diff --git a/build.gradle b/build.gradle
index 70547ab248b0540b13acbf8aca8ce87d0eb902bf..9bdec6da4a5e897a2547432830df98da8b2c9612 100644
--- a/build.gradle
+++ b/build.gradle
@@ -107,10 +107,10 @@ dependencies {
}
-/* run {
+ run {
mainClassName = 'de.tudresden.inf.st.pnml.engine.Main'
standardInput = System.in
-} */
+}
jar {
manifest {
diff --git a/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd b/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
index 205d5e84b3c290cac6ed4bccb30bd3e4bedb0c6a..213e45dcddbc39ba01b26b5b67cc35d78b6812f5 100644
--- a/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
+++ b/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
@@ -75,8 +75,34 @@ aspect BalloonExecution {
return null;
}
- public Optional<BalloonMarking> BalloonMarking.fireTopicPublisherTransition(java.util.Random random, Transition transition, BalloonCallbackStorage callbackStorage, boolean requireFlush) {
- return null;
+ public java.lang.String BalloonMarking.fireTopicPublisherTransition(Transition transition, BalloonCallbackStorage callbackStorage, boolean requireFlush) {
+
+ synchronized(this){
+
+ BalloonToken inToken = null;
+
+ // build set of direct / indirect outgoing places and remove from them
+ Set<Place> incomming = transition.resolveInputPlaces();
+
+ // place a token in each outgoing place
+ for(Place place : incomming){
+
+ BalloonMarkedPlace bmp = this.resolveBalloonPlace(place);
+
+ Random rand = new Random();
+ int randVal = rand.nextInt(bmp.getNumBalloonMarking());
+ inToken = bmp.getBalloonMarking(randVal);
+
+ bmp.getBalloonMarking(randVal).removeSelf();
+ }
+
+ if(requireFlush){
+ // flush the entire marking tree
+ this.flushTreeCache();
+ }
+
+ return inToken.getValue();
+ }
}
public Optional<BalloonMarking> BalloonMarking.fireServiceServerTransition(java.util.Random random, Transition transition, BalloonCallbackStorage callbackStorage, boolean requireFlush) {
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/Main.java b/src/main/java/de/tudresden/inf/st/pnml/engine/Main.java
index 23369cc0a42f6730fc245f98422fc8fc07fc8794..4550063df32d0fa90b789ef99de875aef1db5465 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/Main.java
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/Main.java
@@ -9,7 +9,9 @@ import de.tudresden.inf.st.pnml.jastadd.model.*;
import org.ros.node.DefaultNodeMainExecutor;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;
+import org.ros.node.topic.Publisher;
import org.xml.sax.SAXException;
+import std_msgs.String;
import javax.xml.parsers.ParserConfigurationException;
import java.io.IOException;
@@ -17,18 +19,24 @@ import java.util.ArrayList;
import java.util.List;
import java.net.URI;
+import java.util.Map;
public class Main {
private static NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
private static NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic("localhost");
- public static void main(String[] args) throws ParserConfigurationException, SAXException, IOException {
+ public static void main(java.lang.String[] args) {
- String pnmlPath = "../pnml-relast-engine/src/main/resources/nets/subscriber-test-1.pnml";
+ java.lang.String pnmlPath = "../pnml-relast-engine/src/main/resources/nets/publisher-test-1.pnml";
PetriNet petriNet = PnmlParser.parsePnml(pnmlPath).get(0);
- BalloonMarking bm = petriNet.initializeBalloonMarking();
+ 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);
@@ -37,7 +45,6 @@ public class Main {
System.out.println("----- BEFORE -----");
System.out.println(bm.print());
-
for(Transition t : petriNet.allTransitions()){
if(t.asInputSignalTransition().getStaticTransitionInformation().isDefaultTransitionInformation()) {
bcs.resolveBalloonTransition(t).setBalloonCallbacks(tcl);
@@ -55,6 +62,21 @@ public class Main {
start();
}};
+ try {
+ Thread.sleep(1000);
+ } catch (InterruptedException e) {
+ e.printStackTrace();
+ }
+
+ for (Map.Entry<InputSignalTransition, Publisher<String>> entry : diNeRosNode.getDinerosPublishers().entrySet()) {
+ System.out.println("Firing publisher of:" + entry.getKey().getId());
+ diNeRosNode.firePublisherTransition(entry.getKey());
+ }
+
+ System.out.println("----- AFTER -----");
+ System.out.println(bm.print());
+
+
/*
String pnmlPath = "../pnml-relast-nets/src/main/resources/balloonTestNets/balloon-correct-4.pnml";
PetriNet petriNet = PnmlParser.parsePnml(pnmlPath).get(0);
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 c6da92890f194d39142af7a572463fc4522330d7..d09927445ad0a1a926b97275f46571f92e3c1028 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
@@ -1,12 +1,11 @@
package de.tudresden.inf.st.pnml.engine.ros;
import de.tudresden.inf.st.pnml.base.constants.PnmlConstants;
-import de.tudresden.inf.st.pnml.engine.transform.TopicTransformer;
import de.tudresden.inf.st.pnml.jastadd.model.*;
-import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
+import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber;
import org.xml.sax.SAXException;
import std_msgs.String;
@@ -25,6 +24,7 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
private BalloonMarking marking;
private BalloonCallbackStorage callbackStorage;
private final Map<java.lang.String, DiNeRosSubscriber> dinerosSubscribers = new HashMap<>();
+ private final Map<InputSignalTransition, Publisher<std_msgs.String>> dinerosPublishers = new HashMap<>();
public DiNeRosNode(java.lang.String nodeName, PetriNet petriNet){
this.nodeName = nodeName;
@@ -64,32 +64,33 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
@Override
public void onStart(final ConnectedNode connectedNode) {
- int inCount = 0;
+ System.out.println("Initializing node: " + nodeName);
+ // setup publishers
+ for(Transition t : petriNet.allTransitions()) {
+ if (t.asInputSignalTransition().getStaticTransitionInformation().getType().equals(PnmlConstants.TRANSITION_TYPE_TOPIC_LIMITED_OUT)
+ || t.asInputSignalTransition().getStaticTransitionInformation().getType().equals(PnmlConstants.TRANSITION_TYPE_TOPIC_UNLIMITED_OUT)) {
+
+ final Publisher<std_msgs.String> publisher = connectedNode.newPublisher(t.asInputSignalTransition().
