Merge branch 'feature/waiting' into 'main'

festival updatesfestival updatesfestival updatesfestival updatesfestival

See merge request !1

.editorconfig

+root = true
+
+[*]
+charset = utf-8
+end_of_line = lf
+indent_size = 4
+indent_style = space
+insert_final_newline = true
+max_line_length = 120
+tab_width = 4
+trim_trailing_whitespace = true
+
+[{*.jadd,*.java,*.jrag}]
+indent_size = 2
+tab_width = 2
+ij_continuation_indent_size = 4

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`
@@ -44,7 +44,7 @@ idea.module.generatedSourceDirs += genSrc
 sourceSets.main.java.srcDir genSrc
 
 dependencies {
-    implementation group: 'de.tudresden.inf.st', name: 'dumpAst', version: "${relast2uml_version}"
+    implementation group: 'de.tudresden.inf.st', name: 'dumpAst', version: "${dumpAst_version}"
     grammar2uml group: 'de.tudresden.inf.st', name: 'grammar2uml', version: "${grammar2uml_version}"
     relast group: 'org.jastadd', name: 'relast', version: "${relast_version}"
     testImplementation group: 'org.assertj', name: 'assertj-core', version: "${assertj_version}"
@@ -52,10 +52,11 @@ dependencies {
     testRuntimeOnly group: 'org.junit.jupiter', name: 'junit-jupiter-engine', version: "${jupyter_version}"
     implementation group: 'io.javalin', name: 'javalin', version: "${javalin_version}"
     implementation group: 'org.json', name: 'json', version: '20220320'
-    implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.13.3'
-    implementation group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.13.3'
+    implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.13.4'
+    implementation group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.13.4'
+    implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: '2.13.4'
     implementation group: 'org.slf4j', name: 'slf4j-simple', version: '1.7.31'
-    ragconnect group: 'de.tudresden.inf.st', name: 'ragconnect', version: '1.0.0-alpha-203'
+    ragconnect group: 'de.tudresden.inf.st', name: 'ragconnect', version: '1.0.0'
     jastadd2 "org.jastadd:jastadd2:2.3.5-dresden-6"
     implementation group: 'com.google.protobuf', name: 'protobuf-java', version: "${protobuf_version}"
     implementation group: 'com.google.protobuf', name: 'protobuf-java-util', version: "${protobuf_version}"
@@ -103,7 +104,7 @@ jar {
     duplicatesStrategy = DuplicatesStrategy.WARN
 }
 
-def relastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/load/LoadWorld.relast', './src/main/jastadd/cleanup/RobotWorld.relast', './src/main/jastadd/load/LoadUnload.relast', './src/main/jastadd/cleanup/Cleanup.relast']
+def relastFiles = ['./src/gen/jastadd/MotionGrammar.relast', './src/main/jastadd/load/LoadWorld.relast', './src/gen/jastadd/RobotWorld.relast', './src/main/jastadd/load/LoadUnload.relast', './src/main/jastadd/cleanup/Cleanup.relast']
 def loadingRelastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/load/LoadWorld.relast', './src/main/jastadd/load/LoadUnload.relast']
 def cleaningRelastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/cleanup/RobotWorld.relast', './src/main/jastadd/cleanup/Cleanup.relast']
 def grammarPrefix = './src/gen/jastadd/MotionGrammar'
@@ -123,11 +124,11 @@ task ragConnect(type: JavaExec) {
             './src/main/jastadd/common/MotionGrammar.relast',
             './src/main/jastadd/cleanup/RobotWorld.relast',
             './src/main/jastadd/cleanup/RobotWorld.connect',
-            '--logReads',
-            '--logWrites',
+//            '--logReads',
+//            '--logWrites',
 //            '--logIncremental',
-            '--verbose',
-            '--rootNode=RobotScene',
+//            '--verbose',
+            '--rootNode=RobotWorld',
             '--protocols=mqtt',
             "--List=${jastAddListName}",
             '--experimental-jastadd-329',
@@ -141,6 +142,7 @@ task ragConnect(type: JavaExec) {
 task generateLoadingGrammarDiagrams(type: JavaExec) {
     group = 'Documentation'
     classpath = configurations.grammar2uml
+    mainClass = 'de.tudresden.inf.st.jastadd.grammar2uml.compiler.Compiler'
 
