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Commit 8e98c6eb authored by Dominik Huml's avatar Dominik Huml
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not functional stand

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src/main/java/de/tudresden/inf/st/pnml/flatter/Main.java
+ 468
− 78
View file @ 8e98c6eb
package de.tudresden.inf.st.pnml.flatter;
import beaver.Parser;
import de.tudresden.inf.st.pnml.base.constants.PnmlConstants;
import de.tudresden.inf.st.pnml.flatter.graph.ServiceGraph;
import de.tudresden.inf.st.pnml.flatter.transform.ReferenceFlatter;
import de.tudresden.inf.st.pnml.flatter.transform.TransformationUtils;
import de.tudresden.inf.st.pnml.jastadd.model.*;
......@@ -12,20 +10,26 @@ import fr.lip6.move.pnml.framework.utils.exception.InvalidIDException;
import de.tudresden.inf.st.pnml.flatter.tina.NdrioProxy;
import de.tudresden.inf.st.pnml.jastadd.model.PetriNet;
import java.io.IOException;
import java.io.*;
import java.lang.reflect.Type;
import java.util.*;
// for json parsing
import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.databind.JsonNode;
import javax.swing.*;
public class Main {
public static void main(String[] args) throws InvalidIDException, InterruptedException, IOException, Parser.Exception {
public class Main {
public static void main(String[] args) throws Exception {
/*
// Display help if no arguments or `--help` is passed
if (args.length == 0 || Arrays.asList(args).contains("--help")) {
printUsage();
return;
}
// Parse arguments with clear flags
boolean flagInhibitor = Boolean.parseBoolean(getArgumentValue(args, "--inhibitor", "false"));
boolean flagSignal = Boolean.parseBoolean(getArgumentValue(args, "--signal", "false"));
......@@ -36,6 +40,8 @@ public class Main {
// String configPath = getArgumentValue(args, "--config", null);
String pnmlPath = getArgumentValue(args, "--pnml", null);
System.out.println("pnmlPath: " + pnmlPath);
//String pnml = getArgumentValue(args, "--pnml", null)
// Validate required arguments
if (pnmlPath == null) {
......@@ -57,12 +63,12 @@ public class Main {
// Application logic here (replace this with your actual logic)
System.out.println("Application started successfully.");
*/
boolean flagOutArcs = false;
boolean flagNoSignal = false;
doFlattening(pnmlPath, flagInhibitor, flagSignal, flagPurge, flagOverrideInstanceCount, flagOutArcs, flagNoSignal, tinaPath, tinaVersion);
// doFlattening("", "/home/sebastian/git/sesac-exercise/tools/model-top.pnml", false, false, false, false, false, false, null);
//doFlattening(pnmlPath, flagInhibitor, flagSignal, flagPurge, flagOverrideInstanceCount, flagOutArcs, flagNoSignal, tinaPath, tinaVersion);
doFlattening("/home/dome/MA/dineros_v2/dineros/pnml-relast-tools/pnml-relast-flattener/src/main/resources/system.pnml", false, false, false, false, false, false, null, null);
}
......@@ -91,65 +97,439 @@ public class Main {
System.out.println(" --help Show this help message and exit");
}
private static PetriNet findStaticPetriNet(String petriNetName) throws Exception {
String resourcePath = "/static_pages/" + petriNetName + ".pnml";
PetriNet petriNet;
try (InputStream pageStream = Main.class.getResourceAsStream(resourcePath)) {
if (pageStream == null) {
throw new FileNotFoundException("PNML-File in /resource path not found: " + resourcePath);
}
// Temporäre Datei anlegen
File tempFile = File.createTempFile(petriNetName, ".pnml");
tempFile.deleteOnExit();
// Inhalt von InputStream in temporäre Datei schreiben
try (FileOutputStream out = new FileOutputStream(tempFile)) {
pageStream.transferTo(out);
}
// parse staticPage PNML and get first and only <page> element
petriNet = PnmlParser.parsePnml(tempFile.getAbsolutePath(), true).get(0);
}
if (petriNet.getNumPage() == 0) {
throw new IllegalArgumentException("No Page in file: " + resourcePath);
}
return petriNet;
}
private static void addDefaultToolInfoToPage(Page page) {
ToolInfo info = new ToolInfo();
info.setTool("de.tudresden.inf.st.pnml.distributedPN");
info.setVersion("0.1");
//info.setFormattedXMLBuffer("<type>page</type>");
page.addToolspecific(info);
}
public static void ensureToolInfos(PetriNet net) {
for (Place p : net.allPlaces()) {
ToolInfo ti = (p.getNumToolspecific() > 0) ? p.getToolspecific(0) : null;
if (ti == null) {
System.out.println("[WARN] Place ohne (gültige) ToolInfo: " + p.getId());
ti = new ToolInfo();
ti.setTool("de.tudresden.inf.st.pnml.distributedPN");
ti.setVersion("0.1");
//ti.setFormattedXMLBuffer("<type>place</type>");
p.addToolspecific(ti);
}
}
for (Page pg : net.allPages()) {
ToolInfo ti = (pg.getNumToolspecific() > 0) ? pg.getToolspecific(0) : null;
if (ti == null) {
System.out.println("[WARN] Page ohne (gültige) ToolInfo: " + pg.getId());
ti = new ToolInfo();
ti.setTool("de.tudresden.inf.st.pnml.distributedPN");
ti.setVersion("0.1");
//ti.setFormattedXMLBuffer("<type>page</type>");
