From e990ce6ce1f50d5928b6984482b6cdcbc98d93c5 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Mon, 2 Dec 2024 16:30:11 +0100
Subject: [PATCH] coding solutions
---
.../de/tudresden/inf/st/sorting/Main.java | 9 ----
.../st/sorting/constants/TokenConstants.java | 2 +
.../inf/st/sorting/fake/FakeServerNode.java | 44 -------------------
.../sorting/handlers/ControlEndHandler.java | 18 +++++++-
.../inf/st/sorting/handlers/PickHandler.java | 4 ++
.../sorting/handlers/PickSuccessHandler.java | 17 +++++++
.../handlers/SensorDataProcessingHandler.java | 44 ++++++++++++++-----
.../sorting/handlers/ShowResultHandler.java | 5 +++
.../st/sorting/handlers/SortColorHandler.java | 30 +++++++++++++
.../inf/st/sorting/mqtt/MessageCallback.java | 7 +++
.../inf/st/sorting/mqtt/MessageListener.java | 37 ++++++++++++++++
.../src/main/resources/nets/SelectorNode.pnml | 9 ++--
12 files changed, 158 insertions(+), 68 deletions(-)
delete mode 100644 case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/fake/FakeServerNode.java
create mode 100644 case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/mqtt/MessageCallback.java
create mode 100644 case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/mqtt/MessageListener.java
diff --git a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/Main.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/Main.java
index f25ada3..d01d46c 100644
--- a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/Main.java
+++ b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/Main.java
@@ -1,9 +1,6 @@
package de.tudresden.inf.st.sorting;
-import de.tudresden.inf.st.sorting.fake.FakeServerNode;
-import org.ros.node.DefaultNodeMainExecutor;
import org.ros.node.NodeConfiguration;
-import org.ros.node.NodeMainExecutor;
import java.net.URI;
@@ -13,15 +10,9 @@ public class Main {
private static final String ROS_MASTER_URI = "http://localhost:11311";
private static final NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(ROS_HOST);
- private static final NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
public static void main(java.lang.String[] args) {
nodeConfiguration.setMasterUri(URI.create(ROS_MASTER_URI));
-
- // FAKE NODES FOR TESTING
- new Thread(() -> nodeMainExecutor.execute(new FakeServerNode("pickService", "PickServiceNode"), nodeConfiguration)) {{start();}};
- new Thread(() -> nodeMainExecutor.execute(new FakeServerNode("placeService", "PlaceServiceNode"), nodeConfiguration)) {{start();}};
-
}
}
diff --git a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/constants/TokenConstants.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/constants/TokenConstants.java
index 7be0979..c267821 100644
--- a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/constants/TokenConstants.java
+++ b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/constants/TokenConstants.java
@@ -10,5 +10,7 @@ public final class TokenConstants {
public static final String NAME = "name";
public static final String TRACE = "trace";
public static final String LOCKED = "locked";
+ public static final String ROBOT = "robot";
+ public static final String TIME_PICK = "pickTime";
}
diff --git a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/fake/FakeServerNode.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/fake/FakeServerNode.java
deleted file mode 100644
index c4308b0..0000000
--- a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/fake/FakeServerNode.java
+++ /dev/null
@@ -1,44 +0,0 @@
-package de.tudresden.inf.st.sorting.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 final String serviceName;
- private final String nodeName;
-
- public FakeServerNode(String serviceName, String nodeName) {
- this.serviceName = serviceName;
- this.nodeName = nodeName;
- }
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of(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/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/ControlEndHandler.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/ControlEndHandler.java