+ getStaticTransitionInformation().asTopicTransitionInformation().getTopic(), std_msgs.String._TYPE);
+
+ dinerosPublishers.put(t.asInputSignalTransition(), publisher);
+
+ }
+ }
+
+ // setup subscribers
for(Transition t : petriNet.allTransitions()){
- if(t.asInputSignalTransition().getStaticTransitionInformation().getType().equals(PnmlConstants.TOPIC_SUBSCRIBER)
- || t.asInputSignalTransition().getStaticTransitionInformation().getType().equals(PnmlConstants.TRANSITION_TYPE_TOPIC_LIMITED_IN)
+ if(t.asInputSignalTransition().getStaticTransitionInformation().getType().equals(PnmlConstants.TRANSITION_TYPE_TOPIC_LIMITED_IN)
|| t.asInputSignalTransition().getStaticTransitionInformation().getType().equals(PnmlConstants.TRANSITION_TYPE_TOPIC_UNLIMITED_IN)){
Subscriber<String> subscriber = connectedNode.newSubscriber(t.asInputSignalTransition()
.getStaticTransitionInformation().asTopicTransitionInformation().getTopic(), std_msgs.String._TYPE);
- int finalInCount = inCount;
subscriber.addMessageListener(message -> {
System.out.println("I heard: \"" + message.getData() + "\"");
- List<java.lang.String> addedElementIds = new ArrayList<>();
- TopicTransformer.includeSubscriberInstance(petriNet, t.asInputSignalTransition()
- .getStaticTransitionInformation().getSubNet(), java.lang.String.valueOf(finalInCount), addedElementIds);
-
- try {
- marking.initializeSubnetBalloonMarking(getSubnetPlacesByIds(addedElementIds, petriNet));
- callbackStorage.initializeSubnetCallbackStorage(getSubnetTransitionsByIds(addedElementIds, petriNet), petriNet);
- } catch (IOException | ParserConfigurationException | SAXException e) {
- e.printStackTrace();
- }
-
for (Map.Entry<java.lang.String, DiNeRosSubscriber> entry : getDinerosSubscribers().entrySet()) {
if(entry.getKey().equals(t.asInputSignalTransition().getStaticTransitionInformation().getSubNet())){
@@ -102,41 +103,18 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
// execute
entry.getValue().execute(marking, callbackStorage, petriNet, t.asInputSignalTransition().getStaticTransitionInformation().getSubNet());
- // clean
- try {
- marking.deinitializeSubnet(getSubnetPlacesByIds(addedElementIds, petriNet), getSubnetTransitionsByIds(addedElementIds, petriNet), callbackStorage);
- TopicTransformer.removeSubscriberInstance(petriNet, addedElementIds);
- } catch (IOException | ParserConfigurationException | SAXException e) {
- e.printStackTrace();
- }
-
// flush
petriNet.flushTreeCache();
marking.flushTreeCache();
callbackStorage.flushTreeCache();
+
+ System.out.println(marking.print());
break;
}
}
- });
-
- inCount++;
- }
- }
- }
-
- public List<Place> getSubnetPlacesByIds(List<java.lang.String> ids, PetriNet petriNet){
-
- List<Place> places = new ArrayList<>();
-
- for(java.lang.String id : ids){
- for(Place p : petriNet.allPlaces()){
- if(p.getId().equals(id)){
- places.add(p);
- }
+ }, t.asInputSignalTransition().getStaticTransitionInformation().getInputLimit());
}
}
-
- return places;
}
public List<Transition> getSubnetTransitionsByIds(List<java.lang.String> ids, PetriNet petriNet){
@@ -157,4 +135,25 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
public Map<java.lang.String, DiNeRosSubscriber> getDinerosSubscribers() {
return dinerosSubscribers;
}
+
+ public Map<InputSignalTransition, Publisher<std_msgs.String>> getDinerosPublishers() {
+ return dinerosPublishers;
+ }
+
+ public BalloonMarking firePublisherTransition(InputSignalTransition transition){
+
+ java.lang.String msgString = this.marking.fireTopicPublisherTransition(transition, this.callbackStorage, true);
+
+ for (Map.Entry<InputSignalTransition, Publisher<std_msgs.String>> entry : getDinerosPublishers().entrySet()) {
+
+ if(transition.getId().equals(entry.getKey().getId())){
+
+ std_msgs.String msg = entry.getValue().newMessage();
+ msg.setData(msgString);
+ entry.getValue().publish(msg);
+ }
+ }
+
+ return this.marking;
+ }
}
