improve demo execution on real robot

src/main/jastadd/cleanup/Cleanup.jrag

@@ -15,6 +15,7 @@ aspect CleanupAttributes {
   eq RobotIsNotReadyToPick.time() = 4;
   eq RobotIsNotReadyToDrop.time() = 4;
   eq WaitForEmptyTable.time() = 4;
+  eq WaitForFullTable.time() = 4;
   eq ASTNode.time() {
     throw new UnsupportedOperationException("Invalid use of attribute time():double");
   }
@@ -23,6 +24,7 @@ aspect CleanupAttributes {
   eq RobotIsNotReadyToPick.getWait().time() = time();
   eq RobotIsNotReadyToDrop.getWait().time() = time();
   eq WaitForEmptyTable.getWait().time() = time();
+  eq WaitForFullTable.getWait().time() = time();
 
   syn String ASTNode.place(); // TODO can this be avoided?
   eq DropObjectAtRightPlace.place() = getRightPlace().getPlace();

src/main/jastadd/cleanup/RobotWorld.jadd

 aspect RobotWorld {
 
   public boolean RobotScene.simulated = true;
+  public String RobotScene.commandTopic = "/ceti_cell_empty/command";
   public org.fusesource.mqtt.client.BlockingConnection RobotScene.connection;
 
   public static RobotScene RobotScene.initialWorld(java.util.Random random) {

src/main/jastadd/cleanup/SemanticActions.jadd

@@ -22,7 +22,7 @@ aspect SemanticActions {
         } else {
             de.tudresden.inf.st.ceti.Command c = de.tudresden.inf.st.ceti.Command.newBuilder().setPick(de.tudresden.inf.st.ceti.Pick.newBuilder().setIdRobot("arm").setIdPick(object()).build()).build();
             try {
-                scene.connection.publish("/ceti_cell_placeworld/command", c.toByteArray(), org.fusesource.mqtt.client.QoS.AT_LEAST_ONCE, false);
+                scene.connection.publish(scene.commandTopic, c.toByteArray(), org.fusesource.mqtt.client.QoS.AT_LEAST_ONCE, false);
             } catch (Exception e) {
                 e.printStackTrace();
             }
@@ -52,7 +52,7 @@ aspect SemanticActions {
         } else {
             de.tudresden.inf.st.ceti.Command c = de.tudresden.inf.st.ceti.Command.newBuilder().setDrop(de.tudresden.inf.st.ceti.Drop.newBuilder().setIdRobot("arm").setIdBin(place()).build()).build();
             try {
-                scene.connection.publish("/ceti_cell_placeworld/command", c.toByteArray(), org.fusesource.mqtt.client.QoS.AT_LEAST_ONCE, false);
+                scene.connection.publish(scene.commandTopic, c.toByteArray(), org.fusesource.mqtt.client.QoS.AT_LEAST_ONCE, false);
             } catch (Exception e) {
                 e.printStackTrace();
             }

src/test/java/de/tudresden/inf/st/mg/ParserTest.java

@@ -64,7 +64,7 @@ public class ParserTest {
     RobotParser parser = new RobotParser(world);
     parser.setDebugDiagramDir(TIDY_AST_DIAGRAM_DIR);
 
-    // parse (synchonously, long-running)
+    // parse (synchronously, long-running)
     var result = parser.parse();
 
     assertThat(result).isNotNull().isInstanceOf(Tidy.class);
@@ -115,7 +115,7 @@ public class ParserTest {
     // create a parser using the world
     RobotParser parser = new RobotParser(world);
 
-    // parse (synchonously, long-running)
+    // parse (synchronously, long-running)
     var result = parser.parse();
 
     assertThat(result).isNotNull().isInstanceOf(Tidy.class);