index c9f912c..f5d72ef 100644
--- a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/ControlEndHandler.java
+++ b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/ControlEndHandler.java
@@ -3,6 +3,8 @@ package de.tudresden.inf.st.sorting.handlers;
import de.tudresden.inf.st.pnml.engine.execution.TransitionHandler;
import de.tudresden.inf.st.sorting.constants.TokenConstants;
+import java.util.ArrayList;
+import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.function.Function;
@@ -20,7 +22,21 @@ public class ControlEndHandler extends TransitionHandler {
}
}
- return maps;
+ // TASK 1.2 START //
+ List<Map<String, Object>> out = new ArrayList<>();
+
+ for(Map<String, Object> m : maps) {
+ for (Map.Entry<String, Object> entry : m.entrySet()) {
+ if (entry.getKey().equals(TokenConstants.TRACE)) {
+ if(String.valueOf(entry.getValue()).endsWith("pickSuccess")){
+ out.add(m);
+ }
+ }
+ }
+ }
+
+ return out.isEmpty() ? maps : out;
+ // TASK 1.2 END //
};
public ControlEndHandler(int priority) {
diff --git a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/PickHandler.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/PickHandler.java
index a826857..f3a144a 100644
--- a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/PickHandler.java
+++ b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/PickHandler.java
@@ -28,6 +28,10 @@ public class PickHandler extends TransitionHandler {
m.replace(TokenConstants.TRACE, oldTrace + "-pickToSafety");
res.add(m);
}
+
+ // TASK 1.2 START //
+ m.replace(TokenConstants.TIME_PICK, Long.toString(System.currentTimeMillis()));
+ // TASK 1.3 END //
}
return res;
diff --git a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/PickSuccessHandler.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/PickSuccessHandler.java
index 3f246ec..f1f4df6 100644
--- a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/PickSuccessHandler.java
+++ b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/PickSuccessHandler.java
@@ -14,6 +14,23 @@ public class PickSuccessHandler extends TransitionHandler {
for (Map<String, Object> m : maps) {
m.replace(TokenConstants.PICK_SUCCESS, "success");
+
+
+ // TASK 1.2 START //
+ long l1 = Long.parseLong(m.get(TokenConstants.TIME_PICK).toString());
+ long l2 = System.currentTimeMillis();
+ long diff = l2 - l1;
+ m.replace(TokenConstants.TIME_PICK, String.valueOf(diff));
+
+ for (Map.Entry<String, Object> entry : m.entrySet()) {
+ if (entry.getKey().equals(TokenConstants.TRACE)) {
+ String oldTrace = String.valueOf(entry.getValue());
+ String newTrace = oldTrace + "-" + "pickSuccess";
+ m.replace(TokenConstants.TRACE, newTrace);
+ }
+ }
+
+ // TASK 1.3 END //
}
return maps;
diff --git a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/SensorDataProcessingHandler.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/SensorDataProcessingHandler.java
index 137f0e5..7ee7c31 100644
--- a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/SensorDataProcessingHandler.java
+++ b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/SensorDataProcessingHandler.java
@@ -4,14 +4,15 @@ import com.google.gson.Gson;
import com.google.gson.GsonBuilder;
import com.google.gson.reflect.TypeToken;
import de.tudresden.inf.st.pnml.engine.execution.TransitionHandler;
-import de.tudresden.inf.st.pnml.jastadd.model.PnmlParser;
import de.tudresden.inf.st.sorting.constants.TokenConstants;
+import de.tudresden.inf.st.sorting.mqtt.MessageListener;
-import java.io.IOException;
import java.lang.reflect.Type;
-import java.nio.file.Files;
import java.util.List;
import java.util.Map;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.concurrent.TimeUnit;
import java.util.function.Function;
public class SensorDataProcessingHandler extends TransitionHandler {
