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Commit 76f56d54 authored by Sebastian Ebert's avatar Sebastian Ebert
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reworked engine to v2

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src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
+ 11
− 1
View file @ 76f56d54
......@@ -83,6 +83,8 @@ aspect BalloonExecution{
String connectedReqPlaceId = null;
boolean connectedToPubPlace = false;
String connectedPubPlaceId = null;
boolean connectedResServerPlace = false;
String connectedResServerPlaceId = null;
// place a token in each outgoing place
for(Place place:outgoingPlaces){
......@@ -101,8 +103,14 @@ aspect BalloonExecution{
if(s.equals(place.getId()) || (place.getId().startsWith(s) && place.getId().contains("-INSTANCE-"))){
connectedToPubPlace = true;
connectedPubPlaceId = place.getId();
}
}
}
if(node.isServerInstancePlace(place)){
connectedResServerPlace = true;
connectedResServerPlaceId = place.getId();
}
BalloonMarkedPlace bmp=this.resolveBalloonPlace(place);
......@@ -124,9 +132,11 @@ aspect BalloonExecution{
}
if(connectedToReqPlace){
node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ, connectedReqPlaceId));
node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ_CLIENT, connectedReqPlaceId));
} else if(connectedToPubPlace){
node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_TOPIC_PUB, connectedPubPlaceId));
} else if(connectedResServerPlace){
node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_SERVICE_RES_SERVER, connectedResServerPlaceId));
} else {
node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
}
......
src/main/java/de/tudresden/inf/st/pnml/engine/event/DiNeRosEvent.java
+ 1
− 1
View file @ 76f56d54
......@@ -12,7 +12,7 @@ public class DiNeRosEvent {
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)) {
eventType.equals(DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ_CLIENT) || eventType.equals(DiNeRosEventTypes.NOTIFICATION_TOPIC_PUB)) {
this.eventType = eventType;
} else {
throw new RuntimeException("Invalid event type used!");
......
src/main/java/de/tudresden/inf/st/pnml/engine/event/DiNeRosEventTypes.java
+ 2
− 1
View file @ 76f56d54
......@@ -6,6 +6,7 @@ public class DiNeRosEventTypes {
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_SERVICE_REQ_CLIENT = "serviceReq";
public static final String NOTIFICATION_SERVICE_RES_SERVER = "serviceRes";
public static final String NOTIFICATION_TOPIC_PUB = "topicPub";
}
src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosDefaultServer.java deleted 100644 → 0
+ 0
− 15
View file @ 3c405fe4
package de.tudresden.inf.st.pnml.engine.ros;
import de.tudresden.inf.st.pnml.jastadd.model.BalloonCallbackStorage;
import de.tudresden.inf.st.pnml.jastadd.model.BalloonMarking;
import de.tudresden.inf.st.pnml.jastadd.model.InputSignalConnector;
import de.tudresden.inf.st.pnml.jastadd.model.PetriNet;
public class DiNeRosDefaultServer implements DiNeRosServer{
@Override
public boolean execute(BalloonMarking balloonMarking, BalloonCallbackStorage balloonCallbackStorage, PetriNet petriNet,
String subnet, InputSignalConnector inputSignalConnector, DiNeRosNode node) {
return DiNeRosNodeUtil.defaultSubNetExecute(balloonMarking, balloonCallbackStorage, petriNet, subnet, inputSignalConnector, node);
}
}
src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java
+ 82
− 39
View file @ 76f56d54
......@@ -5,6 +5,7 @@ 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.transform.PetriNetInitializer;
import de.tudresden.inf.st.pnml.engine.transform.ServiceInstanceUtil;
import de.tudresden.inf.st.pnml.jastadd.model.*;
import org.jetbrains.annotations.NotNull;
import org.ros.concurrent.CancellableLoop;
......@@ -14,6 +15,7 @@ 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.ServiceResponseBuilder;
import org.ros.node.service.ServiceResponseListener;
