From ecefc4809df87367a40b0d2e1d73ed334b15907e Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Wed, 6 Jul 2022 11:08:09 +0200
Subject: [PATCH] initial version of motion grammar working with real robot
---
build.gradle | 48 ++++++-
gradle.properties | 2 +
src/main/jastadd/cleanup/RobotWorld.connect | 36 +++++
src/main/jastadd/cleanup/RobotWorld.jadd | 30 ++--
src/main/jastadd/cleanup/RobotWorld.relast | 4 +-
src/main/jastadd/cleanup/SemanticActions.jadd | 103 +++++++++-----
src/main/jastadd/cleanup/Tracing.jadd | 13 +-
.../inf/st/mg/common/MotionGrammarParser.java | 3 +-
src/main/proto/connector.proto | 130 ++++++++++++++++++
.../de/tudresden/inf/st/mg/ParserTest.java | 56 +++++++-
10 files changed, 371 insertions(+), 54 deletions(-)
create mode 100644 src/main/jastadd/cleanup/RobotWorld.connect
create mode 100644 src/main/proto/connector.proto
diff --git a/build.gradle b/build.gradle
index 981d28a..00b0076 100644
--- a/build.gradle
+++ b/build.gradle
@@ -3,6 +3,7 @@ plugins {
id 'application'
id 'idea'
id 'org.jastadd' version "${jastaddgradle_version}"
+ id "com.google.protobuf" version "${protobuf_plugin_version}"
}
group 'de.tudresden.inf.st'
@@ -16,6 +17,13 @@ application.mainClass = "${mainClassName}"
java.toolchain.languageVersion = JavaLanguageVersion.of(11)
+protobuf {
+ protoc {
+ // The artifact spec for the Protobuf Compiler
+ artifact = "com.google.protobuf:protoc:${protobuf_version}"
+ }
+}
+
repositories {
mavenCentral()
maven {
@@ -28,6 +36,7 @@ configurations {
// add a configuration to store the grammar printing dependency in
grammar2uml
relast
+ ragconnect
}
File genSrc = file("src/gen/java")
@@ -46,6 +55,11 @@ dependencies {
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: 'org.slf4j', name: 'slf4j-simple', version: '1.7.31'
+ ragconnect group: 'de.tudresden.inf.st', name: 'ragconnect', version: '1.0.0-alpha-203'
+ 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}"
+ implementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
}
def versionFile = 'src/main/resources/Version.properties'
@@ -97,6 +111,33 @@ def loadingGrammarDiagramFile = './src/gen/resources/diagrams/grammar/loading.pn
def cleaningGrammarDiagramFile = './src/gen/resources/diagrams/grammar/cleaning.png'
def jastAddListName = 'JastAddList'
+// phases: ragConnect -> RelAst -> JastAdd
+// phase: ragConnect
+task ragConnect(type: JavaExec) {
+ group = 'Build'
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ classpath = configurations.ragconnect
+
+ args([
+ '--o=src/gen/jastadd',
+ './src/main/jastadd/common/MotionGrammar.relast',
+ './src/main/jastadd/cleanup/RobotWorld.relast',
+ './src/main/jastadd/cleanup/RobotWorld.connect',
+ '--logReads',
+ '--logWrites',
+// '--logIncremental',
+ '--verbose',
+ '--rootNode=RobotScene',
+ '--protocols=mqtt',
+ "--List=${jastAddListName}",
+ '--experimental-jastadd-329',
+ '--incremental=param',
+ '--tracing=cache,flush',
+ '--evaluationCounter'
+ ])
+
+}
+
task generateLoadingGrammarDiagrams(type: JavaExec) {
group = 'Documentation'
classpath = configurations.grammar2uml
@@ -128,6 +169,7 @@ task relastToJastAdd(type: JavaExec) {
'--useJastAddNames',
'--listClass=java.util.ArrayList',
"--jastAddList=${jastAddListName}",
+ "--resolverHelper",
'--file'
args relastFiles
@@ -170,11 +212,15 @@ jastadd {
buildInfoDir = 'src/gen-res'
// default options are: '--rewrite=cnta', '--safeLazy', '--visitCheck=false', '--cacheCycle=false'