pg.addToolspecific(ti);
}
}
for (Transition t : net.allTransitions()) {
ToolInfo ti = (t.getNumToolspecific() > 0) ? t.getToolspecific(0) : null;
if (ti == null) {
System.out.println("[WARN] Transition ohne (gültige) ToolInfo: " + t.getId());
ti = new ToolInfo();
ti.setTool("de.tudresden.inf.st.pnml.distributedPN");
ti.setVersion("0.1");
//ti.setFormattedXMLBuffer("<type>transition</type>");
t.addToolspecific(ti);
}
}
}
private static Page create_sensordata_page(String robotAlias) throws Exception {
Page sensordataCollectionPage = new Page();
sensordataCollectionPage.setId("sensordata_collection");
addDefaultToolInfoToPage(sensordataCollectionPage);
InputStream configStream = Main.class.getResourceAsStream("/config.json");
List<Map<String, String>> sensorList = new ArrayList<>();
//boolean handoverPossible = false;
//boolean allowInterruptions = false;
try {
ObjectMapper objectMapper = new ObjectMapper();
JsonNode config = objectMapper.readTree(configStream);
if (config == null || !config.has("robots")) {
System.out.println("Config oder robots nicht gefunden.");
return sensordataCollectionPage;
}
JsonNode robots = config.get("robots");
for (JsonNode robot : robots) {
JsonNode nameNode = robot.get("name");
if (nameNode != null && nameNode.asText().equalsIgnoreCase(robotAlias)) {
JsonNode sensors = robot.get("sensors");
if (sensors != null && sensors.isArray()) {
for (JsonNode sensor : sensors) {
Map<String, String> sensorMap = new HashMap<>();
sensorMap.put("name", sensor.get("name").asText());
sensorMap.put("kind", sensor.get("kind").asText());
sensorList.add(sensorMap);
}
}
//handoverPossible = robot.path("handoverPossible").asBoolean(false);
//allowInterruptions = robot.path("allowInterruptions").asBoolean(false);
break; // found robot
}
}
} catch (IOException e) {
System.err.println("Error reading config.json: " + e.getMessage());
return sensordataCollectionPage;
}
// create dummy-petrinet and add sensordata_collection page
PetriNet dummyNet = new PetriNet();
dummyNet.addPage(sensordataCollectionPage);
dummyNet.flushTreeCache();
// custom places
for (Map<String, String> sensor : sensorList) {
String name = sensor.get("name");
Place place = new Place();
place.setId("p_" + name + "_" + robotAlias);
place.setName(new Name().setText(name + "_" + robotAlias));
sensordataCollectionPage.addObject(place);
}
// transitions
ToolInfo info = new ToolInfo();
info.setTool("de.tudresden.inf.st.pnml.distributedPN");
info.setVersion("0.1");
Transition t_read_sensordata = new Transition().setId("t_read_sensordata").setName(new Name().setText("t_read_sensordata")).addToolspecific(info);
Transition t_no_cam = new Transition().setId("t_no_cam").setName(new Name().setText("t_no_cam")).addToolspecific(info);
Transition t_no_tf = new Transition().setId("t_no_tf").setName(new Name().setText("t_no_tf")).addToolspecific(info);
sensordataCollectionPage.addObject(t_read_sensordata);
sensordataCollectionPage.addObject(t_no_cam);
sensordataCollectionPage.addObject(t_no_tf);
// custom arcs
for (Map<String, String> sensor : sensorList) {
String sensorName = sensor.get("name");
String sensorKind = sensor.get("kind");
Place arcStart = sensordataCollectionPage.petriNet().getPlaceById("p_" + sensorName + "_" + robotAlias);
Arc arc = new Arc();
arc.setId("a_" + sensorName + "_to_read");
arc.setSource(arcStart);
arc.setTarget(t_read_sensordata);
sensordataCollectionPage.addObject(arc);
if (sensorKind.equals("camera")) {
TransformationUtils.createAndIncludeInhibitorArc(sensordataCollectionPage, sensorName + "_to_no_cam", arcStart, t_no_cam);
} else {
Arc arc2 = new Arc();
arc2.setId("a_" + sensorName + "_to_no_cam");
arc2.setSource(arcStart);
arc2.setTarget(t_no_cam);
sensordataCollectionPage.addObject(arc2);
}
if (sensorKind.equals("tf")) {
TransformationUtils.createAndIncludeInhibitorArc(sensordataCollectionPage, sensorName + "_to_no_tf", arcStart, t_no_tf);
} else {
Arc arc3 = new Arc();
arc3.setId("a_" + sensorName + "_to_no_tf");
arc3.setSource(arcStart);
arc3.setTarget(t_no_tf);
sensordataCollectionPage.addObject(arc3);
}
}
// standard places
ToolInfo toolInfo = new ToolInfo();
toolInfo.setTool("de.tudresden.inf.st.pnml.distributedPN");
toolInfo.setVersion("0.1");
//toolInfo.setFormattedXMLBuffer("<type>place</type>");
Place p_read = new Place().setId("p_read_sensordata").setName(new Name().setText("p_read_sensordata")).addToolspecific(toolInfo);;
Place p_no_cam = new Place().setId("p_no_cam").setName(new Name().setText("p_no_cam")).addToolspecific(toolInfo);;
Place p_no_tf = new Place().setId("p_no_tf").setName(new Name().setText("p_no_tf")).addToolspecific(toolInfo);;
sensordataCollectionPage.addObject(p_read);
sensordataCollectionPage.addObject(p_no_cam);
sensordataCollectionPage.addObject(p_no_tf);
// standard arcs
// arcs to read_sensordata
for (Transition t : sensordataCollectionPage.petriNet().allTransitions()) {
