From 5e0e8c88237da2659eaf01f715cd1c9b2005329e Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Mon, 4 Mar 2024 18:41:10 +0100
Subject: [PATCH] simplified exec, fixed tracing of pubs
---
.../balloonMarking/BalloonExecution.jadd | 14 ++-----
.../inf/st/pnml/engine/ros/DiNeRosNode.java | 37 ++++++++++++-------
2 files changed, 26 insertions(+), 25 deletions(-)
diff --git a/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd b/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
index 0394b45..d35f9c5 100644
--- a/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
+++ b/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
@@ -152,24 +152,16 @@ aspect BalloonExecution{
}
BalloonMarkedPlace bmp=this.resolveBalloonPlace(place);
-
org.ros.node.topic.Publisher<std_msgs.String> pub = node.getPublisherByPlaceId(place.getId());
- if(pub != null){
- std_msgs.String msg = pub.newMessage();
- msg.setData(result.getValue());
- pub.publish(msg);
- } else {
+ if(pub != null) {
result.setCreationTime(System.currentTimeMillis());
bmp.getBalloonMarkingList().add(result);
+ connectedToPubPlace = true;
+ connectedPubPlaceId = place.getId();
}
}
- // for(BalloonToken delToken : inToken){
- // System.out.println("[Engine] Removing token: " + delToken.getValue());
- // delToken.removeSelf();
- // }
-
if(requireFlush){
// flush the entire marking tree
this.flushTreeCache();
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 61947d4..fea8790 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
@@ -127,38 +127,47 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
switch (event.eventType) {
case DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE:
+ System.out.println("NOTIFICATION_MARKING_CHANGE");
onChangeInternal(signalFilteredTransitions);
break;
case DiNeRosEventTypes.NOTIFICATION_SIGNAL_CHANGE:
-
- Boolean newVal = false;
-
- for(SignalConnection sc : this.inputSignalConnector.getSignalConnections()){
- if(sc.getId().equals(event.payload)){
- newVal = sc.getCurrentValue();
- }
- }
-
- TracePublishing.publish(TracePublishing.TraceTypeSignalChanged,
- this.getDefaultNodeName()+ " " + event.payload + " " + newVal,
- this.connectedNode, this.tracePublisher);
+ System.out.println("NOTIFICATION_SIGNAL_CHANGE");
+ handleSignalChange(event);
onChangeInternal(signalFilteredTransitions);
break;
case DiNeRosEventTypes.NOTIFICATION_STARTUP_ENDED:
+ System.out.println("NOTIFICATION_STARTUP_ENDED");
onStartupEndedInternal(signalFilteredTransitions);
break;
case DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ_CLIENT:
+ System.out.println("NOTIFICATION_SERVICE_REQ_CLIENT");
onServiceRequestAvailableOnClientSide(event.payload);
break;
case DiNeRosEventTypes.NOTIFICATION_TOPIC_PUB:
+ System.out.println("NOTIFICATION_TOPIC_PUB");
onTopicPublisherAvailable(event.payload);
break;
case DiNeRosEventTypes.NOTIFICATION_SERVICE_RES_SERVER:
+ System.out.println("NOTIFICATION_SERVICE_RES_SERVER");
onServiceResponseAvailableOnServerSide(event.payload);
break;
}
}
+ private void handleSignalChange(DiNeRosEvent event) {
+ Boolean newVal = false;
+
+ for(SignalConnection sc : this.inputSignalConnector.getSignalConnections()){
+ if(sc.getId().equals(event.payload)){
+ newVal = sc.getCurrentValue();
+ }
+ }
+
+ TracePublishing.publish(TracePublishing.TraceTypeSignalChanged,
+ this.getDefaultNodeName()+ " " + event.payload + " " + newVal,
+ this.connectedNode, this.tracePublisher);
+ }
+
private void onTopicPublisherAvailable(java.lang.String placeId) {
java.lang.String[] split = placeId.split("-INSTANCE-");
@@ -166,11 +175,11 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
java.lang.String topicName = petriNet.getPortNameByPlaceId(originalId, PnmlConstants.CHANNEL_PLACE_TYPE_PUB_KEY);
Place place = petriNet.getPlaceById(placeId);
BalloonMarkedPlace bmp = this.marking.resolveBalloonPlace(place);
+ TracePublishing.publish(TracePublishing.TraceTypeTopicSend,
+ this.nodeName + " " + topicName + " " + placeId, this.connectedNode, this.tracePublisher);
RosCommunicationUtil.publish(topicName, bmp.getBalloonMarking(0).getValue().getBytes(),
this.connectedNode, getPublisherByPlaceId(placeId));
System.out.println("[DiNeROS-Node] [" + nodeName + "] Published msg: " + bmp.getBalloonMarking(0).getValue());
- TracePublishing.publish(TracePublishing.TraceTypeTopicSend,
- this.nodeName + " " + topicName + "-" + placeId, this.connectedNode, this.tracePublisher);
bmp.getBalloonMarking(0).removeSelf();
petriNet.flushTreeCache();
this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
--
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