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 48b5da803a1206b1f01da3c16a7733e54d67ad0a..4ea1f62e243e0065aae1ab6892cb147fae7b1283 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
@@ -26,7 +26,6 @@ public class Main {
//new Thread(() -> nodeMainExecutor.execute(server, nodeConfiguration)) {{start();}};
-
/* System.out.println("---- STARTING sampleService0 ----");
new Thread(() -> nodeMainExecutor.execute(new FakeServerNode("sampleService0", "sampleServiceNode0"), nodeConfiguration)) {{start();}};
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 b59f7428e1c227a274ff7b82647aa02bb74d36a2..61947d4217a70920598bfa43ce4c87fa18a9ecbb 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
@@ -8,6 +8,7 @@ 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.execution.TransitionHandler;
+import de.tudresden.inf.st.pnml.engine.tracing.TracePublishing;
import de.tudresden.inf.st.pnml.engine.transform.PetriNetInitializer;
import de.tudresden.inf.st.pnml.engine.transform.ServiceInstanceUtil;
import de.tudresden.inf.st.pnml.jastadd.model.*;
@@ -41,13 +42,14 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
public final PetriNet petriNet;
protected BalloonMarking marking;
public BalloonCallbackStorage callbackStorage;
- protected ConnectedNode connectedNode;
+ public ConnectedNode connectedNode;
protected InputSignalConnector inputSignalConnector;
private boolean stopNode = false;
private final Map<DinerosPlace, Publisher<String>> dinerosPublishers = new HashMap<>();
private final Set<java.lang.String> responsePlaces = new HashSet<>();
private final Set<java.lang.String> activeServerInstances = new HashSet<>();
+ public Publisher<String> tracePublisher = null;
public DiNeRosNode(java.lang.String nodeName, PetriNet petriNet, java.lang.String rcHost, java.lang.String gcProtocol) {
this.nodeName = nodeName;
@@ -125,7 +127,21 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
switch (event.eventType) {
case DiNeRosEventTypes.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);
onChangeInternal(signalFilteredTransitions);
break;
case DiNeRosEventTypes.NOTIFICATION_STARTUP_ENDED:
@@ -153,6 +169,8 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
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));
@@ -209,6 +227,9 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
final StringServiceRequest request = serviceClient.newMessage();
request.setInput(bmpSource.getBalloonMarking(0).getValue());
+ TracePublishing.publish(TracePublishing.TraceTypeServiceClientSend,
+ self.nodeName + " " + serviceName + "-" + placeId, self.connectedNode, self.tracePublisher);
+
serviceClient.call(request, new ServiceResponseListener<>() {
@Override
@@ -225,6 +246,10 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
} else {
self.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
}
+
+ TracePublishing.publish(TracePublishing.TraceTypeServiceClientReceive,
+ self.nodeName + " " + serviceName + " " + cResPlaceId, self.connectedNode, self.tracePublisher);
+
// serviceClient.shutdown();
}
@@ -309,6 +334,13 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
System.out.println("Calling onChangeInternal");
TransitionSelectionResult res = onChange(enabledTransitions);
+
+ if(res.isFiringSelectionSuccess()){
+ TracePublishing.publish(TracePublishing.TraceTypeTransitionFired,
+ this.getDefaultNodeName() + " " + res.asFiringSelectionSuccess().getTransition().getId(),
+ this.connectedNode, this.tracePublisher);
+ }
+
getTransitionSelectionResult(res);
}
@@ -331,6 +363,9 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
System.out.println("[" + nodeName + "] Setting Default Names for Objects");
setDefaultNames();
+ System.out.println("[" + nodeName + "] Initializing tracing publisher.");
+ tracePublisher = connectedNode.newPublisher("DinerosTracing", String._TYPE);
+
System.out.println("[" + nodeName + "] Initializing servers");
// init service servers mechanism
// is a 1:1 mapping, because there is always just on server
@@ -412,6 +447,8 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
}
System.out.println("[" + nodeName + "] Inserting request in " + selectedInstanceInId);
+ TracePublishing.publish(TracePublishing.TraceTypeServiceServerReceive,
+ this.nodeName + " " + key + " " + selectedInstanceInId, this.connectedNode, this.tracePublisher);
Place instanceEntryPlace = petriNet.getPlaceById(selectedInstanceInId);
marking.resolveBalloonPlace(instanceEntryPlace).addBalloonMarking(
new BalloonToken(request.getInput(), System.currentTimeMillis()));
@@ -419,6 +456,8 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
while(activeServerInstances.contains(selectedInstanceOutId)){}
System.out.println("[" + nodeName + "] Instance " + selectedInstanceOutId + " is ready to return");
+ TracePublishing.publish(TracePublishing.TraceTypeServiceServerSend,
+ this.nodeName + " " + key + " " + selectedInstanceOutId, this.connectedNode, this.tracePublisher);
for(java.lang.String entry : responsePlaces){
if(entry.equals(selectedInstanceOutId)){
@@ -475,6 +514,9 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
bmp.getBalloonMarkingList().add(bt);
petriNet.flushTreeCache();
+ TracePublishing.publish(TracePublishing.TraceTypeTopicReceive,
+ this.nodeName + " " + key + " " + placeId, this.connectedNode, this.tracePublisher);
+
if(!marking.callServiceIfRequest(bmp, self)){
this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
}