diff --git a/src/main/resources/nets/publisher-test-1.pnml b/src/main/resources/nets/publisher-test-1.pnml
index 466379c32325e9a84767a0a20c996772d7aef52c..f6a47db5639e3a16a9f57a543444b67f4a94b65f 100644
--- a/src/main/resources/nets/publisher-test-1.pnml
+++ b/src/main/resources/nets/publisher-test-1.pnml
@@ -1,85 +1,95 @@
<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">
- <page id="top">
- <page id="sourcePage">
- <referencePlace id="rp1" ref="channelInPlace">
- <name>
- <text>rp1</text>
- </name>
- <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <net id="n-E2D0-BCF46-0" type="http://www.pnml.org/version-2009/grammar/ptnet">
+ <page id="top">
+ <page id="sourcePage">
+ <referencePlace id="rp1" ref="channelInPlace">
+ <name>
+ <text>rp1</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<location>loc2</location>
<subnet>locA</subnet>
- </toolspecific>
- </referencePlace>
- </page>
- <page id="targetPage">
- <transition id="t1">
- <name>
- <text>t1</text>
- </name>
- <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ </referencePlace>
+ </page>
+ <page id="targetPage">
+ <transition id="t1">
+ <name>
+ <text>t1</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<location>loc3</location>
<subnet>locB</subnet>
- </toolspecific>
- </transition>
- <transition id="t3">
- <name>
- <text>t3</text>
- </name>
- <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ </transition>
+ <transition id="t3">
+ <name>
+ <text>t3</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<location>loc3</location>
<subnet>locB</subnet>
- </toolspecific>
- </transition>
- <transition id="t2">
- <name>
- <text>t2</text>
- </name>
- <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ </toolspecific>
+ </transition>
+ <transition id="t2">
+ <name>
+ <text>t2</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<location>loc3</location>
<subnet>locB</subnet>
- </toolspecific>
- </transition>
- </page>
- <page id="channelPage">
- <place id="channelInPlace">
- <name>
- <text>channelInPlace</text>
- </name>
- <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
-
-
+ </toolspecific>
+ </transition>
+ </page>
+ <page id="channelPage">
+ <place id="channelInPlace">
+ <name>
+ <text>channelInPlace</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<location>loc2</location>
<subnet>locA</subnet>
- </toolspecific>
- <initialMarking>
- <text>0</text>
- </initialMarking>
- </place>
- <transition id="channelTransition-publisher-0">
- <name>
- <text>channelTransition-publisher-0</text>
- </name>
- <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
+ <balloonMarking>
+ <tokens>
+ <token> {"samplefield1": "data", "samplefield2": "more data"} </token>
+ </tokens>
+ </balloonMarking>
+ </toolspecific>
+ <initialMarking>
+ <text>0</text>
+ </initialMarking>
+ </place>
+ <transition id="channelTransition-publisher-0">
+ <name>
+ <text>channelTransition-publisher-0</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.0.1">
-<location>loc2</location><type>limitedChannelOutType</type><subnet>locA</subnet><topic>sampleTopic</topic><inputlimit>10</inputlimit><outputlimit>10</outputlimit><inputsignalbindings/> </toolspecific>
- </transition>
- <arc id="a1" source="channelInPlace" target="channelTransition-publisher-0">
- </arc>
- </page>
- </page>
- <name>
- <text>topicTest2</text>
- </name>
- <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
+ <location>loc2</location>
+ <type>limitedChannelOutType</type>
+ <subnet>locA</subnet>
+ <topic>sampleTopic</topic>
+ <inputlimit>10</inputlimit>
+ <outputlimit>10</outputlimit>
+ <inputsignalbindings/>
+ </toolspecific>
+ </transition>
+ <arc id="a1" source="channelInPlace" target="channelTransition-publisher-0">
+ </arc>
+ </page>
+ </page>
+ <name>
+ <text>topicTest2</text>
+ </name>
+ <toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<communicators>
@@ -88,6 +98,6 @@
<cSubnet>locB</cSubnet>
</communicator>
</communicators>
- </toolspecific>
- </net>
+ </toolspecific>
+ </net>
</pnml>