Arc arc = new Arc();
arc.setId("arc_" + t.getId() + "_to_p_read");
arc.setSource(t);
arc.setTarget(p_read);
sensordataCollectionPage.addObject(arc);
}
// arcs to no_cam / no_tf
Arc arcNoCam = new Arc().setId("arc_t_no_cam_to_p_no_cam").setSource(t_no_cam).setTarget(p_no_cam);
Arc arcNoTf = new Arc().setId("arc_t_no_tf_to_p_no_tf").setSource(t_no_tf).setTarget(p_no_tf);
sensordataCollectionPage.addObject(arcNoCam);
sensordataCollectionPage.addObject(arcNoTf);
/*
// define publishing ports
TopicTransitionInformation sti = new TopicTransitionInformation();
//dinerosTransition.setMutableTransitionInformation(sti);
dinerosTransition.setMutableTransitionInformation(sti);
publishPort.setId("pub_read_sensordata");
publishPort.setName(new Name().setText(publishPort.getId()));
portType.setText("publisher");
publishPort.setType(portType);
publishPort.setId("pub_no_cam");
publishPort.setName(new Name().setText("pub_no_cam"));
portType.setText("publisher");
publishPort.setType(portType);
publishPort.setId("pub_no_tf");
publishPort.setName(new Name().setText("pub_no_tf"));
portType.setText("publisher");
publishPort.setType(portType);
*/
// flush
//petriNet.addPage(sensordataCollectionPage);
//petriNet.flushTreeCache();
//petriNet.flushAttrAndCollectionCache();
return sensordataCollectionPage;
}
/*
private void rerouteArcs(Place refPlace, Place originalPlace) {
// Eingehende Arcs (auf refPlace): Ziel umleiten auf originalPlace
for (Arc arc : new ArrayList<>(refPlace.getInArcs())) {
arc.setTarget(originalPlace);
System.out.println(" → Incoming Arc umgeleitet: " + arc.getId());
}
// Ausgehende Arcs (von refPlace): Quelle umleiten auf originalPlace
for (Arc arc : new ArrayList<>(refPlace.getOutArcs())) {
arc.setSource(originalPlace);
System.out.println(" → Outgoing Arc umgeleitet: " + arc.getId());
}
}
public void inlineSubpagesToController(Page blockPage) {
// Finde alle Subpages (alle außer controller selbst)
List<Page> subpages = allPages.stream()
.filter(p -> !p.getId().equals(controllerPage.getId()))
.collect(Collectors.toList());
// check subpages
if (subpages.isEmpty()) {
System.out.println("[INFO] Controller enthält keine Subpages – keine Aktion notwendig.");
return;
}
// check for "_ref-Place"
boolean hasRefPlaces = subpages.stream()
.flatMap(p -> p.getPlaces().stream())
.anyMatch(place -> place.getId().endsWith("_ref"));
if (!hasRefPlaces) {
System.out.println("[INFO] Keine _ref-Places gefunden – keine Umleitungen notwendig.");
return;
}
// resolve static/dynamic subpages to blockpages
System.out.println("[INFO] Inlining der Subpages in die Controller-Page gestartet…");
for (Page subpage : subpages) {
System.out.println("→ Subpage: " + subpage.getId());
// PLACES
for (Place place : new ArrayList<>(subpage.getPlaces())) {
if (place.getId().endsWith("_ref")) {
String targetId = place.getId().replace("_ref", "");
Place target = blockPage.getPlaceById(targetId);
if (target != null) {
rerouteArcs(place, target);
subpage.removePlace(place);
System.out.println(" - _ref-Place entfernt: " + place.getId() + " → umgeleitet zu: " + target.getId());
} else {
System.err.println(" [WARNUNG] Kein Ziel für _ref-Place gefunden: " + place.getId());
}
} else {
controllerPage.addPlace(place);
subpage.removePlace(place);
System.out.println(" + Place übernommen: " + place.getId());
}
}
// TRANSITIONS
for (Transition transition : new ArrayList<>(subpage.getTransitions())) {
blockPage.addTransition(transition);
subpage.removeTransition(transition);
System.out.println(" + Transition übernommen: " + transition.getId());
}
// ARCS
for (Arc arc : new ArrayList<>(subpage.getArcs())) {
blockPage.addArc(arc);
subpage.removeArc(arc);
System.out.println(" + Arc übernommen: " + arc.getId());
}
// Subpage entfernen
blockPage.removePage(subpage);
System.out.println("✓ Subpage gelöscht: " + subpage.getId());
}
System.out.println("[INFO] Inlining abgeschlossen.");
} //*/
private static void doFlattening(String pnmlPath, boolean flagInhibitor,
boolean flagSignal, boolean flagPurge, boolean flagOverrideInstanceCount,
boolean flagOutArcs, boolean flagNoSignal, String tinaPath, String tinaVersion)
throws InvalidIDException, IOException, InterruptedException, Parser.Exception {
throws Exception {
if (pnmlPath == null) {
System.out.println("[ERROR] No model found on given input path.");
return;
}
// if (configPath == null || configPath.isEmpty()) {
// System.out.println("[WARNING] No config path configured, no model checking will be executed.");
// }
// parse the global not flatted petri net
PetriNet petriNet = PnmlParser.parsePnml(pnmlPath, true).get(0);
Map<String, Integer> bounds = null;
if (flagPurge) {
bounds = TransformationUtils.getPlaceToBoundMapping
(pnmlPath, petriNet, TransformationUtils.getSourceNodePages(petriNet), tinaPath, tinaVersion);
}
// [STAGE 1] Resolve service prototype pages