- extraJastAddOptions = ["--List=${jastAddListName}"]
+ extraJastAddOptions = ["--List=${jastAddListName}",
+ "--flush=api",
+ "--incremental=param,debug",
+ "--tracing=cache,flush"]
}
// Workflow configuration for phases
clean.dependsOn cleanGen
generateAst.dependsOn relastToJastAdd
generateAst.dependsOn generateLoadingGrammarDiagrams, generateCleaningGrammarDiagrams
+relastToJastAdd.dependsOn ragConnect
diff --git a/gradle.properties b/gradle.properties
index ccc134c..3888fab 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -5,3 +5,5 @@ assertj_version = 3.22.0
grammar2uml_version = 0.2.1
jastaddgradle_version = 1.14.5
javalin_version = 4.6.3
+protobuf_version = 4.0.0-rc-2
+protobuf_plugin_version = 0.8.18
diff --git a/src/main/jastadd/cleanup/RobotWorld.connect b/src/main/jastadd/cleanup/RobotWorld.connect
new file mode 100644
index 0000000..b871382
--- /dev/null
+++ b/src/main/jastadd/cleanup/RobotWorld.connect
@@ -0,0 +1,36 @@
+// --- receiving ---
+receive RobotScene.Table using ParseScene, ConvertScene ;
+
+ParseScene maps byte[] bytes to de.tudresden.inf.st.ceti.Scene {:
+ return de.tudresden.inf.st.ceti.Scene.parseFrom(bytes);
+:}
+
+ConvertScene maps de.tudresden.inf.st.ceti.Scene pbScene to Table {:
+ var result = new Table();
+ result.setRobot(new Robot());
+ for (var pbObject : pbScene.getObjectsList()) {
+ PhysicalObject obj;
+ if (pbObject.getType() == de.tudresden.inf.st.ceti.Object.Type.BOX || pbObject.getType() == de.tudresden.inf.st.ceti.Object.Type.BIN) {
+ PhysicalObject physicalObject = pbObject.getType() == de.tudresden.inf.st.ceti.Object.Type.BOX ? new MovableObject() : new Bin();
+ physicalObject.setName(pbObject.getId());
+ java.awt.Color color = new java.awt.Color(pbObject.getColor().getR(), pbObject.getColor().getG(), pbObject.getColor().getB());
+ physicalObject.setColor("#" + Integer.toHexString(color.getRGB()).substring(2));
+ Pose pose = new Pose();
+ pose.setX(pbObject.getPos().getX());
+ pose.setY(pbObject.getPos().getY());
+ pose.setZ(pbObject.getPos().getZ());
+ pose.setQX(pbObject.getOrientation().getX());
+ pose.setQY(pbObject.getOrientation().getY());
+ pose.setQZ(pbObject.getOrientation().getZ());
+ pose.setQW(pbObject.getOrientation().getW());
+ physicalObject.setPose(pose);
+ if (pbObject.getOwner() != "" && pbObject.getType() == de.tudresden.inf.st.ceti.Object.Type.BOX) {
+ ((MovableObject) physicalObject).setAttachedRobot(result.getRobot());
+ }
+ result.addPhysicalObject(physicalObject);
+ } else if (pbObject.getType() == de.tudresden.inf.st.ceti.Object.Type.ARM) {
+ result.getRobot().setIsIdle(pbObject.getState() == de.tudresden.inf.st.ceti.Object.State.STATE_IDLE);
+ }
+ }
+ return result;
+:}
diff --git a/src/main/jastadd/cleanup/RobotWorld.jadd b/src/main/jastadd/cleanup/RobotWorld.jadd
index 335eba4..af9aded 100644
--- a/src/main/jastadd/cleanup/RobotWorld.jadd
+++ b/src/main/jastadd/cleanup/RobotWorld.jadd
@@ -1,14 +1,28 @@
aspect RobotWorld {
- public static RobotScene RobotScene.initialWorld(java.util.Random r) {
+ public boolean RobotScene.simulated = true;
+ public org.fusesource.mqtt.client.BlockingConnection RobotScene.connection;
+
+ public static RobotScene RobotScene.initialWorld(java.util.Random random) {
Table t = new Table();
t.addPhysicalObject(new Bin("binRed", Pose.of(-10, -10, 0), "red"));
t.addPhysicalObject(new Bin("binGreen", Pose.of(-10, 0, 0), "green"));
t.addPhysicalObject(new MovableObject("boxRed", Pose.of(-5, -10, 0), "red"));
