From c6423a5523711115c80cf3d17ce9c4351189efc6 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Mon, 10 Jul 2023 14:19:46 +0200
Subject: [PATCH] simplification of callbacks
---
.../balloonMarking/BalloonExecution.jadd | 6 --
.../balloonMarking/BalloonExecution.relast | 2 +-
.../pnml/engine/example/DinerosTestNode.java | 26 ++------
.../st/pnml/engine/example/SensoricsNode.java | 56 +++--------------
.../pnml/engine/ros/DiNeRosDefaultNode.java | 13 +---
.../inf/st/pnml/engine/ros/DiNeRosNode.java | 61 ++++---------------
6 files changed, 28 insertions(+), 136 deletions(-)
diff --git a/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd b/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
index 202bd1b..13e24c8 100644
--- a/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
+++ b/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
@@ -5,9 +5,6 @@ aspect BalloonExecution{
syn FiringSelectionSuccess TransitionSelectionResult.asFiringSelectionSuccess()=null;
eq FiringSelectionSuccess.asFiringSelectionSuccess()=this;
- syn FiringSelectionWait TransitionSelectionResult.asFiringSelectionWait()=null;
- eq FiringSelectionWait.asFiringSelectionWait()=this;
-
syn FiringSelectionFail TransitionSelectionResult.asFiringSelectionFail()=null;
eq FiringSelectionFail.asFiringSelectionFail()=this;
@@ -17,9 +14,6 @@ aspect BalloonExecution{
syn boolean TransitionSelectionResult.isFiringSelectionSuccess()=false;
eq FiringSelectionSuccess.isFiringSelectionSuccess()=true;
- syn boolean TransitionSelectionResult.isFiringSelectionWait()=false;
- eq FiringSelectionWait.isFiringSelectionWait()=true;
-
syn boolean TransitionSelectionResult.isFiringSelectionFail()=false;
eq FiringSelectionFail.isFiringSelectionFail()=true;
diff --git a/src/main/jastadd/engine/balloonMarking/BalloonExecution.relast b/src/main/jastadd/engine/balloonMarking/BalloonExecution.relast
index f87f2eb..73c678a 100644
--- a/src/main/jastadd/engine/balloonMarking/BalloonExecution.relast
+++ b/src/main/jastadd/engine/balloonMarking/BalloonExecution.relast
@@ -6,6 +6,6 @@ rel BalloonTransition.Transition -> Transition;
abstract TransitionSelectionResult;
FiringSelectionSuccess : TransitionSelectionResult;
rel FiringSelectionSuccess.Transition -> Transition;
-FiringSelectionWait : TransitionSelectionResult ::= <WaitingTime:int>;
+// FiringSelectionWait : TransitionSelectionResult ::= <WaitingTime:int>;
FiringSelectionFail : TransitionSelectionResult;
FiringSelectionNone : TransitionSelectionResult;
\ No newline at end of file
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/example/DinerosTestNode.java b/src/main/java/de/tudresden/inf/st/pnml/engine/example/DinerosTestNode.java
index d4c5d76..53c9800 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/example/DinerosTestNode.java
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/example/DinerosTestNode.java
@@ -5,6 +5,7 @@ import de.tudresden.inf.st.pnml.jastadd.model.*;
import org.jetbrains.annotations.NotNull;
import org.ros.concurrent.CancellableLoop;
+import java.util.List;
import java.util.Set;
public class DinerosTestNode extends DiNeRosNode {
@@ -39,7 +40,7 @@ public class DinerosTestNode extends DiNeRosNode {
}
@NotNull
- private TransitionSelectionResult fireFirstEnabled(Set<Transition> enabledTransitions) {
+ private TransitionSelectionResult fireFirstEnabled(List<Transition> enabledTransitions) {
System.out.println("Calling fireFirstEnabled");
System.out.println(marking.print());
@@ -52,35 +53,18 @@ public class DinerosTestNode extends DiNeRosNode {