import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber;
......@@ -40,6 +42,8 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
private final Map<DinerosPlace, Subscriber> dinerosSubscribers = new HashMap<>();
private final Map<DinerosPlace, Publisher<String>> dinerosPublishers = new HashMap<>();
private final Map<java.lang.String, java.lang.String> responsePlaceToInstance = new HashMap<>();
private final Set<java.lang.String> activeServerInstances = new HashSet<>();
public DiNeRosNode(java.lang.String nodeName, PetriNet petriNet, java.lang.String rcHost, java.lang.String gcProtocol) {
this.nodeName = nodeName;
......@@ -100,12 +104,15 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
case DiNeRosEventTypes.NOTIFICATION_STARTUP_ENDED:
onStartupEndedInternal(signalFilteredTransitions);
break;
case DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ:
case DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ_CLIENT:
onServiceRequestAvailableOnClientSide(event.payload);
break;
case DiNeRosEventTypes.NOTIFICATION_TOPIC_PUB:
onTopicPublisherAvailable(event.payload);
break;
case DiNeRosEventTypes.NOTIFICATION_SERVICE_RES_SERVER:
onServiceResponseAvailableOnServerSide(event.payload);
break;
}
}
......@@ -125,6 +132,16 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
}
private void onServiceResponseAvailableOnServerSide(java.lang.String placeId) {
for(Map.Entry<java.lang.String, java.lang.String> entry : responsePlaceToInstance.entrySet()){
if(entry.getKey().equals(placeId)){
activeServerInstances.remove(entry.getValue());
return;
}
}
}
private void onServiceRequestAvailableOnClientSide(java.lang.String placeId) {
ServiceClient<StringServiceRequest, StringServiceResponse> serviceClient;
......@@ -275,8 +292,61 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
System.out.println("[INIT NODE] Initializing node: " + nodeName);
// init service servers (deep copies)
// TODO
// init service servers mechanism
// is a 1:1 mapping, because there is always just on server
HashMap<java.lang.String, ArrayList<java.lang.String>> channelServerReqElementMap
= petriNet.getChannelElemensByKey(PnmlConstants.CHANNEL_PLACE_TYPE_SERVER_REQ_KEY);
for (java.lang.String key : channelServerReqElementMap.keySet()) {
connectedNode.newServiceServer(key, StringService._TYPE,
(ServiceResponseBuilder<StringServiceRequest, StringServiceResponse>) (request, response) -> {
java.lang.String instanceId = UUID.randomUUID().toString().replace("-", "");
// create a suffixed deep copy
for (Page p : petriNet.allPages()) {
if (p.getServiceName() != null && p.getServiceName().equals(key)) {
Page copy = p.treeCopy();
ServiceInstanceUtil.updateInstanceIds(copy, "-INSTANCE-" + instanceId);
copy.setId(p.getId() + "-INSTANCE-" + instanceId);
copy.getName().setText(copy.getId());
petriNet.addPage(copy);
petriNet.flushTreeCache();
petriNet.flushCollectionCache();
break;
}
}
HashMap<java.lang.String, ArrayList<java.lang.String>> channelServerResElementMap
= petriNet.getChannelElemensByKey(PnmlConstants.CHANNEL_PLACE_TYPE_SERVER_RES_KEY);
for (java.lang.String resKey : channelServerResElementMap.keySet()) {
if (resKey.equals(key)) {
responsePlaceToInstance.put(channelServerResElementMap.
get(resKey).get(0) + "-INSTANCE-" + instanceId, instanceId);
activeServerInstances.add(instanceId);
Place instanceEntryPlace = petriNet.getPlaceById(channelServerResElementMap.
get(resKey).get(0) + "-INSTANCE-" + instanceId);
marking.resolveBalloonPlace(instanceEntryPlace).addBalloonMarking(new BalloonToken(request.getInput()));
this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
break;
}
}
while(activeServerInstances.contains(instanceId)){}
for(Map.Entry<java.lang.String, java.lang.String> entry : responsePlaceToInstance.entrySet()){
if(entry.getValue().equals(instanceId)){
// set response value based on output token
response.setOutput(marking.resolveBalloonPlace(petriNet.