t.addPhysicalObject(new MovableObject("boxGreen", Pose.of(-5, 0, 0), "green"));
- Robot b = new Robot();
- b.setIsIdle(true);
- return new RobotScene(t, b);
+ Robot r = new Robot();
+ r.setIsIdle(true);
+ t.setRobot(r);
+ return new RobotScene(t);
+ }
+
+ public static RobotScene RobotScene.initialWorld() {
+ Robot r = new Robot();
+ r.setIsIdle(true);
+ Table t = new Table();
+ t.setRobot(r);
+ RobotScene result = new RobotScene(t);
+ result.simulated = false;
+ return result;
}
public static TokenType EmptyTable.type() { return TokenType.of("EMPTY_TABLE"); }
@@ -151,7 +165,7 @@ aspect RobotWorld {
}
public RobotIsIdle RobotScene.parseRobotIsIdle() {
System.out.print("Trying to parse token <RobotIsIdle>... ");
- if (getRobot().getIsIdle()) {
+ if (getTable().getRobot().getIsIdle()) {
System.out.println("success");
return new RobotIsIdle();
} else {
@@ -165,7 +179,7 @@ aspect RobotWorld {
}
public RobotIsNotIdle RobotScene.parseRobotIsNotIdle() {
System.out.print("Trying to parse token <RobotIsNotIdle>... ");
- if (!getRobot().getIsIdle()) {
+ if (!getTable().getRobot().getIsIdle()) {
System.out.println("success");
return new RobotIsNotIdle();
} else {
@@ -179,7 +193,7 @@ aspect RobotWorld {
}
public RobotHasItemAttached RobotScene.parseRobotHasItemAttached() {
System.out.print("Trying to parse token <RobotHasItemAttached>... ");
- if (getRobot().hasAttachedItem()) {
+ if (getTable().getRobot().hasAttachedItem()) {
System.out.println("success");
return new RobotHasItemAttached();
} else {
@@ -193,7 +207,7 @@ aspect RobotWorld {
}
public RobotHasNoItemAttached RobotScene.parseRobotHasNoItemAttached() {
System.out.print("Trying to parse token <RobotHasNoItemAttached>... ");
- if (!getRobot().hasAttachedItem()) {
+ if (!getTable().getRobot().hasAttachedItem()) {
System.out.println("success");
return new RobotHasNoItemAttached();
} else {
diff --git a/src/main/jastadd/cleanup/RobotWorld.relast b/src/main/jastadd/cleanup/RobotWorld.relast
index b4bf3d5..c0d7c32 100644
--- a/src/main/jastadd/cleanup/RobotWorld.relast
+++ b/src/main/jastadd/cleanup/RobotWorld.relast
@@ -1,8 +1,8 @@
// World Model of the Motion Grammar
-RobotScene : World ::= Table Robot;
+RobotScene : World ::= Table;
-Table ::= PhysicalObject*;
+Table ::= PhysicalObject* Robot;
abstract PhysicalObject ::= <Name> Pose <Color>;
MovableObject : PhysicalObject;
Bin : PhysicalObject;
diff --git a/src/main/jastadd/cleanup/SemanticActions.jadd b/src/main/jastadd/cleanup/SemanticActions.jadd
index 54aee93..5a64ba9 100644
--- a/src/main/jastadd/cleanup/SemanticActions.jadd
+++ b/src/main/jastadd/cleanup/SemanticActions.jadd
@@ -1,45 +1,72 @@
aspect SemanticActions {
- public void PickUpObject.action(World world) {
- RobotScene scene = world.asRobotScene();
- System.out.println("performing semantic action for element Pick");
- String objectName = object();
- java.util.concurrent.Executors.newSingleThreadExecutor().submit(() -> {
- scene.getRobot().setIsIdle(false);
- try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
- MovableObject object = scene.getTable().getMovableObjectByName(objectName);
- scene.getRobot().setAttachedItem(object);
- object.setPose(Pose.of(-1,-1,-1));
- try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
- scene.getRobot().setIsIdle(true);
- });
- }
+ public void PickUpObject.action(World world) {
+ RobotScene scene = world.asRobotScene();
+ System.out.println("performing semantic action for element Pick");