break;
}
- if(enabledTransitions.size() == 0){
- FiringSelectionWait fsw = new FiringSelectionWait();
- fsw.setWaitingTime(1000);
- return fsw;
- }
-
+ if(enabledTransitions.size() == 0){ return new FiringSelectionNone(); }
return fsc;
}
@Override
- protected TransitionSelectionResult onMarkingChange(Set<Transition> enabledTransitions) {
- System.out.println("Calling onMarkingChange");
- return fireFirstEnabled(enabledTransitions);
- }
-
- @Override
- protected TransitionSelectionResult onSignalChange(Set<Transition> enabledTransitions) {
- System.out.println("Calling onSignalChange");
- return fireFirstEnabled(enabledTransitions);
- }
-
- @Override
- protected TransitionSelectionResult onWaitEnded(Set<Transition> enabledTransitions) {
+ protected TransitionSelectionResult onChange(List<Transition> enabledTransitions) {
System.out.println("Calling onWaitEnded");
return fireFirstEnabled(enabledTransitions);
}
@Override
- protected TransitionSelectionResult onStartupEnded(Set<Transition> enabledTransitions) {
+ protected TransitionSelectionResult onStartupEnded(List<Transition> enabledTransitions) {
System.out.println("Calling onStartupEnded");
return fireFirstEnabled(enabledTransitions);
}
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/example/SensoricsNode.java b/src/main/java/de/tudresden/inf/st/pnml/engine/example/SensoricsNode.java
index 99dbc8a..a97e3c5 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/example/SensoricsNode.java
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/example/SensoricsNode.java
@@ -4,7 +4,8 @@ import de.tudresden.inf.st.pnml.engine.ros.DiNeRosNode;
import de.tudresden.inf.st.pnml.jastadd.model.*;
import org.jetbrains.annotations.NotNull;
-import java.util.Set;
+import java.util.List;
+import java.util.Random;
public class SensoricsNode extends DiNeRosNode {
@@ -16,61 +17,20 @@ public class SensoricsNode extends DiNeRosNode {
protected void nodeLoop() {}
@NotNull
- private TransitionSelectionResult fireFirstEnabled(Set<Transition> enabledTransitions) {
-
-
+ private TransitionSelectionResult fireRandomEnabledTransition(List<Transition> enabledTransitions) {
FiringSelectionSuccess fsc = new FiringSelectionSuccess();
-
- for (Transition t : enabledTransitions) {
- fsc.setTransition(t);
- break;
- }
-
+ fsc.setTransition(enabledTransitions.get(new Random().nextInt(enabledTransitions.size())));
return fsc;
}
@Override
- protected TransitionSelectionResult onMarkingChange(Set<Transition> enabledTransitions) {
-
- for(Transition t : enabledTransitions){
-
- if(t.getId().equals("GetSensorData")){
- FiringSelectionSuccess sel = new FiringSelectionSuccess();
- sel.setTransition(t);
- return sel;
- }
-
- if(t.getId().equals("ProcessSensorData")){
- FiringSelectionWait sel = new FiringSelectionWait();
- sel.setWaitingTime(100);
- return sel;
- }
- }
-
- return new FiringSelectionNone();
- }
-
- @Override
- protected TransitionSelectionResult onSignalChange(Set<Transition> enabledTransitions) {
-
- for(Transition t : enabledTransitions){
- if(t.getId().equals("GetSensorData")){
- FiringSelectionSuccess sel = new FiringSelectionSuccess();
- sel.setTransition(t);
- return sel;
- }
- }
-
- return new FiringSelectionNone();
- }
-
- @Override
- protected TransitionSelectionResult onWaitEnded(Set<Transition> enabledTransitions) {
- return fireFirstEnabled(enabledTransitions);
+ protected TransitionSelectionResult onChange(List<Transition> enabledTransitions) {
+ return enabledTransitions.size() == 0 ?