     args "--output=${loadingGrammarDiagramFile}", '--defaultFolders'
     args loadingRelastFiles
@@ -152,6 +154,7 @@ task generateLoadingGrammarDiagrams(type: JavaExec) {
 task generateCleaningGrammarDiagrams(type: JavaExec) {
     group = 'Documentation'
     classpath = configurations.grammar2uml
+    mainClass = 'de.tudresden.inf.st.jastadd.grammar2uml.compiler.Compiler'
 
     args "--output=${cleaningGrammarDiagramFile}", '--defaultFolders'
     args cleaningRelastFiles
@@ -169,8 +172,9 @@ task relastToJastAdd(type: JavaExec) {
             '--useJastAddNames',
             '--listClass=java.util.ArrayList',
             "--jastAddList=${jastAddListName}",
-            "--resolverHelper",
-            '--file'
+            '--resolverHelper',
+            '--file',
+            '--serializer=jackson'
     args relastFiles
 
     inputs.files relastFiles

dashboard/src/App.css

 .App {
-  background-color: #282c34;
-  text-align: left;
+    background-color: #282c34;
+    text-align: left;
 }
 
 .App-logo {
-  height: 40vmin;
-  pointer-events: none;
-}
-
-@media (prefers-reduced-motion: no-preference) {
-  .App-logo {
-    animation: App-logo-spin infinite 20s linear;
-  }
+    height: 40vmin;
+    pointer-events: none;
 }
 
 .App-header {
-  background-color: #282c34;
-  min-height: 40px;  /*100vmin*/
-  display: flex;
-  flex-direction: column;
-  align-items: center;
-  justify-content: center;
-  font-size: calc(10px + 2vmin);
-  color: white;
+    background-color: #282c34;
+    min-height: 40px;
+    display: flex;
+    flex-direction: column;
+    align-items: center;
+    justify-content: center;
+    font-size: calc(10px + 2vmin);
+    color: white;
 }
 
-.CurrentAst {
-  width: 100vw;
+.ContextContainer {
+    width: 100vw;
+    overflow-x:scroll;
+    white-space: nowrap;
+    direction:rtl;
 }
 
-.AstInTimeline {
-  max-width: 100%;
-  
+.CurrentContext {
+    height: 50vh;
+    width: 100vw;
+    object-fit: contain;
+    /*object-fit: scale-down;*/
+    object-position: center;
 }
 
-.App-link {
-  color: #61dafb;
+.AstContainer {
+    width: 100vw;
+    overflow-x:scroll;
+    white-space: nowrap;
+    direction:rtl;
 }
 
-.MG-Timeline {
-  max-width: 4000px !important;
+.CurrentAst {
+    height: 50vh;
+    object-fit: cover;
+    object-position: bottom right;
 }
 
-@keyframes App-logo-spin {
-  from {
-    transform: rotate(0deg);
-  }
-  to {
-    transform: rotate(360deg);
-  }
+.App-link {
+    color: #61dafb;
 }

dashboard/src/App.js

 import './App.css';
 import React, { useEffect, useRef } from 'react';
 import './index.css';
-import { VerticalTimeline, VerticalTimelineElement } from 'react-vertical-timeline-component';
 import 'react-vertical-timeline-component/style.min.css';
-import { GiFamilyTree } from "react-icons/gi";
 import { useSelector, useDispatch } from 'react-redux'
-import { addAst, setAstList } from './mgSlice'
+import { setAst, setContext } from './mgSlice'
 
 function App() {
 
   const ws = useRef(null);
   const dispatch = useDispatch();
-  const asts = useSelector(state => state.mg.asts);
+  const ast = useSelector(state => state.mg.ast);
+  const context = useSelector(state => state.mg.context);
 