ServiceGraph serviceGraph = new ServiceGraph();
serviceGraph.init(petriNet);
Map<String, PnObject> addedInstanceObjects = new HashMap<>();
TransformationUtils.transformPrototypePagesRecursive(petriNet.getPage(0), null,
petriNet, serviceGraph, addedInstanceObjects, flagOverrideInstanceCount);
petriNet.flushAttrAndCollectionCache();
/////////////////////// STAGES ///////////////////////
// Paths
InputStream topologyStream = Main.class.getResourceAsStream("/collaboration_system_topology.json");
InputStream configStream = Main.class.getResourceAsStream("/config.json");
try {
ObjectMapper mapper = new ObjectMapper();
JsonNode system = mapper.readTree(topologyStream);
JsonNode config = mapper.readTree(configStream);
// read all pages from coordinator or roboter module
JsonNode modules = system.get("modules");
if (modules == null) { System.err.println("No modules defined in collaboration_system_topology.json"); return;}
JsonNode blocks = system.get("blocks");
if (blocks == null) { System.err.println("No blocks defined in collaboration_system_topology.json"); return;}
// [STAGE ] Create all blocks
// define top level page 'collaboration_system' from the template
Page systemPage = petriNet.getPage(0);
addDefaultToolInfoToPage(systemPage);
// iterate all modules objects (coordinator, robotX)
for (JsonNode module : modules) {
// parse module object and find key (f.e. "coordinator")
Iterator<String> moduleNames = module.fieldNames();
while (moduleNames.hasNext()) {
String moduleName = moduleNames.next();
Page modulePage = new Page().setId(moduleName);
addDefaultToolInfoToPage(modulePage);
JsonNode blockList = module.get(moduleName);
for (JsonNode blockEntry : blockList) {
String blockName = blockEntry.get("block").asText(); // f.e. "environment", "actor", etc.
Page blockPage = new Page().setId(blockName);
addDefaultToolInfoToPage(blockPage);
// find the matching block in blockList f.e. "environment"
for (JsonNode block : blocks) {
if (block.has(blockName)) {
JsonNode pages = block.get(blockName);
for (JsonNode pageEntry : pages) {
JsonNode page = pageEntry.get("page");
if (page != null && !page.asText().isEmpty()) {
PetriNet staticPetriNet = findStaticPetriNet(page.asText());
Page staticPage = staticPetriNet.getPage(0);
//Page staticPage = new Page().setId(page.asText());
// add toolspecifics from staticPage
System.out.println("staticPageID: " + staticPage.getId());
System.out.println("staticPageNum: " + staticPetriNet.getNumPage());
//ToolInfo info = staticPage.getToolspecific(0);
//System.out.println("staticPageToolInfoREF: " + info);
//System.out.println("staticPageToolInfo: " + info.getFormattedXMLBuffer());
if (staticPetriNet.getNumToolspecific() > 0) {
ToolInfo i = staticPetriNet.getToolspecific(0);
staticPage.addToolspecific(i);
}
blockPage.addObject(staticPage);
staticPetriNet.flushTreeCache();
}
}
// add dynamic read_sensordata-page in perceiver-block
/*
System.out.println("HIER WÄRE DAS EINFÜGEN MÖGLICH: " + blockName);
if (blockName.equals("perceiver")) {
System.out.println("ADDING sensordata_collection page for robot: " + blockName);
Page dynamicPage = create_sensordata_page("robo1");
blockPage.addObject(dynamicPage);
}
System.out.println();LeftCellObjectsTopicTransition
//*/
//if (blockName.equals("roboter")) {
// [STAGE 2] Transform topic transitions
for (DinerosTransition dt : petriNet.allDinerosTransitions()) {
if (dt.canTransformTopicTransition()) {
Page topicTransformedPage = dt.transformTopicElement(bounds, flagInhibitor, flagPurge);
for (int i = 0; i < dt.ContainingPage().getNumObject(); i++) {
if (dt.ContainingPage().getObject(i).getId().equals(dt.getId())) {
dt.ContainingPage().setObject(topicTransformedPage, i);
}
//}
}
petriNet.flushTreeCache();
}
modulePage.addObject(blockPage);
}
petriNet.flushTreeCache();
// [STAGE 3] Transform service transitions
for (DinerosTransition dt : petriNet.allDinerosTransitions()) {
if (dt.canTransformServiceTransition()) {
Page serviceTransformedPage = dt.transformServiceElement(addedInstanceObjects);
for (int i = 0; i < dt.ContainingPage().getNumObject(); i++) {
if (dt.ContainingPage().getObject(i).getId().equals(dt.getId())) {
dt.ContainingPage().setObject(serviceTransformedPage, i);
systemPage.addObject(modulePage);
systemPage.flushTreeCache();
}
}
petriNet.flushTreeCache();
}
catch (Exception e) {
System.err.println("Error while reading collaboration_system_topology.json: " + e.getMessage());
}
// [STAGE C] Create as many sensor blocks as sensor entries of all robots together
/*
if (!flagNoSignal) {
// [STAGE 4] Transform signals
Page signalValuePage = new Page();
......@@ -167,7 +547,9 @@ public class Main {
petriNet.flushTreeCache();
}
//*/
/*
// [STAGE 5] make sure that we have a valid marking
System.out.println("[FLATTENER] Checking marking.");
for (Place p : petriNet.allPlaces()) {
......@@ -187,6 +569,41 @@ public class Main {
