integrated tracing

case-study-sorting-pkg/build.gradle

@@ -67,7 +67,7 @@ run {
 
 task jarSelectorNode(type: Jar) {
     group = "nodes"
-    destinationDirectory.set(file("./nodes"))
+    destinationDirectory.set(file("./dineros/nodes"))
 
     manifest {
         attributes "Main-Class": "de.tudresden.inf.st.sorting.launcher.SelectorLauncher"
@@ -85,7 +85,7 @@ task jarSelectorNode(type: Jar) {
 
 task jarLeftControllerNode(type: Jar) {
     group = "nodes"
-    destinationDirectory.set(file("./nodes"))
+    destinationDirectory.set(file("./dineros/nodes"))
 
     manifest {
         attributes "Main-Class": "de.tudresden.inf.st.sorting.launcher.LeftControllerLauncher"
@@ -103,7 +103,7 @@ task jarLeftControllerNode(type: Jar) {
 
 task jarRightControllerNode(type: Jar) {
     group = "nodes"
-    destinationDirectory.set(file("./nodes"))
+    destinationDirectory.set(file("./dineros/nodes"))
 
     manifest {
         attributes "Main-Class": "de.tudresden.inf.st.sorting.launcher.RightControllerLauncher"
@@ -121,7 +121,7 @@ task jarRightControllerNode(type: Jar) {
 
 task jarSynchronizerNode(type: Jar) {
     group = "nodes"
-    destinationDirectory.set(file("./nodes"))
+    destinationDirectory.set(file("./dineros/nodes"))
 
     manifest {
         attributes "Main-Class": "de.tudresden.inf.st.sorting.launcher.SynchronizerLauncher"
@@ -139,7 +139,7 @@ task jarSynchronizerNode(type: Jar) {
 
 task jarFeedbackNode(type: Jar) {
     group = "nodes"
-    destinationDirectory.set(file("./nodes"))
+    destinationDirectory.set(file("./dineros/nodes"))
 
     manifest {
         attributes "Main-Class": "de.tudresden.inf.st.sorting.launcher.FeedbackLauncher"
@@ -157,7 +157,7 @@ task jarFeedbackNode(type: Jar) {
 
 task jarExecutorNode(type: Jar) {
     group = "nodes"
-    destinationDirectory.set(file("./nodes"))
+    destinationDirectory.set(file("./dineros/nodes"))
 
     manifest {
         attributes "Main-Class": "de.tudresden.inf.st.sorting.launcher.ExecutorLauncher"
@@ -175,7 +175,7 @@ task jarExecutorNode(type: Jar) {
 
 task jarSensorNode(type: Jar) {
     group = "nodes"
-    destinationDirectory.set(file("./nodes"))
+    destinationDirectory.set(file("./dineros/nodes"))
 
     manifest {
         attributes "Main-Class": "de.tudresden.inf.st.sorting.launcher.SensorLauncher"
@@ -191,6 +191,24 @@ task jarSensorNode(type: Jar) {
     archiveBaseName = 'case-study-sorting-pkg-sensor'
 }
 
+task jarTracingNode(type: Jar) {
+    group = "system"
+    destinationDirectory.set(file("./dineros/system"))
+
+    manifest {
+        attributes "Main-Class": "de.tudresden.inf.st.sorting.launcher.TracingNodeLauncher"
+    }
+
+    from sourceSets.main.output
+    from {
+        configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) }
+    }
+
+    exclude 'META-INF/*.RSA', 'META-INF/*.SF','META-INF/*.DSA'
+    duplicatesStrategy = DuplicatesStrategy.EXCLUDE
+    archiveBaseName = 'dineros-tracing-node'
+}
+
 task jarAllNodes(type: Jar){
     group = "nodes"
 }
@@ -202,3 +220,5 @@ jarAllNodes.dependsOn jarSynchronizerNode
 jarAllNodes.dependsOn jarFeedbackNode
 jarAllNodes.dependsOn jarExecutorNode
 jarAllNodes.dependsOn jarSensorNode
+
+jarAllNodes.dependsOn jarTracingNode

case-study-sorting-pkg/src/main/java/de/tudresden/inf/st/sorting/launcher/TracingNodeLauncher.java

+package de.tudresden.inf.st.sorting.launcher;
+
+import de.tudresden.inf.st.pnml.engine.tracing.TracingNode;
+import org.ros.node.DefaultNodeMainExecutor;
+import org.ros.node.NodeConfiguration;
+import org.ros.node.NodeMainExecutor;
+
+import java.net.URI;
+
+public class TracingNodeLauncher {
+
+    protected static final String ROS_HOST = "localhost";
+    protected static final String ROS_MASTER_URI = "http://localhost:11311";
+
+    protected static final NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(ROS_HOST);
+    protected static final NodeMainExecutor nodeMainExecutor = DefaultNodeMainExecutor.newDefault();
+
+    public static void main(java.lang.String[] args) {
+
+        nodeConfiguration.setMasterUri(URI.create(ROS_MASTER_URI));
+        new Thread(() -> nodeMainExecutor.execute(new TracingNode(), nodeConfiguration)) {{start();}};
+    }
+}
+