   useEffect(() => {
     ws.current = new WebSocket("ws://localhost:7070/ast-events");
@@ -20,8 +19,10 @@ function App() {
     ws.current.onmessage = (event) => {
       const json = JSON.parse(event.data);
       try {
-        if ((json.event = "data")) {
-          dispatch(addAst(json));
+        if (json.type === "ast") {
+          dispatch(setAst(json));
+        } else if (json.type === "context") {
+          dispatch(setContext(json));
         }
       } catch (err) {
         console.log(err);
@@ -36,72 +37,75 @@ function App() {
   }, [dispatch]);
 
   useEffect(() => {
-    if (asts.length === 0) {
-      fetch('http://localhost:7070/asts/')
+    if (ast.diagram == null) {
+      console.log("setting ast from WS 1");
+      fetch('http://localhost:7070/ast/')
         .then(res => res.json())
-        .then((asts) => {
-          dispatch(setAstList(asts))
+        .then((ast) => {
+            console.log("setting ast from WS");
+            console.log(ast);
+          dispatch(setAst(ast))
         })
         .catch(console.log)
     }
-  }, [dispatch, asts.length])
+    if (context.diagram == null) {
+      console.log("setting ctx from WS");
+      fetch('http://localhost:7070/context/')
+          .then(res => res.json())
+          .then((context) => {
+            dispatch(setContext(context))
+          })
+          .catch(console.log)
+    } else {
+      console.log(context)
+    }
+  }, [dispatch, ast, context])
 
 
   return (
     <div className="App">
       <header className="App-header">
-        <ControlPanel />
+        <ControlPanel
+          ws={ws}
+        />
       </header>
       <main>
-        <CurrentState
-          diagram={asts[0] ? asts[0].diagram : ''}
-          label={asts[0] ? asts[0].parseRule : ''}
+        <CurrentContextState
+          diagram={context ? context.diagram : ''}
+          label=''
         />
-        <VerticalTimeline
-          className='MG-Timeline'>
-          {asts.map(v => {
-            console.log(v.parseRule)
-            return (
-              <VerticalTimelineElement
-                className="ast-timeline-event"
-                contentStyle={{ background: 'rgb(33, 150, 243)', color: '#fff' }}
-                contentArrowStyle={{ borderRight: '7px solid  rgb(33, 150, 243)' }}
-                date={new Date(v.timestamp).toLocaleTimeString('en-us', { hour12: false })}
-                iconStyle={{ background: 'rgb(33, 150, 243)', color: '#fff', rotate: '180deg' }}
-                icon={<GiFamilyTree />}
-                key={v.timestamp}
-                position={'right'}
-              >
-                <h3 className="vertical-timeline-element-title">{v.parseRule}()</h3>
-                <p>
-                  <img className="AstInTimeline" src={`data:image/svg+xml;utf8,${encodeURIComponent(v.diagram)}`} alt={v.parseRule} />
-                </p>
-              </VerticalTimelineElement>
-
-            )
-          })}
-        </VerticalTimeline>
+          <CurrentASTState
+              diagram={ast ? ast.diagram : ''}
+              label={ast ? ast.parseRule : ''}
+          />
       </main>
     </div>
   );
 }
 
-function CurrentState(props) {
+function CurrentASTState(props) {
   return (
-    <div className="curent-state">
+    <div className="AstContainer">
       <img className="CurrentAst" src={`data:image/svg+xml;utf8,${encodeURIComponent(props.diagram)}`} alt={props.label} />
     </div>
   )
 }
 