getPlaceById(entry.getKey())).getBalloonMarking(0).getValue());
responsePlaceToInstance.remove(entry.getKey());
break;
}
}
ServiceInstanceUtil.removeServiceServerInstance(petriNet, key + "-INSTANCE-" + instanceId);
});
}
// init publishers
HashMap<java.lang.String, ArrayList<java.lang.String>> channelPubElementMap
......@@ -329,34 +399,7 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
return null;
}
public List<Transition> getSubnetTransitionsByIds(List<java.lang.String> ids, PetriNet petriNet) {
List<Transition> transitions = new ArrayList<>();
for (java.lang.String id : ids) {
for (Transition t : petriNet.allTransitions()) {
if (t.getId().equals(id)) {
transitions.add(t);
}
}
}
return transitions;
}
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);
}
}
}
return places;
public boolean isServerInstancePlace(Place place) {
return responsePlaceToInstance.containsKey(place);
}
}
\ No newline at end of file
src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosServer.java deleted 100644 → 0
+ 0
− 12
View file @ 3c405fe4
package de.tudresden.inf.st.pnml.engine.ros;
import de.tudresden.inf.st.pnml.jastadd.model.BalloonCallbackStorage;
import de.tudresden.inf.st.pnml.jastadd.model.BalloonMarking;
import de.tudresden.inf.st.pnml.jastadd.model.InputSignalConnector;
import de.tudresden.inf.st.pnml.jastadd.model.PetriNet;
public interface DiNeRosServer {
boolean execute(BalloonMarking balloonMarking, BalloonCallbackStorage balloonCallbackStorage,
PetriNet petriNet, String subnet, InputSignalConnector inputSignalConnector, DiNeRosNode node);
}
src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosSubscriber.java deleted 100644 → 0
+ 0
− 12
View file @ 3c405fe4
package de.tudresden.inf.st.pnml.engine.ros;
import de.tudresden.inf.st.pnml.jastadd.model.BalloonCallbackStorage;
import de.tudresden.inf.st.pnml.jastadd.model.BalloonMarking;
import de.tudresden.inf.st.pnml.jastadd.model.InputSignalConnector;
import de.tudresden.inf.st.pnml.jastadd.model.PetriNet;
public interface DiNeRosSubscriber {
boolean execute(BalloonMarking balloonMarking, BalloonCallbackStorage balloonCallbackStorage, PetriNet petriNet,
String subnet, InputSignalConnector inputSignalConnector, DiNeRosNode node);
}
src/main/java/de/tudresden/inf/st/pnml/engine/ros/RosCommunicationUtil.java
+ 0
− 8
View file @ 76f56d54
package de.tudresden.inf.st.pnml.engine.ros;
import de.tudresden.inf.st.pnml.jastadd.model.BalloonMarking;
import de.tudresden.inf.st.pnml.jastadd.model.PetriNet;
import de.tudresden.inf.st.pnml.jastadd.model.Transition;
import org.ros.node.ConnectedNode;
import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber;
import std_msgs.String;
import java.nio.charset.StandardCharsets;
import java.util.function.BiConsumer;
import org.ros.message.MessageListener;
public class RosCommunicationUtil {
......
src/main/java/de/tudresden/inf/st/pnml/engine/transform/ServiceInstanceUtil.java 0 → 100644
+ 30
− 0
View file @ 76f56d54
package de.tudresden.inf.st.pnml.engine.transform;
import de.tudresden.inf.st.pnml.jastadd.model.*;
public class ServiceInstanceUtil {
public static void updateInstanceIds(Page page, String suffix){
for(PnObject pnObject : page.getObjects()){
pnObject.setId(pnObject.getId() + suffix);
pnObject.getName().setText(pnObject.getId());
if(pnObject.isPageNode()){
updateInstanceIds(pnObject.asPage(), suffix);
}
}
}
public static void removeServiceServerInstance(PetriNet petriNet, String pageId){
for(Page page : petriNet.allPages()){
if(page.getId().equals(pageId)) {
page.removeSelf();
petriNet.flushTreeCache();
petriNet.flushCollectionCache();
}
}
}
}
src/main/java/de/tudresden/inf/st/pnml/engine/transform/ServiceTransformer.java deleted 100644 → 0
+ 0
− 270
View file @ 3c405fe4
package de.tudresden.inf.st.pnml.engine.transform;