break;
}
}
*/
// debugging and repais: check if all places got toolspecifics
for (Place p : petriNet.allPlaces()) {
if (p.getNumToolspecific() == 0 || p.getToolspecific(0) == null) {
System.out.println("[WARN] Place ohne ToolInfo: " + p.getId());
// repair
ToolInfo ti = new ToolInfo();
ti.setTool("de.tudresden.inf.st.pnml.distributedPN");
ti.setVersion("0.1");
//ti.setFormattedXMLBuffer("<type>place</type>");
p.addToolspecific(ti);
}
}
// debugging and repair: check if all pages got toolspecifics
for (Page pg : petriNet.allPages()) {
if (pg.getNumToolspecific() == 0 || pg.getToolspecific(0) == null) {
System.out.println("[WARN] Page ohne ToolInfo: " + pg.getId());
addDefaultToolInfoToPage(pg);
}
}
// debugging and repair: check if all transitions got toolspecifics
for (Transition t : petriNet.allTransitions()) {
if (t.getNumToolspecific() == 0 || t.getToolspecific(0) == null) {
System.out.println("[WARN] Transition ohne ToolInfo: " + t.getId());
// repair
ToolInfo ti = new ToolInfo();
ti.setTool("de.tudresden.inf.st.pnml.distributedPN");
ti.setVersion("0.1");
//ti.setFormattedXMLBuffer("<type>transition</type>");
t.addToolspecific(ti);
}
}
// [STAGE 7] Postprocessing
System.out.println("[FLATTENER] Running postprocessing.");
......@@ -196,6 +613,7 @@ public class Main {
petriNet.flushTreeCache();
}
ensureToolInfos(petriNet);
printNet(petriNet, false, false);
// [STAGE 8] export flatted net to pnml
......@@ -219,35 +637,6 @@ public class Main {
ndrioProxy.pnml2net(pnmlExportPath, ndrioTargetPath, tinaPath, tinaVersion);
ndrioProxy.includeInhibitorArcs(petriNet, ndrioTargetPath, inhibitorTargetPath);
// [STAGE 9] Analyze
// read config for analyzer from file
/* if (configPath != null && !configPath.isEmpty() && !configPath.equals("-nc")) {
ConfigReader cr = new ConfigReader(configPath);
String[] tinaConfig = cr.getTinaConfigParams();
String[] siftConfig = cr.getSiftConfigParams();
// insert into tina
if (tinaConfig.length > 1) {
System.out.println("[FLATTENER] Inserting into tina.");
TinaProxy tinaProxy = new TinaProxy();
String tinaTargetPath = homeDirectory + "/temp/tina/" + "tina-result-" + exportId + ".txt";
tinaProxy.analyzePetriNet(inhibitorTargetPath, tinaTargetPath, tinaConfig);
}
// insert into sift
if (siftConfig.length > 1) {
System.out.println("[FLATTENER] Inserting into sift.");
SiftProxy siftProxy = new SiftProxy();
String siftTargetPath = homeDirectory + "/temp/sift/" + "sift-result-" + exportId + ".ktz";
siftProxy.analyzePetriNet(inhibitorTargetPath, siftTargetPath, siftConfig);
System.out.println("[FLATTENER] Converting with ktzio.");
KtzioProxy ktzioProxy = new KtzioProxy();
String ktzioPath = homeDirectory + "/temp/sift/" + "sift-result-converted-" + exportId + ".txt";
ktzioProxy.convertBinaryToText(siftTargetPath, ktzioPath);
}
}*/
System.out.println("[FLATTENER] Finished.");
}
......@@ -257,6 +646,7 @@ public class Main {
System.out.println("----------------- PLACES ----------------");
for (Place p : petriNet.allPlaces()) {
System.out.println("Place " + p.asDinerosPlace().getId());
System.out.println("Place " + p.asDinerosPlace().getId() + " -- " + p.asDinerosPlace().getStaticPlaceInformation().getSubNet());
if (p.getInitialMarking() != null) {
System.out.println("--- Marking: " + p.getInitialMarking().getText());
......
src/main/resources/collaboration_system_topology.json 0 → 100644
+ 78
− 0
View file @ 8e98c6eb
{
"modules" : [
{
"coordinator": [
{ "block": "environment" },
{ "block": "reflexes"},
{ "block": "collision_control"}
]
},
{
"roboter": [
{ "block": "perceiver"},
{ "block": "selector"},
{ "block": "actor"},
{ "block": "executor"},
{ "block": "controller"}
]
}
],
"blocks" : [
{
"environment": [
{"page": "analyse_scene"},
{"page": "determine_hazards"}
]
},
{
"reflexes": [
{"page": "extract_reflexzones"},
{"page": "create_reflexes"}
]
},
{
"collisioncontrol": [
{"page": "collision_control"}
]
},
{
"perceiver": []
},
{
"selector": [
{"page": "get_task"}
]
},
{
"actor": [
{"page": "simple_action"},
{"page": "handover_receiver"},
{"page": "handover_giver"},
{"page": "action_categorization"}
]
},
{
"executor": [
{"page": "new_action"},
{"page": "create_trajectory"},
{"page": "allow_trajectory"}
]
},
{
"controller": [
{"page": "interruption_request"},
{"page": "update_taskqueue"},
{"page": "task_safety"},
{"page": "interruption_safety"}
]
}
]
}
src/main/resources/config.json 0 → 100644
+ 21
− 0
View file @ 8e98c6eb
{
"robots": [
{
"name": "robot1",
"sensors": [
{ "name": "cam1", "kind": "camera"},
{ "name": "mic1", "kind": "microphone" }
],
"handoverPossible": true,
"allowInterruptions": true
},
{
"name": "robot2",
"sensors": [
{ "name": "cam2", "kind": "camera"}
],
"handoverPossible": true,
"allowInterruptions": true
}
]
}
\ No newline at end of file
src/main/resources/coordinator.pnml 0 → 100644
+ 3037
− 0
View file @ 8e98c6eb
This diff is collapsed.
