diff --git a/build.gradle b/build.gradle
index 6a30e1dbc3db4426ad26b3d9368f9c0ca527c774..e56089a891f96366e791474d5b0326423c450b2a 100644
--- a/build.gradle
+++ b/build.gradle
@@ -9,7 +9,7 @@ plugins {
group 'de.tudresden.inf.st'
ext {
- mainClassName = 'de.tudresden.inf.st.mg.Main'
+ mainClassName = 'de.tudresden.inf.st.mg.ImmersiveSortingController'
}
// set the main class name for `gradle run`
diff --git a/src/main/java/de/tudresden/inf/st/mg/Main.java b/src/main/java/de/tudresden/inf/st/mg/ImmersiveSortingController.java
similarity index 52%
rename from src/main/java/de/tudresden/inf/st/mg/Main.java
rename to src/main/java/de/tudresden/inf/st/mg/ImmersiveSortingController.java
index de555c72af11836d788b5276ff4d18759792af6f..d5efac843d5e4ff0f9d33d444218a8f83b95079d 100644
--- a/src/main/java/de/tudresden/inf/st/mg/Main.java
+++ b/src/main/java/de/tudresden/inf/st/mg/ImmersiveSortingController.java
@@ -3,9 +3,6 @@ package de.tudresden.inf.st.mg;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.databind.module.SimpleModule;
import com.fasterxml.jackson.dataformat.yaml.YAMLFactory;
-import com.google.protobuf.util.JsonFormat;
-import de.tudresden.inf.st.ceti.Scene;
-import de.tudresden.inf.st.mg.common.DiagramProvider;
import de.tudresden.inf.st.mg.common.MotionGrammarConfig;
import de.tudresden.inf.st.mg.common.MotionGrammarParser;
import de.tudresden.inf.st.mg.common.TableDeserializer;
@@ -13,6 +10,9 @@ import de.tudresden.inf.st.mg.jastadd.model.JastAddList;
import de.tudresden.inf.st.mg.jastadd.model.RobotWorld;
import de.tudresden.inf.st.mg.jastadd.model.Table;
import de.tudresden.inf.st.mg.jastadd.model.World;
+import io.javalin.Javalin;
+import io.javalin.core.JavalinConfig;
+import io.javalin.websocket.WsContext;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
@@ -21,19 +21,27 @@ import java.io.IOException;
import java.net.URISyntaxException;
import java.nio.file.Files;
import java.nio.file.Path;
+import java.time.Instant;
import java.util.Comparator;
+import java.util.Date;
+import java.util.Map;
import java.util.Random;
-import java.util.concurrent.TimeUnit;
+import java.util.concurrent.ConcurrentHashMap;
-public class Main {
-
- private static final Logger logger = LoggerFactory.getLogger(Main.class);
+public class ImmersiveSortingController {
public static final Path TIDY_AST_DIAGRAM_DIR = Path.of("src", "gen", "resources", "diagrams", "parsing", "tidy");
-
+ private static final Logger logger = LoggerFactory.getLogger(ImmersiveSortingController.class);
+ private static final Map<WsContext, String> clients = new ConcurrentHashMap<>();
+ private static ImmersiveSortingController INSTANCE;
private final RobotWorld world;
+ private ParseThread parse;
+ private Diagram ast;
+ private Diagram context;
- public Main(boolean simulate) {
+ private boolean initialized = false;
+
+ public ImmersiveSortingController(boolean simulate) {
MotionGrammarConfig.astDiagramDir = TIDY_AST_DIAGRAM_DIR;
try {
Files.walk(TIDY_AST_DIAGRAM_DIR).sorted(Comparator.reverseOrder()).map(Path::toFile).forEach(File::delete);
@@ -51,11 +59,15 @@ public class Main {
module.addDeserializer(Table.class, new TableDeserializer());
ObjectMapper mapper = new ObjectMapper(new YAMLFactory());
mapper.registerModule(module);
- world.setDemonstrationTable(mapper.readValue(Main.class.getResourceAsStream("config_scene_virtual-table.yaml"), Table.class));
+ world.setDemonstrationTable(mapper.readValue(ImmersiveSortingController.class.getResourceAsStream("config_scene_virtual-table.yaml"), Table.class));
} catch (IOException e) {
e.printStackTrace();
}
+ initializeWebserver();
+
+ initialized = true;
+
World.enableContextPrinting(true);
