From c83abc312fbc348db55540d6b9e165b730d2aaf9 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Mon, 23 Oct 2023 16:28:02 +0200
Subject: [PATCH] feature: orphan-place service calls
---
.../balloonMarking/BalloonExecution.jadd | 20 +++++++-
.../de/tudresden/inf/st/pnml/engine/Main.java | 28 +++++++----
.../inf/st/pnml/engine/example/Server.java | 34 --------------
.../Client.java => fake/FakeClientNode.java} | 6 +--
.../st/pnml/engine/fake/FakeServerNode.java | 44 ++++++++++++++++++
.../inf/st/pnml/engine/ros/DiNeRosNode.java | 46 +++++++++++--------
6 files changed, 110 insertions(+), 68 deletions(-)
delete mode 100644 src/main/java/de/tudresden/inf/st/pnml/engine/example/Server.java
rename src/main/java/de/tudresden/inf/st/pnml/engine/{example/Client.java => fake/FakeClientNode.java} (94%)
create mode 100644 src/main/java/de/tudresden/inf/st/pnml/engine/fake/FakeServerNode.java
diff --git a/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd b/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
index e0397f7..f934af4 100644
--- a/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
+++ b/src/main/jastadd/engine/balloonMarking/BalloonExecution.jadd
@@ -1,5 +1,6 @@
import de.tudresden.inf.st.pnml.engine.event.*;
import de.tudresden.inf.st.pnml.engine.execution.TransitionHandlerService;
+import de.tudresden.inf.st.pnml.engine.ros.DiNeRosNode;
import java.util.function.Function;
@@ -23,8 +24,25 @@ aspect BalloonExecution{
syn boolean TransitionSelectionResult.isFiringSelectionNone()=false;
eq FiringSelectionNone.isFiringSelectionNone()=true;
+ public boolean BalloonMarking.callServiceIfRequest(BalloonMarkedPlace bmp, DiNeRosNode node ) {
+
+ HashMap<String, ArrayList<String>> reqMap = getPetriNet().getChannelElemensByKey(PnmlConstants.CHANNEL_PLACE_TYPE_CLIENT_REQ_KEY);
+
+ for(Map.Entry<String, ArrayList<String>> entry : reqMap.entrySet()){
+ for(String s : entry.getValue()){
+ if(s.equals(bmp.getPlace().getId()) ||
+ (bmp.getPlace().getId().startsWith(s) && bmp.getPlace().getId().contains("-INSTANCE-"))){
+ System.out.println("Calling service from orphan request place: " + bmp.getPlace().getId());
+ node.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_SERVICE_REQ_CLIENT, bmp.getPlace().getId()));
+ return true;
+ }
+ }
+ }
+ return false;
+ }
+
public Optional<BalloonMarking> BalloonMarking.fireTransition(Transition transition, BalloonCallbackStorage callbackStorage,
- InputSignalConnector inputSignalConnector,de.tudresden.inf.st.pnml.engine.ros.DiNeRosNode node, boolean requireFlush) {
+ InputSignalConnector inputSignalConnector, DiNeRosNode node, boolean requireFlush) {
//if(!transition.asDinerosTransition().getStaticTransitionInformation().isSignalTransitionInformation()) return Optional.empty();
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 3c289d7..48b5da8 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
@@ -1,7 +1,7 @@
package de.tudresden.inf.st.pnml.engine;
-import de.tudresden.inf.st.pnml.engine.example.Client;
-import de.tudresden.inf.st.pnml.engine.example.Server;
+import de.tudresden.inf.st.pnml.engine.fake.FakeClientNode;
+import de.tudresden.inf.st.pnml.engine.fake.FakeServerNode;
import org.ros.node.DefaultNodeMainExecutor;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;
@@ -18,20 +18,28 @@ public class Main {
public static void main(java.lang.String[] args) {
- Server server = new Server();
- Client client = new Client();
- nodeConfiguration.setMasterUri(URI.create(ROS_MASTER_URI));
+ //Server server = new Server();
+ // FakeClientNode client = new FakeClientNode();
+ // nodeConfiguration.setMasterUri(URI.create(ROS_MASTER_URI));
- /*System.out.println("---- STARTING SERVER ----");
- new Thread(() -> nodeMainExecutor.execute(server, nodeConfiguration)) {{start();}};
+ //System.out.println("---- STARTING SERVER ----");
+ //new Thread(() -> nodeMainExecutor.execute(server, nodeConfiguration)) {{start();}};
+
+
+
+ /* System.out.println("---- STARTING sampleService0 ----");
+ new Thread(() -> nodeMainExecutor.execute(new FakeServerNode("sampleService0", "sampleServiceNode0"), nodeConfiguration)) {{start();}};
try {