src/main/resources/static_pages/action_categorization.pnml 0 → 100644
+ 127
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific>
<page id="action_categorization">
<name>
<text>Aufgabenstellung kathegorisieren</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_action_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "id" : "actionID", "data" : "actiondescription" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Tätigkeit</text>
</name>
</place>
<place id="p_simple_action_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "id" : "actionID", "data" : "actiondescription" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>einfache Tätigkeit</text>
</name>
</place>
<place id="p_demand_handover_intention_receiver_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "id" : "actionID", "data" : "actiondescription" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>HO Intension fordern</text>
</name>
</place>
<place id="p_communicate_handover_intention_giver_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "id" : "actionID", "data" : "actiondescription" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>HO Intension kommunizieren</text>
</name>
</place>
<!-- transitions -->
<transition id="t_simple_action_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>einfache Tätigkeit</text>
</name>
</transition>
<transition id="t_handover_giver_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Handover Geber</text>
</name>
</transition>
<transition id="t_handover_receiver_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Handover Nehmer</text>
</name>
</transition>
<!-- arcs -->
<arc id="tc1_alias" source="p_action_alias" target="t_simple_action_alias">
</arc>
<arc id="tc2_alias" source="p_action_alias" target="t_handover_giver_alias">
</arc>
<arc id="tc3_alias" source="p_action_alias" target="t_handover_receiver_alias">
</arc>
<arc id="tc4_alias" source="t_simple_action_alias" target="p_simple_action_alias">
</arc>
<arc id="tc5_alias" source="t_handover_giver_alias" target="p_communicate_handover_intention_giver_alias">
</arc>
<arc id="tc6_alias" source="t_handover_receiver_alias" target="p_demand_handover_intention_receiver_alias">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/allow_trajectory.pnml 0 → 100644
+ 83
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific>
<page id="allow_trajectory">
<name>
<text>Trajektorienfreigabe</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_trajectory_alias_ref">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date" , "trajectory" : "path" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Trajektorie</text>
</name>
</place>
<place id="p_trajectory_execution_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date" , "trajectory" : "path" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Trajektorien Ausführung</text>
</name>
</place>
<place id="p_allow_trajectory_execution_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date" , "trajectory" : "path" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>no_cam or no_ft</text>
</name>
</place>
<!--transitions-->
<transition id="t_allow_trajectory_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Freigabe</text>
</name>
</transition>
<!-- arcs -->
<arc id="at1_alias" source="p_trajectory_alias_ref" target="t_allow_trajectory_alias">
</arc>
<arc id="at2_alias" source="t_allow_trajectory_alias" target="p_trajectory_execution_alias">
</arc>
<arc id="at3_alias" source="p_allow_trajectory_execution_alias" target="t_allow_trajectory_alias">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/analyse_scene.pnml 0 → 100644
+ 67
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific>
<page id="analyse_scene">
<name>
<text>Szene auswerten</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_sensordata_captured">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<node>nodeA</node>
<subnet>locA</subnet>
<balloonMarking>
<tokens>
<token> { "id" : "xxx", "data" : "image" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>1</text>
</initialMarking>
<name>
<text>Bilddaten erfassen</text>
</name>
</place>
<place id="p_objects_captured">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<node>nodeA</node>
<subnet>locA</subnet>
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "data" : "objects", "location" : "xyz" , "contour" : "faces" , "function" : "xxx" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>1</text>
</initialMarking>
<name>
<text>Objekte erfasst</text>
</name>
</place>
<!--transitions-->
<transition id="t_identify_objects">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Objekte identifizieren</text>
</name>
</transition>
<!-- arcs -->
<arc id="as1" source="p_sensordata_captured" target="t_identify_objects">
</arc>
<arc id="as2" source="t_identify_objects" target="p_objects_captured">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/collision_control.pnml 0 → 100644
+ 162
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
<page id="collision_control">
<name>
<text>Kollisionskontrolle</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_hazardzones">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Gefahrenbereiche</text>
</name>
</place>
<place id="p_virtual_trajectory">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "status" : "xxx", "trajectory" : "path" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>virtuelle Trajektorie</text>
</name>
</place>
<place id="p_trajectory_suggestion">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Trajektorienvorschlag</text>
</name>
</place>
<place id="p_freedom_of_collision">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Kollisionsfreiheit</text>
</name>
</place>
<place id="p_risk_of_collision">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "reflex" : "trajectory" , "placeOfCollision" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Kollisionsgefahr</text>
</name>
</place>
<!--transitions-->
<transition id="t_check_collision">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Kollsion überprüfen</text>
</name>
</transition>
<transition id="t_incomplete_data">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>unzureichende Datenlage</text>
</name>
</transition>
<transition id="t_collision_freedom">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Kollisionsfreiheit</text>
</name>
</transition>
<transition id="t_collision_risk">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Kollisionsgefahr</text>
</name>
</transition>
<!-- arcs -->
<arc id="cc1" source="p_hazardzones" target="t_check_collision">
</arc>
<arc id="cc2" source="p_hazardzones" target="t_incomplete_data">
</arc>
<arc id="cc3" source="p_trajectory_suggestion" target="t_check_collision">
</arc>