world.printContext("initial");
@@ -90,7 +102,117 @@ public class Main {
}
- private ParseThread parse;
+ /**
+ * 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
+ */
+ public static void main(String[] args) {
+ ImmersiveSortingController controller = ImmersiveSortingController.getInstance();
+ try {
+ Thread.sleep(Long.MAX_VALUE);
+ } catch (InterruptedException ignored) {
+ }
+ }
+
+ public static ImmersiveSortingController getInstance() {
+ if (INSTANCE == null) {
+ INSTANCE = new ImmersiveSortingController(false);
+ }
+ return INSTANCE;
+ }
+
+ public void startParse() {
+ if (parse != null && parse.isAlive()) {
+ parse.stopParsing();
+ try {
+ parse.join();
+ } catch (InterruptedException ignored) {
+ }
+ }
+ parse = new ParseThread();
+ parse.start();
+ }
+
+ public void resetSelections() {
+ world.setSelectionList(new JastAddList<>());
+ }
+
+ public void printContext(String message) {
+ world.printContext(message);
+ }
+
+ private void initializeWebserver() {
+ ast = new Diagram(new Date(), 0, "<no rule>", "", "ast");
+ context = new Diagram(Date.from(Instant.now()), 0, "<no rule>", "", "context");
+
+ Javalin webserver = Javalin.create(JavalinConfig::enableCorsForAllOrigins).start(7070);
+ webserver.get("/", ctx -> ctx.result("the context is delivered at /context and the ast is delivered at /ast"));
+
+ webserver.get("/ast/", ctx -> {
+ ctx.json(ast);
+ });
+
+ webserver.get("/context/", ctx -> {
+ ctx.json(context);
+ });
+
+ webserver.ws("ast-events", ws -> {
+ ws.onConnect(ctx -> {
+ System.err.println("somebody connected " + ctx.host());
+ clients.put(ctx, ctx.host());
+ });
+ ws.onClose(ctx -> {
+ System.err.println("somebody disconnected");
+ clients.remove(ctx);
+ });
+ ws.onMessage(ctx -> {
+ if (initialized) {
+ logger.info("got message " + ctx.message());
+ } else {
+ logger.error("ignoring message " + ctx.message() + ", because system is not initialized yet");
+ return;
+ }
+ if ("parse".equals(ctx.message())) {
+ startParse();
+ } else if ("reset".equals(ctx.message())) {
+ resetSelections();
+ printContext("reset selection");
+ }
+ });
+ });
+ }
+
+ public void publish(Date timestamp, int step, String parseRule, Path diagramPath, String type) {
+ try {
+ if ("ast".equals(type)) {
+ ast = new Diagram(timestamp, step, parseRule, Files.readString(diagramPath), type);
+ clients.keySet().forEach(session -> session.send(ast));
+ } else if ("context".equals(type)) {
+ context = new Diagram(timestamp, step, parseRule, Files.readString(diagramPath), type);
+ clients.keySet().forEach(session -> session.send(context));
+ }
+ } catch (IOException e) {
+ System.err.println("Unable to read " + type + " diagram file " + diagramPath);
+ e.printStackTrace();
+ }
+ }
+
+ public static class Diagram {
+ public Date timestamp;
+ public int step;
+ public String parseRule;
+ public String diagram;
+
+ public String type;
+
+ public Diagram(Date timestamp, int step, String parseRule, String diagram, String type) {
+ this.timestamp = timestamp;
+ this.step = step;
+ this.parseRule = parseRule;
+ this.diagram = diagram;
+ this.type = type;
+ }
+ }
class ParseThread extends Thread {
@@ -104,7 +226,7 @@ public class Main {
// parse (synchronously, long-running)
try {
- var result = parser.parse();
+ parser.parse();
logger.info("parsing completed!");
} catch (MotionGrammarParser.ParseException e) {
throw new RuntimeException(e);
@@ -118,36 +240,4 @@ public class Main {
}
}
- public void startParse() {
- if (parse != null && parse.isAlive()) {
- parse.stopParsing();
- try {
- parse.join();
- } catch (InterruptedException e) {
- }
- }
- parse = new ParseThread();
- parse.start();
- }
-