Thread.sleep(3000);
} catch (InterruptedException e) {
e.printStackTrace();
- }*/
+ }
+
+ // System.out.println("---- STARTING CLIENT ----");
+ // new Thread(() -> nodeMainExecutor.execute(client, nodeConfiguration)) {{start();}};
- System.out.println("---- STARTING CLIENT ----");
- new Thread(() -> nodeMainExecutor.execute(client, nodeConfiguration)) {{start();}};
+ System.out.println("---- STARTING sampleService1 ----");
+ new Thread(() -> nodeMainExecutor.execute(new FakeServerNode("sampleService1", "sampleServiceNode1"), nodeConfiguration)) {{start();}};*/
}
}
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/example/Server.java b/src/main/java/de/tudresden/inf/st/pnml/engine/example/Server.java
deleted file mode 100644
index d037ac0..0000000
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/example/Server.java
+++ /dev/null
@@ -1,34 +0,0 @@
-package de.tudresden.inf.st.pnml.engine.example;
-
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.service.ServiceResponseBuilder;
-import rosjava_srv.StringService;
-import rosjava_srv.StringServiceRequest;
-import rosjava_srv.StringServiceResponse;
-
-public class Server extends AbstractNodeMain {
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("rosjava_srv_test/server");
- }
-
- @Override
- public void onStart(final ConnectedNode connectedNode) {
- connectedNode.newServiceServer("sampleService", StringService._TYPE,
- (ServiceResponseBuilder<StringServiceRequest, StringServiceResponse>) (request, response) -> {
-
- System.out.println("Service Input: \"" + request.getInput() + "\"");
- try {
- Thread.sleep(10000);
- } catch (InterruptedException e) {
- e.printStackTrace();
- }
- System.out.println("Finished sleep.");
- response.setOutput("...");
-
- });
- }
-}
\ No newline at end of file
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/example/Client.java b/src/main/java/de/tudresden/inf/st/pnml/engine/fake/FakeClientNode.java
similarity index 94%
rename from src/main/java/de/tudresden/inf/st/pnml/engine/example/Client.java
rename to src/main/java/de/tudresden/inf/st/pnml/engine/fake/FakeClientNode.java
index 754b0fc..98a0242 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/example/Client.java
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/fake/FakeClientNode.java
@@ -1,4 +1,4 @@
-package de.tudresden.inf.st.pnml.engine.example;
+package de.tudresden.inf.st.pnml.engine.fake;
import org.ros.exception.RemoteException;
import org.ros.exception.RosRuntimeException;
@@ -12,7 +12,7 @@ import rosjava_srv.StringService;
import rosjava_srv.StringServiceRequest;
import rosjava_srv.StringServiceResponse;
-public class Client extends AbstractNodeMain {
+public class FakeClientNode extends AbstractNodeMain {
@Override
public GraphName getDefaultNodeName() {
@@ -30,7 +30,7 @@ public class Client extends AbstractNodeMain {
ServiceClient<StringServiceRequest, StringServiceResponse> serviceClient;
try {
- serviceClient = connectedNode.newServiceClient("sampleService", StringService._TYPE);
+ serviceClient = connectedNode.newServiceClient("sampleService0", StringService._TYPE);
} catch (ServiceNotFoundException e) {
throw new RosRuntimeException(e);
}
diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/fake/FakeServerNode.java b/src/main/java/de/tudresden/inf/st/pnml/engine/fake/FakeServerNode.java
new file mode 100644
index 0000000..214ec08
--- /dev/null
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/fake/FakeServerNode.java
@@ -0,0 +1,44 @@
+package de.tudresden.inf.st.pnml.engine.fake;
+
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.service.ServiceResponseBuilder;
+import rosjava_srv.StringService;
+import rosjava_srv.StringServiceRequest;
+import rosjava_srv.StringServiceResponse;
+
+public class FakeServerNode extends AbstractNodeMain {
+
+ private java.lang.String serviceName;
+ private java.lang.String nodeName;
+
+ public FakeServerNode(String serviceName, String nodeName) {
+ this.serviceName = serviceName;
+ this.nodeName = nodeName;
+ }
+
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("fake/" + nodeName);
+ }
+
+ @Override
+ public void onStart(final ConnectedNode connectedNode) {