<arc id="cc4" source="t_check_collision" target="p_virtual_trajectory">
</arc>
<arc id="cc5" source="p_virtual_trajectory" target="t_collision_freedom">
</arc>
<arc id="cc6" source="p_virtual_trajectory" target="t_collision_risk">
</arc>
<arc id="cc7" source="t_collision_risk" target="p_risk_of_collision">
</arc>
<arc id="cc8" source="t_incomplete_data" target="p_risk_of_collision">
</arc>
<arc id="cc9" source="t_collision_freedom" target="p_freedom_of_collision">
</arc>
</page>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/create_reflexes.pnml 0 → 100644
+ 130
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific>
<page id="create_reflexes">
<name>
<text>Reflexe erstellen</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_reflexzones_ref">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "location" : "x y z", "area" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Reflexzonen</text>
</name>
</place>
<place id="p_trajectory_suggestion">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Trajektorienvorschlag</text>
</name>
</place>
<place id="p_reflex_suggestion_accepted">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Reflexvorschlag akzeptiert</text>
</name>
</place>
<place id="p_risk_of_collision">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" , "placeOfCollision" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Kollisionsgefahr</text>
</name>
</place>
<place id="p_freedom_of_collision">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Kollisionsfreiheit</text>
</name>
</place>
<!--transitions-->
<transition id="t_create_reflex_suggestion">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Reflexvorschlag erstellen</text>
</name>
</transition>
<transition id="t_accept_reflex_suggestion">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Reflexvorschlag annehmen</text>
</name>
</transition>
<!-- arcs -->
<arc id="cr1" source="p_reflexzones_ref" target="t_create_reflex_suggestion">
</arc>
<arc id="cr2" source="t_create_reflex_suggestion" target="p_trajectory_suggestion">
</arc>
<arc id="cr3" source="t_accept_reflex_suggestion" target="p_reflex_suggestion_accepted">
</arc>
<arc id="cr4" source="p_risk_of_collision" target="t_create_reflex_suggestion">
</arc>
<arc id="cr5" source="p_freedom_of_collision" target="t_accept_reflex_suggestion">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/create_trajectory.pnml 0 → 100644
+ 161
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific>
<page id="create_trajectory">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_trajectory_request_ref">
<name>
<text>Trajektorie erstellen</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "robot_id" : "id" , "data" : "taskdescription" , "trajectory_goal" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Trajektorienanfrage Referenz</text>
</name>
</place>
<place id="p_hazardzones">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Gefahrenbereiche</text>
</name>
</place>
<place id="p_freedom_of_collision">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Kollisionsfreiheit</text>
</name>
</place>
<place id="p_risk_of_collision">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "reflex" , "placeOfCollision" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Kollisionsgefahr</text>
</name>
</place>
<place id="p_trajectory_suggestion">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "path" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Trajektorienvorschlag</text>
</name>
</place>
<place id="p_trajectory">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "robot_id" : "id" , "trajectory" : "path" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Trajektorie</text>
</name>
</place>
<!--transitions-->
<transition id="t_create_trajectory">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Trajektorie erstellen</text>
</name>
</transition>
<transition id="t_collision_freedom">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Feststellung Kollisionsfreiheit</text>
</name>
</transition>
<transition id="t_collision_risk">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Feststellung Kollisionsgefahr</text>
</name>
</transition>
<!-- arcs -->
<arc id="pt_trajectory_request" source="p_trajectory_request_ref" target="t_create_trajectory">
</arc>
<arc id="pt_hazardzones" source="p_hazardzones" target="t_create_trajectory">
</arc>
<arc id="tp_create_trajectory" source="t_create_trajectory" target="p_trajectory_suggestion">
</arc>
<arc id="pt_freedom_of_collision" source="p_freedom_of_collision" target="t_collision_freedom">
</arc>
<arc id="pt_risk_of_collision" source="p_risk_of_collision" target="t_collision_risk">
</arc>
<arc id="tp_collision_freedom" source="t_collision_freedom" target="p_trajectory">
</arc>
<arc id="tp_collision_risk" source="t_collision_risk" target="p_trajectory_request_ref">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/determine_hazards.pnml 0 → 100644
+ 114
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific>
<page id="determine_hazards">
<name>
<text>Gefahrenbereiche ermitteln</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_objects_captured_ref">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "data" : "objects", "location" : "xyz" , "contour" : "faces" , "function" : "xxx" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Objekte erfasst</text>
</name>
</place>
<place id="p_hazards_identified">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "kind" : "xxx", "location" : "xyz" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>pot. Gefahren ermittelt</text>
</name>
</place>
<place id="p_hazard_status">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "status" : "xxx" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Gefahrenbereiche ermitteln</text>
</name>
</place>
<place id="p_hazard_zones">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Gefahrenbereiche</text>
</name>
</place>
<!--transitions-->
<transition id="t_analyse_hazards">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>pot. Gefahren analysieren</text>
</name>
</transition>
<transition id="t_determine_hazardzones">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Gefahrenbereiche ermitteln</text>
</name>
</transition>
<!-- arcs -->
<arc id="dh1" source="p_objects_captured_ref" target="t_analyse_hazards">
</arc>
<arc id="dh2" source="t_analyse_hazards" target="p_hazards_identified">
</arc>
<arc id="dh3" source="p_hazards_identified" target="t_determine_hazardzones">
</arc>
<arc id="dh4" source="t_determine_hazardzones" target="p_hazard_status">
</arc>
<arc id="dh5" source="t_determine_hazardzones" target="p_hazard_zones">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/extract_reflexzones.pnml 0 → 100644
+ 65