-class ControlPanel extends React.Component {
-  render() {
+function CurrentContextState(props) {
     return (
-      <div className='ControlPanel'>
-        <button onClick={() => { alert('You clicked me!'); }}>connect</button>
-      </div>
-    );
-  }
+        <div className="ContextContainer">
+            <img className="CurrentContext" src={`data:image/svg+xml;utf8,${encodeURIComponent(props.diagram)}`} alt={props.label} />
+        </div>
+    )
+}
+
+function ControlPanel(props) {
+  return (
+    <div className='ControlPanel'>
+      <button onClick={() => { props.ws.current.send("cell1 parse") }}>start parsing in cell 1</button>
+      <button onClick={() => { props.ws.current.send("cell1 reset") }}>reset selections</button>
+    </div>
+  )
 }
 
 export default App;

dashboard/src/mgSlice.js

-import { createSlice } from '@reduxjs/toolkit'
+import {createSlice} from '@reduxjs/toolkit'
 
 export const mgSlice = createSlice({
-  name: 'mg',
-  initialState: {
-    asts: [],
-    contexts: {},
-  },
-  reducers: {
-    addAst: (state, action) => {
-        state.asts = [action.payload, ...state.asts];
-        console.log("added ast, size is " + state.asts.length);
+    name: 'mg',
+    initialState: {
+        ast: {},
+        context: {},
     },
-    setAstList: (state, action) => {
-        state.asts = action.payload.reverse();
-        console.log("set AST list, size is " + state.asts.length);
+    reducers: {
+        setAst: (state, action) => {
+            state.ast = action.payload;
+            console.log("set AST");
+        },
+        setContext: (state, action) => {
+            state.context = action.payload;
+            console.log("set context");
+        }
     }
-  }
 })
 
-export const { addAst, setAstList } = mgSlice.actions
+export const {setAst, setContext} = mgSlice.actions
 
 export default mgSlice.reducer
\ No newline at end of file

gradle.properties

 relast_version = 0.3.0-137
-relast2uml_version = 1.1.0
+dumpAst_version = 2.0.2-dev-91
 jupyter_version = 5.8.2
 assertj_version = 3.22.0
-grammar2uml_version = 0.2.1
+grammar2uml_version = 0.2.5-21
 jastaddgradle_version = 1.14.5
-javalin_version = 4.6.3
+javalin_version = 4.6.4
 protobuf_version = 4.0.0-rc-2
 protobuf_plugin_version = 0.8.18

pages/docs/index.md

@@ -17,9 +17,9 @@ is parsed.
 ## Use cases
 
 - Very simple [Load-Unload grammar](load.md) taken from the original paper [^1] to show a minimal proof-of-concept.
-- A [robotic use case](sorting.md) sorting dynamically appearing objects into boxes by colour.
+- A [robotic use case](acsos.md) sorting dynamically appearing objects into boxes by colour ([ACSOS demo]()https://2022.acsos.org/details/acsos-2022-posters-and-demos/2/Specifying-Reactive-Robotic-Applications-With-Reference-Attribute-Motion-Grammars).
   ![type:video](https://www.youtube.com/embed/KBuFVsKjA1Q)
- 
+- A similar robotic use case, but with another input "teaching" where to put the objects and different time 
 ## Bibliogaphy
 
 [^1]: Dantam, N., Stilman, M., 2013. The Motion Grammar: Analysis of a Linguistic Method for Robot Control. IEEE Trans. Robot. 29, 704–718. https://doi.org/10.1109/TRO.2013.2239553