+ String objectName = object();
- public void DropObjectAtRightPlace.action(World world) {
- RobotScene scene = world.asRobotScene();
- System.out.println("performing semantic action for element Pick");
- String objectName = object();
- String placeName = place();
- java.util.concurrent.Executors.newSingleThreadExecutor().submit(() -> {
- scene.getRobot().setIsIdle(false);
- try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
- MovableObject object = scene.getTable().getMovableObjectByName(objectName);
- Bin bin = scene.getTable().getBinByName(placeName);
- object.setPose(Pose.of(bin.getPose()));
- scene.getRobot().setAttachedItem(null);
- try { Thread.sleep(1200); } catch (InterruptedException e) { /* ignore */ }
- scene.getRobot().setIsIdle(true);
- });
- }
+ if (scene.simulated) {
+ java.util.concurrent.Executors.newSingleThreadExecutor().submit(() -> {
+ scene.getTable().getRobot().setIsIdle(false);
+ try {
+ Thread.sleep(1200);
+ } catch (InterruptedException e) { /* ignore */ }
+ MovableObject object = scene.getTable().getMovableObjectByName(objectName);
+ scene.getTable().getRobot().setAttachedItem(object);
+ object.setPose(Pose.of(-1, -1, -1));
+ try {
+ Thread.sleep(1200);
+ } catch (InterruptedException e) { /* ignore */ }
+ scene.getTable().getRobot().setIsIdle(true);
+ });
+ } 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);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+
+ public void DropObjectAtRightPlace.action(World world) {
+ RobotScene scene = world.asRobotScene();
+ System.out.println("performing semantic action for element Pick");
+ String objectName = object();
+ String placeName = place();
+ if (scene.simulated) {
+ java.util.concurrent.Executors.newSingleThreadExecutor().submit(() -> {
+ scene.getTable().getRobot().setIsIdle(false);
+ try {
+ Thread.sleep(1200);
+ } catch (InterruptedException e) { /* ignore */ }
+ MovableObject object = scene.getTable().getMovableObjectByName(objectName);
+ Bin bin = scene.getTable().getBinByName(placeName);
+ object.setPose(Pose.of(bin.getPose()));
+ scene.getTable().getRobot().setAttachedItem(null);
+ try {
+ Thread.sleep(1200);
+ } catch (InterruptedException e) { /* ignore */ }
+ scene.getTable().getRobot().setIsIdle(true);
+ });
+ } 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);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
- public void Wait.action(World world) {
- RobotScene container = world.asRobotScene();
- System.out.println("performing semantic action for element Wait");
- try {
- Thread.sleep((long) (time() * 1000));
- } catch (InterruptedException e) {
- // ignore
+ public void Wait.action(World world) {
+ RobotScene container = world.asRobotScene();
+ System.out.println("performing semantic action for element Wait");
+ try {
+ Thread.sleep((long) (time() * 1000));
+ } catch (InterruptedException e) {
+ // ignore
+ }
}
- }
}
diff --git a/src/main/jastadd/cleanup/Tracing.jadd b/src/main/jastadd/cleanup/Tracing.jadd
index a5174db..a1aaa38 100644
--- a/src/main/jastadd/cleanup/Tracing.jadd
+++ b/src/main/jastadd/cleanup/Tracing.jadd
@@ -24,21 +24,30 @@ aspect Tracing {
World.printContextOf("Pose.setZ()-DONE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
}
+ refine
+ public RobotScene RobotScene.setTable(Table t) {
+ refined(t);
+ World.printContextOf("RobotScene.setTable()-DONE", getTable(), de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
+ return this;