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="coordinator" type="http://www.pnml.org/version-2009/grammar/ptnet">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific>
<page id="extract_reflexzones">
<name>
<text>Reflexzonen erstellen</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_hazardzones">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "kind" : "xxx", "location" : "x y z", "area" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Gefahrenbereiche</text>
</name>
</place>
<place id="p_reflexzones">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "timestamp" : "date", "location" : "x y z", "area" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Reflexzonen</text>
</name>
</place>
<!--transitions-->
<transition id="t_determine_reflexzones">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Reflexzonen bestimmen</text>
</name>
</transition>
<!-- arcs -->
<arc id="er1" source="p_hazardzones" target="t_determine_reflexzones">
</arc>
<arc id="er2" source="t_determine_reflexzones" target="p_reflexzones">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/get_task.pnml 0 → 100644
+ 98
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific>
<page id="get_task">
<name>
<text>Aufgabenstellung erfassen</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_task_from_sensordata_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "id" : "taskID", "data" : "taskdescription" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Aufgabenstellung durch Sensordaten</text>
</name>
</place>
<place id="p_task_from_other_channels_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "id" : "taskID", "data" : "taskdescription" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>1</text>
</initialMarking>
<name>
<text>Aufgabenstellung aus anderen Kanälen</text>
</name>
</place>
<place id="p_task_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "id" : "taskID", "data" : "taskdescription" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Aufgabe</text>
</name>
</place>
<!-- transitions -->
<transition id="t_extract_task_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Aufgabenextraktion</text>
</name>
</transition>
<transition id="t_register_task_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Aufgabenerfassung</text>
</name>
</transition>
<!-- arcs -->
<arc id="gt1_alias" source="p_task_from_sensordata_alias" target="t_extract_task_alias">
</arc>
<arc id="gt2_alias" source="p_task_from_other_channels_alias" target="t_register_task_alias">
</arc>
<arc id="gt3_alias" source="t_extract_task_alias" target="p_task_alias">
</arc>
<arc id="gt4_alias" source="t_register_task_alias" target="p_task_alias">
</arc>
<arc id="gt5_alias" source="t_register_task_alias" target="p_task_from_other_channels_alias">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/handover_giver.pnml 0 → 100644
+ 566
− 0
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src/main/resources/static_pages/handover_receiver.pnml 0 → 100644
+ 566
− 0
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src/main/resources/static_pages/interruption_request.pnml 0 → 100644
+ 235
− 0
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src/main/resources/static_pages/interruption_safety.pnml 0 → 100644
+ 95
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific><page id="interruption_safety">
<name>
<text>Unterbrechbarkeitsbewertung der aktuellen Aufgabe</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_safety_evaluation_alias_ref">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Sicherheitsbewertung</text>
</name>
</place>
<place id="p_task_uninterruptable_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "robot_id" : "id" , "status" : "true" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Signal: Tätigkeit ununterbrechbar</text>
</name>
</place>
<place id="p_task_interruptable_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "robot_id" : "id" , "status" : "true" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Signal: Tätigkeit unterbrechbar</text>
</name>
</place>
<!--transitions-->
<transition id="t_uninterruptable_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Einstufung: Tätigkeit ununterbrechbar</text>
</name>
</transition>
<transition id="t_interruptable_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Einstufung: Tätigkeit unterbrechbar</text>
</name>
</transition>
<!-- arcs -->
<arc id="is1_alias" source="p_safety_evaluation_alias_ref" target="t_uninterruptable_alias">
</arc>
<arc id="is2_alias" source="p_safety_evaluation_alias_ref" target="t_interruptable_alias">
</arc>
<arc id="is3_alias" source="t_uninterruptable_alias" target="p_task_uninterruptable_alias">
</arc>
<arc id="is4_alias" source="t_interruptable_alias" target="p_task_interruptable_alias">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/new_action.pnml 0 → 100644
+ 64
− 0
View file @ 8e98c6eb
<?xml version="1.0" encoding="UTF-8"?>
<pnml xmlns="http://www.pnml.org/version-2009/grammar/pnml">
<net id="robot" type="http://www.pnml.org/version-2009/grammar/ptnet">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
</toolspecific><page id="new_task">
<name>
<text>neue Tätigkeit</text>
</name>
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<type>nodePage</type>
</toolspecific>
<!-- places -->
<place id="p_goal_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "robot_id" : "id" , "data" : "taskdescription" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Zielvorgabe</text>
</name>
</place>
<place id="p_trajectory_request_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<balloonMarking>
<tokens>
<token> { "robot_id" : "id" , "data" : "taskdescription" , "trajectory_goal" : "x y z" } </token>
</tokens>
</balloonMarking>
</toolspecific>
<initialMarking>
<text>0</text>
</initialMarking>
<name>
<text>Trajektorienanfrage</text>
</name>
</place>
<!--transitions-->
<transition id="t_request_trajectory_alias">
<toolspecific tool="de.tudresden.inf.st.pnml.distributedPN" version="0.1">
<!--node>n3</node-->
<!--subnet>s3</subnet-->
<type>discreteTransitionType</type>
<inputsignalclause></inputsignalclause>
</toolspecific>
<name>
<text>Trajektorie anfragen</text>
</name>
</transition>
<!-- arcs -->
<arc id="na1" source="p_goal_alias" target="t_request_trajectory_alias">
</arc>
<arc id="na2" source="t_request_trajectory_alias" target="p_trajectory_request_alias">
</arc>
</page>
</net>
</pnml>
\ No newline at end of file
src/main/resources/static_pages/simple_action.pnml 0 → 100644
+ 80
− 0
View file @ 8e98c6eb
This diff is collapsed.
src/main/resources/static_pages/task_safety.pnml 0 → 100644
+ 96
− 0
View file @ 8e98c6eb
This diff is collapsed.
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