- public void resetSelections() {
- world.setSelectionList(new JastAddList<>());
- }
-
- /**
- * 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
- */
- public static void main(String[] args) {
- DiagramProvider webController = DiagramProvider.getInstance();
- webController.setController(new Main(false));
- try {
- Thread.sleep(Long.MAX_VALUE);
- } catch (InterruptedException ignored) {
- }
- }
-
- public void printContext(String message) {
- world.printContext(message);
- }
}
diff --git a/src/main/java/de/tudresden/inf/st/mg/common/DiagramProvider.java b/src/main/java/de/tudresden/inf/st/mg/common/DiagramProvider.java
deleted file mode 100644
index 1a3d247f4b37c3146aad3375f5d60e82a3e37eca..0000000000000000000000000000000000000000
--- a/src/main/java/de/tudresden/inf/st/mg/common/DiagramProvider.java
+++ /dev/null
@@ -1,108 +0,0 @@
-package de.tudresden.inf.st.mg.common;
-
-import de.tudresden.inf.st.mg.Main;
-import io.javalin.Javalin;
-import io.javalin.core.JavalinConfig;
-import io.javalin.websocket.WsContext;
-
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.Path;
-import java.time.Instant;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-
-public class DiagramProvider {
-
- private static DiagramProvider INSTANCE;
-
- private Main controller;
-
- private static final Map<WsContext, String> clients = new ConcurrentHashMap<>();
-
- public static DiagramProvider getInstance() {
- if (INSTANCE == null) {
- INSTANCE = new DiagramProvider();
- }
- return INSTANCE;
- }
-
- private AST ast;
- private AST context;
-
- private DiagramProvider() {
- ast = new AST(new Date(), 0, "<no rule>", "", "ast");
- context = new AST(Date.from(Instant.now()), 0, "<no rule>", "", "context");
-
- Javalin app = Javalin.create(JavalinConfig::enableCorsForAllOrigins).start(7070);
- app.get("/", ctx -> ctx.result("the context is delivered at /context and the ast is delivered at /ast"));
-
- app.get("/ast/", ctx -> {
- ctx.json(ast);
- });
-
- app.get("/context/", ctx -> {
- ctx.json(context);
- });
-
- app.ws("ast-events", ws -> {
- ws.onConnect(ctx -> {
- System.err.println("somebody connected " + ctx.host());
- clients.put(ctx, ctx.host());
- });
- ws.onClose(ctx -> {
- System.err.println("somebody disconnected");
- clients.remove(ctx);
- });
- ws.onMessage(ctx -> {
- System.out.println("got message " + ctx.message());
- if ("parse".equals(ctx.message()) && controller != null) {
- controller.startParse();
- } else if ("reset".equals(ctx.message()) && controller != null) {
- controller.resetSelections();
- controller.printContext("reset selection");
- }
- });
- });
- }
-
- public void publish(Date timestamp, int step, String parseRule, Path diagramPath, String type) {
- try {
- if ("ast".equals(type)) {
- ast = new AST(timestamp, step, parseRule, Files.readString(diagramPath), type);
- clients.keySet().forEach(session -> session.send(ast));
- } else if ("context".equals(type)) {
- context = new AST(timestamp, step, parseRule, Files.readString(diagramPath), type);
- clients.keySet().forEach(session -> session.send(context));
- }
- } catch (IOException e) {
- System.err.println("Unable to read " + type + " diagram file " + diagramPath);
- e.printStackTrace();
- }
- }
-
- public void setController(Main controller) {
- this.controller = controller;
- }
-
- public static class AST {
- public Date timestamp;
- public int step;
- public String parseRule;
- public String diagram;
-
- public String type;
-
- public AST(Date timestamp, int step, String parseRule, String diagram, String type) {
- this.timestamp = timestamp;
- this.step = step;
- this.parseRule = parseRule;
- this.diagram = diagram;
- this.type = type;
- }
- }
-
-}