+
+ System.out.println("[" + nodeName + "] Starting node.");
+
+ connectedNode.newServiceServer(serviceName, StringService._TYPE,
+ (ServiceResponseBuilder<StringServiceRequest, StringServiceResponse>) (request, response) -> {
+
+ System.out.println("[" + nodeName + "] Service Input: \"" + request.getInput() + "\"");
+ try {
+ Thread.sleep(4000);
+ } catch (InterruptedException e) {
+ e.printStackTrace();
+ }
+ System.out.println("[" + nodeName + "] Finished sleep.");
+ response.setOutput(request.getInput());
+ });
+ }
+}
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 fa4e3e8..262fa78 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
@@ -63,7 +63,17 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
List<Map<java.lang.String, Object>>> processTokenFunction) {
TransitionHandler transitionHandler = new TransitionHandler(priority, processTokenFunction);
+
+ if(petriNet.getTransitionById(transitionId) == null){
+ return;
+ }
+
BalloonTransition balloonTransition = callbackStorage.resolveBalloonTransition(petriNet.getTransitionById(transitionId));
+
+ if(balloonTransition == null){
+ return;
+ }
+
balloonTransition.getTransitionHandlers().add(transitionHandler);
}
@@ -164,13 +174,23 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
java.lang.String serviceName = petriNet.getPortNameByPlaceId(originalId);
- java.lang.String cResPlaceId = petriNet.getServiceClientResponsePlaceId(originalId) + "-INSTANCE-" + placeId.split("-")[split.length - 1];
+ java.lang.String cResPlaceId;
+
+ if(split.length > 1){
+ cResPlaceId = petriNet.getServiceClientResponsePlaceId(originalId) + "-INSTANCE-" + placeId.split("-")[split.length - 1];
+ } else {
+ cResPlaceId = petriNet.getServiceClientResponsePlaceId(originalId);
+ }
+
Place targetPlace = petriNet.getPlaceById(cResPlaceId);
Place sourcePlace = petriNet.getPlaceById(placeId);
BalloonMarkedPlace bmpSource = this.marking.resolveBalloonPlace(sourcePlace);
BalloonMarkedPlace bmpTarget = this.marking.resolveBalloonPlace(targetPlace);
+ DiNeRosNode self = this;
+
try {
+ System.out.println("[DiNeROS-Node] [" + nodeName + "] Creating client for service: " + serviceName);
serviceClient = connectedNode.newServiceClient(serviceName, StringService._TYPE);
final StringServiceRequest request = serviceClient.newMessage();
request.setInput(bmpSource.getBalloonMarking(0).getValue());
@@ -181,19 +201,20 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
public void onSuccess(StringServiceResponse stringServiceResponse) {
bmpSource.getBalloonMarking(0).removeSelf();
bmpTarget.addBalloonMarking(new BalloonToken(stringServiceResponse.getOutput(), System.currentTimeMillis()));
+ marking.callServiceIfRequest(bmpTarget, self);
+ self.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
+ serviceClient.shutdown();
}
@Override
public void onFailure(RemoteException e) {
System.err.println("Error while calling: token will not be removed!");
+ serviceClient.shutdown();
}
});
- serviceClient.shutdown();
- this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
-
} catch (ServiceNotFoundException e) {
- System.err.println("Error while calling service. ");
+ System.err.println("Error while calling service.");
}
}
@@ -338,20 +359,6 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
}
}
- /* for(Transition t : petriNet.allTransitions()){
- System.out.println("Checking Transition: " + t.getId());
- for(Arc a : petriNet.allArcs()){
- if(a.getTarget().getId().equals(t.getId())){
- System.out.println(">> Match: " + a.getSource().getId());
- }
- }
-
- for(Place p1 : t.incomingPlaces()){
- System.out.println(">> Checking incoming place: " + p1.getId());
-
- }
- }*/
-
connectedNode.newServiceServer(key, StringService._TYPE,
(ServiceResponseBuilder<StringServiceRequest, StringServiceResponse>) (request, response) -> {
@@ -436,7 +443,6 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
this.notify(new DiNeRosEvent(DiNeRosEventTypes.NOTIFICATION_MARKING_CHANGE));
}, petriNet.getChannelElementLimitById(placeId));
- //dinerosSubscribers.put(targetPlace, subscriber);
}
}
--
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