+ }
+
// this is probably never called because each child overrides the setter method
refine
- public void PhysicalObject.setPose(Pose p) {
+ public PhysicalObject PhysicalObject.setPose(Pose p) {
World.printContextOf("PhysicalObject.setPose()-BEFORE", getPose(), de.tudresden.inf.st.mg.common.MotionGrammarConfig.REMOVE_COLOR);
refined(p);
World.printContextOf("PhysicalObject.setPose()-AFTER", getPose(), de.tudresden.inf.st.mg.common.MotionGrammarConfig.ADD_COLOR);
World.printContextOf("PhysicalObject.setPose()-DONE", getPose(), de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
+ return this;
}
refine
- public void MovableObject.setPose(Pose p) {
+ public MovableObject MovableObject.setPose(Pose p) {
World.printContextOf("MovableObject.setPose()-BEFORE", getPose(), de.tudresden.inf.st.mg.common.MotionGrammarConfig.REMOVE_COLOR);
refined(p);
World.printContextOf("MovableObject.setPose()-AFTER", getPose(), de.tudresden.inf.st.mg.common.MotionGrammarConfig.ADD_COLOR);
World.printContextOf("MovableObject.setPose()-DONE", getPose(), de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
+ return this;
}
refine
diff --git a/src/main/java/de/tudresden/inf/st/mg/common/MotionGrammarParser.java b/src/main/java/de/tudresden/inf/st/mg/common/MotionGrammarParser.java
index 9eb57c6..8d02498 100644
--- a/src/main/java/de/tudresden/inf/st/mg/common/MotionGrammarParser.java
+++ b/src/main/java/de/tudresden/inf/st/mg/common/MotionGrammarParser.java
@@ -65,8 +65,7 @@ public abstract class MotionGrammarParser<T extends MotionGrammarElement> {
.customPreamble("title " + step)
.skinParam(SkinParamBooleanSetting.Shadowing, false)
.skinParam(SkinParamStringSetting.backgroundColor, "white")
- .dumpAsSVG(svgPath)
- .dumpAsPNG(MotionGrammarConfig.astDiagramDir.resolve("AST-" + String.format("%03d", timeStep_) + "-" + new SimpleDateFormat("yyyy.MM.dd.HH.mm.ss.SSS").format(new java.util.Date()) + "-" + step + ".png"));
+ .dumpAsSVG(svgPath);
DiagramProvider.getInstance().publishAst(new Date(), timeStep_, step, svgPath);
timeStep_++;
} catch (IOException e) {
diff --git a/src/main/proto/connector.proto b/src/main/proto/connector.proto
new file mode 100644
index 0000000..1dc7b47
--- /dev/null
+++ b/src/main/proto/connector.proto
@@ -0,0 +1,130 @@
+// connector.proto
+// this file contains the messages that are exchanged between the ROS connector and other systems
+
+syntax = "proto3";
+
+option java_package = "de.tudresden.inf.st.ceti";
+option java_multiple_files = true;
+
+message Object {
+
+ // Position is object-center related
+ message Position {
+ double x = 1; // in m
+ double y = 2; // in m
+ double z = 3; // height in m
+ }
+
+ // 3D description of the object
+ message Size {
+ double length = 1; // in m
+ double width = 2; // in m
+ double height = 3; // in m
+ }
+ message Orientation {
+ double x = 1; // normalized quaternion
+ double y = 2;
+ double z = 3;
+ double w = 4;
+ }
+ message Color {
+ float r = 1; // 0..1
+ float g = 2; // 0..1
+ float b = 3; // 0..1
+ }
+ enum Type {
+ UNKNOWN = 0;
+ BOX = 1;
+ BIN = 2;
+ ARM = 3;
+ DROP_OFF_LOCATION = 4;
+ HUMAN = 5;
+ ROBOT = 6;
+ COLLABORATION_ZONE = 7;
+ }
+ enum State {
+ STATE_UNKNOWN = 0;
+
+ // robot states
+ STATE_IDLE = 101;
+ STATE_PICKING = 102;
+ STATE_PLACING = 103;
+ STATE_MOVING = 104;
+
+ // object
+ STATE_STATIONARY = 200;
+ STATE_PICKED = 201;
+ }
+
+ // determines the meaning of a scene object when the scene has is_delta flag