+ new FiringSelectionNone() : fireRandomEnabledTransition(enabledTransitions);
}
@Override
- protected TransitionSelectionResult onStartupEnded(Set<Transition> enabledTransitions) {
+ protected TransitionSelectionResult onStartupEnded(List<Transition> enabledTransitions) {
return new FiringSelectionNone();
}
}
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosDefaultNode.java b/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosDefaultNode.java
index ac5bd70..bfbbd91 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosDefaultNode.java
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosDefaultNode.java
@@ -2,6 +2,7 @@ package de.tudresden.inf.st.pnml.engine.ros;
import de.tudresden.inf.st.pnml.jastadd.model.*;
+import java.util.List;
import java.util.Set;
public class DiNeRosDefaultNode extends DiNeRosNode{
@@ -23,19 +24,11 @@ public class DiNeRosDefaultNode extends DiNeRosNode{
}
- protected TransitionSelectionResult onMarkingChange(Set<Transition> enabledTransitions){
+ protected TransitionSelectionResult onChange(List<Transition> enabledTransitions){
return null;
}
- protected TransitionSelectionResult onSignalChange(Set<Transition> enabledTransitions){
- return null;
- }
-
- protected TransitionSelectionResult onWaitEnded(Set<Transition> enabledTransitions){
- return null;
- }
-
- protected TransitionSelectionResult onStartupEnded(Set<Transition> enabledTransitions){
+ protected TransitionSelectionResult onStartupEnded(List<Transition> enabledTransitions){
return null;
}
}
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 264194d..9dc60a9 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
@@ -28,7 +28,6 @@ import std_msgs.String;
import javax.xml.parsers.ParserConfigurationException;
import java.io.IOException;
import java.util.*;
-import java.util.concurrent.TimeUnit;
public abstract class DiNeRosNode extends AbstractNodeMain {
@@ -89,17 +88,12 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
public synchronized void notify(DiNeRosEvent event) {
- Set<Transition> signalFilteredTransitions = getSignalFilteredTransitions();
+ List<Transition> signalFilteredTransitions = getSignalFilteredTransitions();
switch (event.eventType) {
case DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE:
- onMarkingChangeInternal(signalFilteredTransitions);
- break;
case DiNeRosEventTypes.NOTIFICATION_SIGNAL_CHANGE:
- onSignalChangeInternal(signalFilteredTransitions);
- break;
- case DiNeRosEventTypes.NOTIFICATION_WAIT_ENDED:
- onWaitEndedInternal(signalFilteredTransitions);
+ onChange(signalFilteredTransitions);
break;
case DiNeRosEventTypes.NOTIFICATION_STARTUP_ENDED:
onStartupEndedInternal(signalFilteredTransitions);
@@ -187,8 +181,8 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
}
@NotNull
- protected Set<Transition> getSignalFilteredTransitions() {
- Set<Transition> signalFilteredTransitions = new HashSet<>();
+ protected List<Transition> getSignalFilteredTransitions() {
+ List<Transition> signalFilteredTransitions = new ArrayList<>();
ClauseValuesDefinition clauseValuesDefinition = new ClauseValuesDefinition();
@@ -217,19 +211,8 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
}
private void getTransitionSelectionResult(TransitionSelectionResult res) {
- if (res.isFiringSelectionWait()) {
- try {
- TimeUnit.MILLISECONDS.sleep(res.asFiringSelectionWait().getWaitingTime());
- onWaitEndedInternal(getSignalFilteredTransitions());
- return;
- } catch (InterruptedException e) {
- e.printStackTrace();
- }
- }
- if(res.isFiringSelectionNone()){
- return;
- }
+ if(res.isFiringSelectionNone()){ return; }
if (res.isFiringSelectionFail()) {
System.err.println("[DiNeROS-Node] [" + nodeName + "] Firing selection action failed!");
@@ -243,7 +226,7 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
}
- private void onStartupEndedInternal(Set<Transition> enabledTransitions) {
+ private void onStartupEndedInternal(List<Transition> enabledTransitions) {
System.out.println("Calling onStartupEndedInternal");
@@ -251,39 +234,17 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
getTransitionSelectionResult(res);
}
- private void onMarkingChangeInternal(Set<Transition> enabledTransitions) {
+ private void onChangeInternal(List<Transition> enabledTransitions) {
- System.out.println("Calling onMarkingChangeInternal");
+ System.out.println("Calling onChangeInternal");
- TransitionSelectionResult res = onMarkingChange(enabledTransitions);
+ TransitionSelectionResult res = onChange(enabledTransitions);
getTransitionSelectionResult(res);
}
- private void onSignalChangeInternal(Set<Transition> enabledTransitions) {
-
- System.out.println("Calling onSignalChangeInternal");
-
- TransitionSelectionResult res = onSignalChange(enabledTransitions);
- getTransitionSelectionResult(res);
-
- }
-
- private void onWaitEndedInternal(Set<Transition> enabledTransitions) {
-
- System.out.println("Calling onWaitEndedInternal");
-
- TransitionSelectionResult res = onWaitEnded(enabledTransitions);
- getTransitionSelectionResult(res);
-
- }
-
- protected abstract TransitionSelectionResult onMarkingChange(Set<Transition> enabledTransitions);
-
- protected abstract TransitionSelectionResult onSignalChange(Set<Transition> enabledTransitions);
-
- protected abstract TransitionSelectionResult onWaitEnded(Set<Transition> enabledTransitions);
+ protected abstract TransitionSelectionResult onChange(List<Transition> enabledTransitions);
- protected abstract TransitionSelectionResult onStartupEnded(Set<Transition> enabledTransitions);
+ protected abstract TransitionSelectionResult onStartupEnded(List<Transition> enabledTransitions);
@Override
public GraphName getDefaultNodeName() {
--
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