pages/docs/sorting/AST.md

+AST-000-2022.07.18.17.43.35.270-initial.svg
+AST-001-2022.07.18.17.43.39.588-parseEmptyTable.svg
+AST-002-2022.07.18.17.43.47.871-parseWait.svg
+AST-003-2022.07.18.17.43.48.060-parseWaitForFullTable.svg
+AST-004-2022.07.18.17.43.48.272-parseEmptyTable.svg
+AST-005-2022.07.18.17.43.56.518-parseWait.svg
+AST-006-2022.07.18.17.43.56.718-parseWaitForFullTable.svg
+AST-007-2022.07.18.17.43.56.889-parseEmptyTable.svg
+AST-008-2022.07.18.17.44.05.105-parseWait.svg
+AST-009-2022.07.18.17.44.05.370-parseWaitForFullTable.svg
+AST-010-2022.07.18.17.44.05.769-parseObjectAtWrongPlace.svg
+AST-011-2022.07.18.17.44.06.152-parseRobotIsReadyToPickToken.svg
+AST-012-2022.07.18.17.44.06.526-parseRobotIsReallyReadyToPick.svg
+AST-013-2022.07.18.17.44.06.859-parseRobotIsReadyToPick.svg
+AST-014-2022.07.18.17.44.07.284-parsePickUpObject.svg
+AST-015-2022.07.18.17.44.07.807-parseRobotIsNotReadyToDropToken.svg
+AST-016-2022.07.18.17.44.16.137-parseWait.svg
+AST-017-2022.07.18.17.44.16.336-parseRobotIsNotReadyToDropToken.svg
+AST-018-2022.07.18.17.44.24.593-parseWait.svg
+AST-019-2022.07.18.17.44.24.996-parseRobotIsNotReadyToDropToken.svg
+AST-020-2022.07.18.17.44.33.736-parseWait.svg
+AST-021-2022.07.18.17.44.34.344-parseRobotIsReadyToDropToken.svg
+AST-022-2022.07.18.17.44.34.795-parseRobotIsReallyReadyToDrop.svg
+AST-023-2022.07.18.17.44.35.148-parseRobotIsReadyToDrop.svg
+AST-024-2022.07.18.17.44.35.616-parseRobotIsNotReadyToDrop.svg
+AST-025-2022.07.18.17.44.36.052-parseRobotIsReadyToDrop.svg
+AST-026-2022.07.18.17.44.36.493-parseRobotIsNotReadyToDrop.svg
+AST-027-2022.07.18.17.44.36.798-parseRobotIsReadyToDrop.svg
+AST-028-2022.07.18.17.44.37.173-parseRobotIsNotReadyToDrop.svg
+AST-029-2022.07.18.17.44.37.512-parseRobotIsReadyToDrop.svg
+AST-030-2022.07.18.17.44.37.872-parseRightPlace.svg
+AST-031-2022.07.18.17.44.38.308-parseDropObjectAtRightPlace.svg
+AST-032-2022.07.18.17.44.38.799-parseMoveObjectToCorrectPlace.svg
+AST-033-2022.07.18.17.44.39.211-parseObjectAtWrongPlace.svg
+AST-034-2022.07.18.17.44.39.524-parseRobotIsNotReadyToPickToken.svg
+AST-035-2022.07.18.17.44.47.970-parseWait.svg
+AST-036-2022.07.18.17.44.48.142-parseRobotIsNotReadyToPickToken.svg
+AST-037-2022.07.18.17.44.56.356-parseWait.svg
+AST-038-2022.07.18.17.44.56.572-parseRobotIsReadyToPickToken.svg
+AST-039-2022.07.18.17.44.56.825-parseRobotIsReallyReadyToPick.svg
+AST-040-2022.07.18.17.44.57.094-parseRobotIsReadyToPick.svg
+AST-041-2022.07.18.17.44.57.328-parseRobotIsNotReadyToPick.svg
+AST-042-2022.07.18.17.44.57.607-parseRobotIsReadyToPick.svg
+AST-043-2022.07.18.17.44.57.896-parseRobotIsNotReadyToPick.svg
+AST-044-2022.07.18.17.44.58.169-parseRobotIsReadyToPick.svg
+AST-045-2022.07.18.17.44.58.456-parsePickUpObject.svg
+AST-046-2022.07.18.17.44.58.783-parseRobotIsNotReadyToDropToken.svg
+AST-047-2022.07.18.17.45.07.121-parseWait.svg
+AST-048-2022.07.18.17.45.07.305-parseRobotIsNotReadyToDropToken.svg
+AST-049-2022.07.18.17.45.15.564-parseWait.svg