import de.tudresden.inf.st.pnml.base.constants.PnmlConstants;
import de.tudresden.inf.st.pnml.jastadd.model.*;
import java.util.*;
public class ServiceTransformer {
public static DinerosPlace includeServerInstance(PetriNet petriNet, String subnet, String suffix, List<String> addedElementIds){
Page topPage = petriNet.getPage(0);
DinerosPlace serverInputPlace = null;
// Elements
for (Place p : getPlacesBySubnet(petriNet, subnet)) {
DinerosPlace copy = getDinerosPlace();
assert copy != null;
copy.setId(p.getId() + "-" + suffix);
copy.setToolspecificList(p.getToolspecificList().treeCopy());
copy.getName().setText(p.getName().getText());
if(p.getNodeGraphics() != null) {
copy.setNodeGraphics(p.getNodeGraphics().treeCopy());
}
// copy initial marking of places
PTMarking m = new PTMarking();
m.setText(p.getInitialMarking().getText());
PlaceInformation pi = new PlaceInformation();
pi.setSubNet(p.asDinerosPlace().getStaticPlaceInformation().getSubNet() + "-" + suffix);
pi.setNode(p.asDinerosPlace().getStaticPlaceInformation().getNode());
copy.setMutablePlaceInformation(pi);
topPage.addObject(copy);
addedElementIds.add(copy.getId());
for( Map.Entry<String, String> entry : petriNet.getCommunicatorInformation().getCommunicatorMapping().entries()){
if(entry.getKey().equals(p.getId()) && entry.getValue().equals(PnmlConstants.SERVICE_SERVER)){
serverInputPlace = p.asDinerosPlace();
}
}
}
petriNet.flushTreeCache();
// TODO: Reference Transitions
for(RefPlace rp : getRefPlaceBySubnet(petriNet, subnet)){
RefPlace copy = new RefPlace();
copy.setName(rp.getName().treeCopy());
copy.setId(rp.getId() + "-" + suffix);
if(rp.getNodeGraphics() != null) {
copy.setNodeGraphics(rp.getNodeGraphics().treeCopy());
}
copy.setToolspecificList(rp.getToolspecificList().treeCopy());
String refId = rp.getRef().getId() + "-" + suffix;
copy.setRef(getPlaceNodeById(petriNet, refId));
topPage.addObject(copy);
addedElementIds.add(copy.getId());
}
petriNet.flushTreeCache();
for (Transition t : getTransitionsBySubnet(petriNet, subnet)) {
DinerosTransition copy = getInputSignalTransition();
assert copy != null;
copy.setId(t.getId() + "-" + suffix);
copy.getName().setText(t.getName().getText());
SignalTransitionInformation sti = new SignalTransitionInformation();
sti.setNode(t.asDinerosTransition().getStaticTransitionInformation().getNode());
sti.setSubNet(t.asDinerosTransition().getStaticTransitionInformation().getSubNet() + "-" + suffix);
//sti.setClause(t.asDinerosTransition().getStaticTransitionInformation().asSignalTransitionInformation().getClause().deepCopy());
copy.setMutableTransitionInformation(sti);
copy.getName().setText(t.getName().getText());
copy.setToolspecificList(t.getToolspecificList().treeCopy());
if(t.getNodeGraphics() != null) {
copy.setNodeGraphics(t.getNodeGraphics().treeCopy());
}
PetriNetInitializer.initMutableTransitionInformation(suffix, t, copy);
topPage.addObject(copy);
addedElementIds.add(copy.getId());
}
petriNet.flushTreeCache();
// Arcs
for (Arc a : getInnerAndBorderSubnetArcs(petriNet, subnet)) {
Arc newArc = a.treeCopy();
String sourceId = a.getSource().getId() + "-" + suffix;
newArc.setSource((Node) getPnObjectByID(petriNet, sourceId));
String targetId = a.getTarget().getId() + "-" + suffix;
if(a.getTarget().isTransitionNode()){
if(!a.getTarget().asTransitionNode().asTransition().asDinerosTransition().getStaticTransitionInformation().getSubNet().equals(subnet)){
targetId = a.getTarget().getId();
}
}
if(a.getTarget().isPlaceObject()){
if(!a.getTarget().asPlaceNode().asPlace().asDinerosPlace().getStaticPlaceInformation().getSubNet().equals(subnet)){
targetId = a.getTarget().getId();
}
}
if(a.getTarget().asRefPlace() != null){
if(!a.getTarget().asRefPlace().getSubNet().equals(subnet)){
targetId = a.getTarget().getId();
}
}
