringResult.isFiringSelectionSuccess()){
marking.fireTransition(firstFiringResult.asFiringSelectionSuccess()
.getTransition(), callbackStorage, inputSignalConnector, this,true);
}*/
this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_STARTUP_ENDED));
this.internalNodeLoop();
}
......
src/main/java/de/tudresden/inf/st/pnml/engine/ros/RosCommunicationUtil.java
+ 5
− 17
View file @ 3c405fe4
......@@ -15,10 +15,13 @@ import org.ros.message.MessageListener;
public class RosCommunicationUtil {
public static boolean publish(java.lang.String topic, byte[] msgContent, ConnectedNode node){
public static boolean publish(java.lang.String topic, byte[] msgContent, ConnectedNode node, Publisher<std_msgs.String> pub){
System.out.println("Publishing new message to " + topic);
Publisher<std_msgs.String> pub = node.newPublisher(topic, std_msgs.String._TYPE);
if(pub == null){
pub = node.newPublisher(topic, std_msgs.String._TYPE);
}
if(pub == null){
while(true){
......@@ -36,19 +39,4 @@ public class RosCommunicationUtil {
}
return false;
}
public static Subscriber listen(java.lang.String topic, ConnectedNode node, Transition t, PetriNet pn, BalloonMarking bm){
Subscriber<String> subscriber = node.newSubscriber(topic, std_msgs.String._TYPE);
// subscriber.addMessageListener(message -> callback.accept(topic, message.getData().getBytes()));
subscriber.addMessageListener(message -> {
});
return subscriber;
}
}
src/main/java/de/tudresden/inf/st/pnml/engine/transform/PetriNetInitializer.java
+ 3
− 1
View file @ 3c405fe4
package de.tudresden.inf.st.pnml.engine.transform;
import de.tudresden.inf.st.pnml.engine.event.DiNeRosEvent;
import de.tudresden.inf.st.pnml.engine.event.DiNeRosEventTypes;
import de.tudresden.inf.st.pnml.engine.ros.DiNeRosNode;
import de.tudresden.inf.st.pnml.jastadd.model.*;
......@@ -100,7 +102,7 @@ public class PetriNetInitializer {
public static void notifyOnSignalChange(DiNeRosNode node){
System.out.println("NOTIFY ON SIGNAL CHANGE");
node.notify(DiNeRosNode.NOTIFICATION_SIGNAL_CHANGE);
node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_SIGNAL_CHANGE));
}
public void init(PetriNet petriNet, String host, String protocol, InputSignalConnector isc, DiNeRosNode node){
......
src/main/resources/nets/NodeNetTopicSubTest.pnml 0 → 100644
+ 43
− 0
View file @ 3c405fe4
<?xml version="1.0" encoding="UTF-8"?>
<pnml
xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="NodeNetTest-0" type="http://www.pnml.org/version-2009/grammar/ptnet">
<name>
<text>NodeNetTest-2</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<ports>
<port name="topicP1" placeType="sub" limit="5">p1</port>
<port name="serviceP1" placeType="creq" cResponsePlace="p2">p1</port>
<port name="serviceP1" placeType="cres" cRequestPlace="p1">p1</port>
</ports>
</toolspecific>
<page id="top">
<page id="sourcePage">
<place id="p1">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<node>n1</node>
<subnet>s1</subnet>
<balloonMarking>
<tokens>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>p1</text>
<graphics>
<offset x="0" y="0" />
</graphics>
</name>
<graphics>
<position x="0" y="0" />
</graphics>
</place>
</page>
</page>
</net>
</pnml>
\ No newline at end of file
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