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/tracing/TraceEntry.java b/src/main/java/de/tudresden/inf/st/pnml/engine/tracing/TraceEntry.java
new file mode 100644
index 0000000000000000000000000000000000000000..2db3bca50d0c226588897a6bd27b7f2a0669dcbd
--- /dev/null
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/tracing/TraceEntry.java
@@ -0,0 +1,12 @@
+package de.tudresden.inf.st.pnml.engine.tracing;
+
+public class TraceEntry {
+
+ public String traceType;
+ public String traceValue;
+
+ public TraceEntry(String traceType, String traceValue) {
+ this.traceType = traceType;
+ this.traceValue = traceValue;
+ }
+}
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/tracing/TracePublishing.java b/src/main/java/de/tudresden/inf/st/pnml/engine/tracing/TracePublishing.java
new file mode 100644
index 0000000000000000000000000000000000000000..937357b647826416c458b557c9639104781ecfe4
--- /dev/null
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/tracing/TracePublishing.java
@@ -0,0 +1,23 @@
+package de.tudresden.inf.st.pnml.engine.tracing;
+
+import de.tudresden.inf.st.pnml.engine.ros.RosCommunicationUtil;
+import org.ros.node.ConnectedNode;
+import org.ros.node.topic.Publisher;
+
+public class TracePublishing {
+
+ public static java.lang.String TraceTypeTransitionFired = "transitionFired";
+ public static java.lang.String TraceTypeSignalChanged = "signalChanged";
+ public static java.lang.String TraceTypeTopicSend = "topicSend";
+ public static java.lang.String TraceTypeTopicReceive = "topicReceive";
+ public static java.lang.String TraceTypeServiceClientSend = "serviceClientSend";
+ public static java.lang.String TraceTypeServiceClientReceive = "serviceClientReceive";
+ public static java.lang.String TraceTypeServiceServerSend = "serviceServerSend";
+ public static java.lang.String TraceTypeServiceServerReceive = "serviceServerReceive";
+
+ public static void publish(java.lang.String traceType, java.lang.String traceValue, ConnectedNode connectedNode,
+ Publisher<std_msgs.String> publisherObj) {
+ java.lang.String msgString = traceType + "," + traceValue;
+ RosCommunicationUtil.publish("DinerosTracing", msgString.getBytes(), connectedNode, publisherObj);
+ }
+}
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/tracing/TracingNode.java b/src/main/java/de/tudresden/inf/st/pnml/engine/tracing/TracingNode.java
new file mode 100644
index 0000000000000000000000000000000000000000..cf2174e282d11b618e21ba5bae40f01ba65f73a1
--- /dev/null
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/tracing/TracingNode.java
@@ -0,0 +1,57 @@
+package de.tudresden.inf.st.pnml.engine.tracing;
+
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.topic.Subscriber;
+import std_msgs.String;
+
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
+
+public class TracingNode extends AbstractNodeMain {
+
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("DinerosTracingNode");
+ }
+
+ @Override
+ public void onStart(final ConnectedNode connectedNode) {
+
+ File f = new File("DinerosTrace-" + System.currentTimeMillis() + ".txt");
+
+ try {
+ if (f.createNewFile()) {
+ System.out.println("[Trace] Created trace file: " + f.getName());
+ } else {
+ System.out.println("[Trace] Trace file already exists: " + f.getName());
+ }
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+
+ Subscriber<String> subscriber = connectedNode.newSubscriber("DinerosTracing", String._TYPE);
+
+ subscriber.addMessageListener(message -> {
+ java.lang.String[] splitEntry = message.getData().split(",");
+ updateTrace(new TraceEntry(splitEntry[0], splitEntry[1]), f);
+ }, 1000);
+
+ }
+
+ private synchronized void updateTrace(TraceEntry traceEntry, File traceFile){
+
+ try {
+ FileWriter writer = new FileWriter(traceFile.getName(), true);
+ java.lang.String line = System.currentTimeMillis() + " " +
+ traceEntry.traceType + " " + traceEntry.traceValue;
+ writer.write(line + "\n");
+ writer.close();
+ System.out.println("[Trace] " + line);
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+ }
+}
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/transform/PetriNetInitializer.java b/src/main/java/de/tudresden/inf/st/pnml/engine/transform/PetriNetInitializer.java
index 319861167dc8c19e5bedec4c0e1c25d86a82741a..f61f9b1373d30a96de63015e280d2b3079a8e1c3 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/transform/PetriNetInitializer.java
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/transform/PetriNetInitializer.java
@@ -105,16 +105,16 @@ public class PetriNetInitializer {
//inputSignalConnector.ragconnectJavaRegisterConsumer("java://localhost:00/" + signalId,
// bytes -> node.notify(DiNeRosNode.NOTIFICATION_SIGNAL_CHANGE));
- inputSignalConnector.ragconnectJavaRegisterConsumer(signalId, bytes -> notifyOnSignalChange(node));
+ inputSignalConnector.ragconnectJavaRegisterConsumer(signalId, bytes -> notifyOnSignalChange(node, signalId));
} else {
System.out.println("Skipping unused signal: " + signalId);
}
}
}
- public static void notifyOnSignalChange(DiNeRosNode node){
+ public static void notifyOnSignalChange(DiNeRosNode node, String signalId){
System.out.println("NOTIFY ON SIGNAL CHANGE");
- node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_SIGNAL_CHANGE));
+ node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_SIGNAL_CHANGE, signalId));
}
public void init(PetriNet petriNet, String host, String protocol, InputSignalConnector isc, DiNeRosNode node){