newArc.setTarget((Node) getPnObjectByID(petriNet, targetId));
newArc.setId(sourceId + "-to-" + targetId);
topPage.addObject(newArc);
addedElementIds.add(newArc.getId());
}
petriNet.flushTreeCache();
return serverInputPlace;
}
public static PetriNet removeServiceServerInstance(PetriNet petriNet, List<String> addedElementIds){
for(String id : addedElementIds){
Objects.requireNonNull(getPnObjectByID(petriNet, id)).removeSelf();
}
petriNet.flushTreeCache();
return petriNet;
}
private static Set<Arc> getInnerAndBorderSubnetArcs(PetriNet petriNet, String subnet) {
Set<Arc> arcs = new HashSet<>();
for (Arc a : petriNet.allArcs()) {
if(a.getTarget().isTransitionNode() && a.getSource().isPlaceNode()){
if(a.getSource().asPlaceNode().asPlace().asDinerosPlace().getStaticPlaceInformation().getSubNet().equals(subnet)){
arcs.add(a);
}
} else {
if(a.getSource().asTransitionNode().asTransition().asDinerosTransition().getStaticTransitionInformation().getSubNet().equals(subnet)){
arcs.add(a);
}
}
}
return arcs;
}
private static DinerosTransition getInputSignalTransition(){
PetriNet templateNet = PnmlParser.parsePnml(System.getProperty("user.dir") + "/src/main/resources/elements/InputSignalTransition.pnml").get(0);
for(Transition t : templateNet.allTransitions()){
if(t.getId().equals("InputSignalTransition")){
return t.asDinerosTransition();
}
}
return null;
}
private static DinerosPlace getDinerosPlace(){
PetriNet templateNet = PnmlParser.parsePnml(System.getProperty("user.dir") + "/src/main/resources/elements/OutputSignalPlace.pnml").get(0);
for(Place p : templateNet.allPlaces()){
if(p.getId().equals("OutputSignalPlace")){
return p.asDinerosPlace();
}
}
return null;
}
private static PnObject getPnObjectByID(PetriNet petriNet, String Id) {
for (PnObject po : petriNet.allObjects()) {
if (po.getId().equals(Id)) {
return po;
}
}
return null;
}
private static Set<Place> getPlacesBySubnet(PetriNet petriNet, String subnet) {
Set<Place> places = new HashSet<>();
for (Place p : petriNet.allPlaces()) {
if (p.asDinerosPlace().getStaticPlaceInformation().getSubNet().equals(subnet)) {
places.add(p);
}
}
return places;
}
private static Set<Transition> getTransitionsBySubnet(PetriNet petriNet, String subnet) {
Set<Transition> transitions = new HashSet<>();
for (Transition t : petriNet.allTransitions()) {
// System.out.println(t.getId() + " +++ " + t.asDinerosTransition().getStaticTransitionInformation().getSubNet() + " +++ " + t.asDinerosTransition().getStaticTransitionInformation().getType());
if (t.asDinerosTransition().getStaticTransitionInformation().getSubNet().equals(subnet)) {
transitions.add(t);
}
}
return transitions;
}
private static Set<RefPlace> getRefPlaceBySubnet(PetriNet petriNet, String subnet) {
Set<RefPlace> places = new HashSet<>();
for (RefPlace rp : petriNet.allRefPlaces()) {
if (rp.getSubNet().equals(subnet)) {
places.add(rp);
}
}
return places;
}
private static Set<RefTransition> getRefTransitionBySubnet(PetriNet petriNet, String subnet) {
Set<RefTransition> transitions = new HashSet<>();
for (RefTransition rt : petriNet.allRefTransitions()) {
if (rt.getSubNet().equals(subnet)) {
transitions.add(rt);
}
}
return transitions;
}
private static PlaceNode getPlaceNodeById(PetriNet petriNet, String id) {
for (PlaceNode p : petriNet.allPlaceNodes()) {
if (p.getId().equals(id)) {
return p;
}
}
return null;
}
}
src/main/resources/nets/NodeNetTopicSubTest.pnml
+ 3
− 1
View file @ 76f56d54
......@@ -9,7 +9,9 @@
<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>
<port name="serviceP1" placeType="cres" cRequestPlace="p1">p2</port>
<port name="serviceP1" placeType="sreq" sResponsePlace="p4">p3</port>
<port name="serviceP1" placeType="sres" sRequestPlace="p3">p4</port>
</ports>
</toolspecific>
......
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