@@ -19,15 +20,35 @@ public class SensorDataProcessingHandler extends TransitionHandler {
final static Function<List<Map<String, Object>>, List<Map<String, Object>>> PROCESS_DATA_HANDLING_FUNCTION = maps -> {
System.out.println("Executing GET_DATA_HANDLING_FUNCTION.");
- try {
- Map<String, Object> fakeRes = parse(
- Files.readString(PnmlParser.toTempPath("/docs/FakeConfig.json")));
+ MessageListener listener = new MessageListener();
+ ExecutorService executor = Executors.newSingleThreadExecutor();
+ executor.submit(() -> {
+ listener.listen(message -> {
+ System.out.println("Received message: " + message);
+
+ for (Map<String, Object> m : maps) {
+ if (Long.parseLong(message) < 4) {
+ m.replace(TokenConstants.HUMAN_DETECTED, "true");
+ } else {
+ m.replace(TokenConstants.HUMAN_DETECTED, "false");
+ }
+ }
+ listener.stop();
+ });
+ });
- for(Map<String, Object> m : maps){
- m.replace(TokenConstants.HUMAN_DETECTED, fakeRes.get("sensor"));
+ // Wait for a maximum of 2 seconds
+ try {
+ if (!listener.awaitStop(2, TimeUnit.SECONDS)) {
+ System.out.println("Timeout reached, no message received.");
+ for (Map<String, Object> m : maps) {
+ m.replace(TokenConstants.HUMAN_DETECTED, "true");
+ }
}
- } catch (IOException e) {
- e.printStackTrace();
+ } catch (InterruptedException e) {
+ System.err.println("Thread interrupted while waiting: " + e.getMessage());
+ } finally {
+ executor.shutdown();
}
return maps;
@@ -39,7 +60,8 @@ public class SensorDataProcessingHandler extends TransitionHandler {
private static Map<String, Object> parse(java.lang.String s) {
Gson gson = new GsonBuilder().create();
- Type mapType = new TypeToken<Map<String, Object>>(){}.getType();
+ Type mapType = new TypeToken<Map<String, Object>>() {
+ }.getType();
return gson.fromJson(s, mapType);
}
}
\ No newline at end of file
diff --git a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/ShowResultHandler.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/ShowResultHandler.java
index 273e9bc..5c775fb 100644
--- a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/ShowResultHandler.java
+++ b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/ShowResultHandler.java
@@ -17,6 +17,11 @@ public class ShowResultHandler extends TransitionHandler {
+ "\n -color " + m.get(TokenConstants.COLOR)
+ "\n -pick " + m.get(TokenConstants.PICK_SUCCESS)
+ "\n -place " + m.get(TokenConstants.PLACE_SUCCESS));
+ // TASK 1.2 START //
+ System.out.println("Picking Information"
+ + "\n -robot " + m.get(TokenConstants.ROBOT)
+ + "\n -pickTime " + m.get(TokenConstants.TIME_PICK));
+ // TASK 1.2 END //
}
return maps;
};
diff --git a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/SortColorHandler.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/SortColorHandler.java
index 1cee209..47065f2 100644
--- a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/SortColorHandler.java
+++ b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/handlers/SortColorHandler.java
@@ -2,6 +2,7 @@ package de.tudresden.inf.st.sorting.handlers;
import de.tudresden.inf.st.pnml.engine.execution.TransitionHandler;
import de.tudresden.inf.st.sorting.constants.TokenConstants;
+import org.jetbrains.annotations.NotNull;
import java.util.List;
import java.util.Map;
@@ -11,18 +12,47 @@ public class SortColorHandler extends TransitionHandler {
final static Function<List<Map<String, Object>>, List<Map<String, Object>>> SORT_HANDLING_FUNCTION = maps -> {
System.out.println("Executing SORT_HANDLING_FUNCTION.");
+
for(Map<String, Object> m : maps){
+
for (Map.Entry<String, Object> entry : m.entrySet()) {
if(entry.getKey().equals(TokenConstants.TRACE)){
String oldTrace = String.valueOf(entry.getValue());
String newTrace = oldTrace + "-" + "SortColor";
m.replace(TokenConstants.TRACE, newTrace);
}
+
+ // TASK 1.1 START //
+
+ if(entry.getKey().equals(TokenConstants.ROBOT)){
+ if(getColor(m).equals("green")){