+ enum Mode {
+ MODE_UNKNOWN = 0; // if and only if is_delta = false, this should be the value of the field
+ MODE_KEEP = 1; // the object's properties do not change, thus don't need to be processed by the receiver
+ MODE_MODIFY = 2; // the object's properties have changed
+ MODE_ADD = 3; // the object did not exist in the scene before
+ MODE_REMOVE = 4; // the object is removed from the scene, its properties can be ignored
+ }
+
+ string id = 1;
+ Type type = 2;
+ Position pos = 3;
+ Size size = 4;
+ Orientation orientation = 5;
+ Color color = 6;
+ State state = 7;
+ string owner = 8;
+ Mode mode = 9;
+}
+
+// the scene is stored within the ROS side and sent to clients
+message Scene {
+ repeated Object objects = 1;
+ bool is_delta = 2;
+}
+
+// the selection is done by a client and sent to ROS
+message Selection {
+ string id = 1; // the id corresponds to an id of an Object in a Scene
+}
+
+message Command {
+ oneof msg {
+ PickAndPlace pickAndPlace = 1;
+ ConfigChange configChange = 2;
+ Evacuate evacuate = 3;
+ Pick pick = 4;
+ Place place = 5;
+ Drop drop = 6;
+ }
+}
+
+message PickAndPlace {
+ string idRobot = 1; // id of the robot that should execute this operation
+ string idPick = 2; // id of the object in the scene to be picked
+ string idPlace = 3; // id of the location the picked object shall be placed.
+}
+
+message ConfigChange {
+ string idCollaborationZone = 1; // id of collaboration zone to change
+ string idRobotNewOwner = 2; // id of robot that will become new owner
+}
+
+message Evacuate {
+ string idRobot = 1; // id of robot that need to move out of its currently defined collision objects
+ string idCollaborationZone = 2; // id of collaboration zone to evacuate
+}
+
+message Pick {
+ string idRobot = 1; // id of the robot that should execute this operation
+ string idPick = 2; // id of the object in the scene to be picked
+}
+
+message Place {
+ string idRobot = 1; // id of the robot that should execute this operation
+ string idPlace = 2; // id of the location currently grasped object shall be placed.
+}
+
+message Drop {
+ string idRobot = 1; // id of the robot that should execute this operation
+ string idBin = 2; // id of the bin the picked object shall be dropped in.
+}
\ No newline at end of file
diff --git a/src/test/java/de/tudresden/inf/st/mg/ParserTest.java b/src/test/java/de/tudresden/inf/st/mg/ParserTest.java
index 378e0d3..3733c6c 100644
--- a/src/test/java/de/tudresden/inf/st/mg/ParserTest.java
+++ b/src/test/java/de/tudresden/inf/st/mg/ParserTest.java
@@ -1,5 +1,6 @@
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;
@@ -8,10 +9,12 @@ 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;
@@ -55,7 +58,7 @@ public class ParserTest {
void runTidyParser() throws MotionGrammarParser.ParseException {
// for some reason, the best random seed value here is 1 and not 0???
- World world = RobotScene.initialWorld(new Random(1));
+ RobotScene world = RobotScene.initialWorld(new Random(1));
// create a parser using the world
RobotParser parser = new RobotParser(world);
@@ -72,4 +75,55 @@ public class ParserTest {
}
}
+ @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 (synchonously, long-running)
+ var result = parser.parse();
+
+ assertThat(result).isNotNull().isInstanceOf(Tidy.class);
+ try {
+ Thread.sleep(100000*1000);
+ } catch (InterruptedException e) {
+ e.printStackTrace();
+ }
+ }
+
}
--
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