+AST-050-2022.07.18.17.45.15.800-parseRobotIsNotReadyToDropToken.svg
+AST-051-2022.07.18.17.45.24.125-parseWait.svg
+AST-052-2022.07.18.17.45.24.328-parseRobotIsReadyToDropToken.svg
+AST-053-2022.07.18.17.45.24.535-parseRobotIsReallyReadyToDrop.svg
+AST-054-2022.07.18.17.45.24.828-parseRobotIsReadyToDrop.svg
+AST-055-2022.07.18.17.45.25.133-parseRobotIsNotReadyToDrop.svg
+AST-056-2022.07.18.17.45.25.385-parseRobotIsReadyToDrop.svg
+AST-057-2022.07.18.17.45.25.689-parseRobotIsNotReadyToDrop.svg
+AST-058-2022.07.18.17.45.25.998-parseRobotIsReadyToDrop.svg
+AST-059-2022.07.18.17.45.26.299-parseRobotIsNotReadyToDrop.svg
+AST-060-2022.07.18.17.45.26.574-parseRobotIsReadyToDrop.svg
+AST-061-2022.07.18.17.45.26.864-parseRightPlace.svg
+AST-062-2022.07.18.17.45.27.156-parseDropObjectAtRightPlace.svg
+AST-063-2022.07.18.17.45.27.617-parseMoveObjectToCorrectPlace.svg
+AST-064-2022.07.18.17.45.27.991-parseObjectAtWrongPlace.svg
+AST-065-2022.07.18.17.45.28.330-parseRobotIsNotReadyToPickToken.svg
+AST-066-2022.07.18.17.45.36.597-parseWait.svg
+AST-067-2022.07.18.17.45.37.022-parseRobotIsNotReadyToPickToken.svg
+AST-068-2022.07.18.17.45.45.385-parseWait.svg
+AST-069-2022.07.18.17.45.45.808-parseRobotIsNotReadyToPickToken.svg
+AST-070-2022.07.18.17.45.54.253-parseWait.svg
+AST-071-2022.07.18.17.45.54.524-parseRobotIsReadyToPickToken.svg
+AST-072-2022.07.18.17.45.54.815-parseRobotIsReallyReadyToPick.svg
+AST-073-2022.07.18.17.45.55.141-parseRobotIsReadyToPick.svg
+AST-074-2022.07.18.17.45.55.508-parseRobotIsNotReadyToPick.svg
+AST-075-2022.07.18.17.45.55.795-parseRobotIsReadyToPick.svg
+AST-076-2022.07.18.17.45.56.159-parseRobotIsNotReadyToPick.svg
+AST-077-2022.07.18.17.45.56.569-parseRobotIsReadyToPick.svg
+AST-078-2022.07.18.17.45.56.870-parseRobotIsNotReadyToPick.svg
+AST-079-2022.07.18.17.45.57.191-parseRobotIsReadyToPick.svg
+AST-080-2022.07.18.17.45.57.480-parsePickUpObject.svg
+AST-081-2022.07.18.17.45.57.813-parseRobotIsNotReadyToDropToken.svg
+AST-082-2022.07.18.17.46.06.099-parseWait.svg
+AST-083-2022.07.18.17.46.06.350-parseRobotIsNotReadyToDropToken.svg
+AST-084-2022.07.18.17.46.14.753-parseWait.svg
+AST-085-2022.07.18.17.46.15.104-parseRobotIsNotReadyToDropToken.svg
+AST-086-2022.07.18.17.46.23.512-parseWait.svg
+AST-087-2022.07.18.17.46.23.794-parseRobotIsReadyToDropToken.svg
+AST-088-2022.07.18.17.46.24.101-parseRobotIsReallyReadyToDrop.svg
+AST-089-2022.07.18.17.46.24.486-parseRobotIsReadyToDrop.svg
+AST-090-2022.07.18.17.46.24.794-parseRobotIsNotReadyToDrop.svg
+AST-091-2022.07.18.17.46.25.117-parseRobotIsReadyToDrop.svg
+AST-092-2022.07.18.17.46.25.461-parseRobotIsNotReadyToDrop.svg
+AST-093-2022.07.18.17.46.25.965-parseRobotIsReadyToDrop.svg
+AST-094-2022.07.18.17.46.26.445-parseRobotIsNotReadyToDrop.svg
+AST-095-2022.07.18.17.46.26.875-parseRobotIsReadyToDrop.svg
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pages/docs/sorting/Context

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