+ m.replace(TokenConstants.TRACE, "right");
+ } else {
+ m.replace(TokenConstants.TRACE, "left");
+ }
+ }
+
+ // TASK 1.1 END //
}
}
return maps;
};
+ // TASK 1.1 START //
+
+ private static @NotNull String getColor(Map<String, Object> m) {
+ String color = "";
+
+ for (Map.Entry<String, Object> e : m.entrySet()) {
+ if(e.getKey().equals(TokenConstants.COLOR)){
+ color = e.getKey();
+ }
+ }
+ return color;
+ }
+
+ // TASK 1.1 END //
+
public SortColorHandler(int priority) {
super(priority, SORT_HANDLING_FUNCTION);
}
diff --git a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/mqtt/MessageCallback.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/mqtt/MessageCallback.java
new file mode 100644
index 0000000..8b29759
--- /dev/null
+++ b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/mqtt/MessageCallback.java
@@ -0,0 +1,7 @@
+package de.tudresden.inf.st.sorting.mqtt;
+
+// Callback Interface
+@FunctionalInterface
+public interface MessageCallback {
+ void onMessage(String message);
+}
diff --git a/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/mqtt/MessageListener.java b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/mqtt/MessageListener.java
new file mode 100644
index 0000000..db011df
--- /dev/null
+++ b/case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/mqtt/MessageListener.java
@@ -0,0 +1,37 @@
+package de.tudresden.inf.st.sorting.mqtt;
+
+import java.util.concurrent.TimeUnit;
+// TASK 2 START //
+public class MessageListener {
+
+ private volatile boolean running = true;
+
+ // Simulate listening for a message
+ public void listen(MessageCallback callback) {
+ try {
+ // Simulate receiving a message after 1 second
+ Thread.sleep(1000);
+ if (running) {
+ callback.onMessage("Hello, this is a test message!");
+ }
+ } catch (InterruptedException e) {
+ Thread.currentThread().interrupt();
+ System.err.println("Listener interrupted: " + e.getMessage());
+ }
+ }
+
+ // Stop the listener
+ public void stop() {
+ running = false;
+ }
+
+ // Await until the listener stops or timeout is reached
+ public boolean awaitStop(long timeout, TimeUnit unit) throws InterruptedException {
+ long startTime = System.nanoTime();
+ while (running && (System.nanoTime() - startTime) < unit.toNanos(timeout)) {
+ Thread.sleep(100); // Check every 100ms
+ }
+ return !running;
+ }
+}
+
diff --git a/case-study-sorting-pkg/src/main/resources/nets/SelectorNode.pnml b/case-study-sorting-pkg/src/main/resources/nets/SelectorNode.pnml
index c914a69..6e92f66 100644
--- a/case-study-sorting-pkg/src/main/resources/nets/SelectorNode.pnml
+++ b/case-study-sorting-pkg/src/main/resources/nets/SelectorNode.pnml
@@ -19,7 +19,8 @@
<balloonMarking>
<tokens>
<token>{"color" : "green", "name" : "green1", "pickSuccess" : "false", "placeSuccess" : "false",
- "humanDetected" : "false", "sensorData" : "", "trace" : "", "locked" : "false" } </token>
+ "humanDetected" : "false", "sensorData" : "", "trace" : "",
+ "locked" : "false", "robot" : "", "pickTime" : ""} </token>
</tokens>
</balloonMarking>
</toolspecific>
@@ -51,7 +52,8 @@
<balloonMarking>
<tokens>
<token>{"color" : "blue", "name" : "blue1", "pickSuccess" : "false", "placeSuccess" : "false",
- "humanDetected" : "false", "sensorData" : "", "trace" : "", "locked" : "false" } </token>
+ "humanDetected" : "false", "sensorData" : "", "trace" : "",
+ "locked" : "false", "robot" : "", "pickTime" : ""} </token>
</tokens>
</balloonMarking>
</toolspecific>
@@ -71,7 +73,8 @@
<balloonMarking>
<tokens>
<token>{"color" : "red", "name" : "red1", "pickSuccess" : "false", "placeSuccess" : "false",
- "humanDetected" : "false", "sensorData" : "", "trace" : "", "locked" : "false" } </token>
+ "humanDetected" : "false", "sensorData" : "", "trace" : "",
+ "locked" : "false", "robot" : "", "pickTime" : ""} </token>
</tokens>
</balloonMarking>
</toolspecific>
--
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