ParserTest.java

package de.tudresden.inf.st.mg;

import de.tudresden.inf.st.mg.common.MotionGrammarConfig;
import de.tudresden.inf.st.mg.common.MotionGrammarParser;
import de.tudresden.inf.st.mg.jastadd.model.*;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Disabled;
import org.junit.jupiter.api.Test;

import java.io.File;
import java.io.IOException;
import java.net.URISyntaxException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.util.Comparator;
import java.util.Random;
import java.util.concurrent.TimeUnit;

import static org.assertj.core.api.Assertions.assertThat;

public class ParserTest {

  public static final Path LOAD_AST_DIAGRAM_DIR = Path.of("src", "gen", "resources", "diagrams", "parsing", "load");
  public static final Path TIDY_AST_DIAGRAM_DIR = Path.of("src", "gen", "resources", "diagrams", "parsing", "tidy");

  @BeforeAll
  static void prepareOutputPath() throws IOException {
    try {
      Files.walk(LOAD_AST_DIAGRAM_DIR).sorted(Comparator.reverseOrder()).map(Path::toFile).forEach(File::delete);
    } catch (IOException e) {
      // do nothing
    }
    try {
      Files.walk(TIDY_AST_DIAGRAM_DIR).sorted(Comparator.reverseOrder()).map(Path::toFile).forEach(File::delete);
    } catch (IOException e) {
      // do nothing
    }
    Files.createDirectories(LOAD_AST_DIAGRAM_DIR);
    Files.createDirectories(TIDY_AST_DIAGRAM_DIR);
  }

  @Test
  void runLodUnloadParser() throws MotionGrammarParser.ParseException {

    // for some reason, the best random seed value here is 1 and not 0???
    Container containerWorld = Container.initialWorld(new Random(1));

    LoadWorldParser parser = new LoadWorldParser(containerWorld);
    parser.setDebugDiagramDir(LOAD_AST_DIAGRAM_DIR);

    var result = parser.parse();

    assertThat(result).isNotNull().isInstanceOf(T1.class);
  }

  @Test
  void runTidyParser() throws MotionGrammarParser.ParseException {

    // for some reason, the best random seed value here is 1 and not 0???
    RobotScene world = RobotScene.initialWorld(new Random(1));

    // create a parser using the world
    RobotParser parser = new RobotParser(world);
    parser.setDebugDiagramDir(TIDY_AST_DIAGRAM_DIR);

    // parse (synchronously, long-running)
    var result = parser.parse();

    assertThat(result).isNotNull().isInstanceOf(Tidy.class);
  }


  /**
   * Runs the parser on the actual robot. For this to work, a robot controller must be connected to an MQTT server running
   * on localhost:1883
   */
  @Test
  @Disabled
  void runRealTidyParser() throws MotionGrammarParser.ParseException {

    MotionGrammarConfig.astDiagramDir = TIDY_AST_DIAGRAM_DIR;

    RobotScene world = RobotScene.initialWorld();

    org.fusesource.mqtt.client.MQTT handler = new org.fusesource.mqtt.client.MQTT();
    try {
      handler.setHost("tcp://localhost:1883");
    } catch (URISyntaxException e) {
      e.printStackTrace();
    }
    world.connection = handler.blockingConnection();
    try {
      world.connection.connect();
    } catch (Exception e) {
      e.printStackTrace();
    }

    System.err.println(world.connection.isConnected());

    try {
      world.connectTable("mqtt://localhost//ceti_cell_empty/scene/update");
    } catch (IOException e) {
      e.printStackTrace();
    }

    while (world.getTable().getNumPhysicalObject() == 0) {
      try {
        Thread.sleep(1000);
      } catch (InterruptedException e) {
        e.printStackTrace();
      }
    }

    // create a parser using the world
    RobotParser parser = new RobotParser(world);

    // parse (synchronously, long-running)
    var result = parser.parse();

    assertThat(result).isNotNull().isInstanceOf(Tidy.class);
    try {
      Thread.sleep(100000*1000);
    } catch (InterruptedException e) {
      e.printStackTrace();
    }
  }

}