increase times, wait for full table a start of parse

src/main/jastadd/cleanup/Cleanup.jrag

@@ -12,9 +12,9 @@ aspect CleanupAttributes {
   }
 
   syn double ASTNode.time(); // TODO can this be avoided?
-  eq RobotIsNotReadyToPick.time() = 2;
-  eq RobotIsNotReadyToDrop.time() = 2;
-  eq WaitForEmptyTable.time() = 1;
+  eq RobotIsNotReadyToPick.time() = 4;
+  eq RobotIsNotReadyToDrop.time() = 4;
+  eq WaitForEmptyTable.time() = 4;
   eq ASTNode.time() {
     throw new UnsupportedOperationException("Invalid use of attribute time():double");
   }

src/main/jastadd/cleanup/Cleanup.relast

-Tidy : MotionGrammarElement ::= MoveObjectToCorrectPlace* WaitForEmptyTable* EmptyTable;
+Tidy : MotionGrammarElement ::= WaitForFullTable* MoveObjectToCorrectPlace* WaitForEmptyTable* EmptyTable;
 MoveObjectToCorrectPlace : MotionGrammarElement ::= ObjectAtWrongPlace/*provides object*/ PickUpObject/*uses object*/ DropObjectAtRightPlace/*uses object*/;
 PickUpObject/*requires object*/ : MotionGrammarElement ::= RobotIsReadyToPick;
 abstract RobotIsReadyToPick : MotionGrammarElement;
@@ -9,6 +9,7 @@ RobotIsReallyReadyToDrop : RobotIsReadyToDrop ::= RobotIsReadyToDropToken;
 RobotIsNotReadyToDrop    : RobotIsReadyToDrop ::= RobotIsNotReadyToDropToken Wait/*uses const "1sec"*/ RobotIsReadyToDrop;
 DropObjectAtRightPlace/*requires object*/ : MotionGrammarElement ::= RobotIsReadyToDrop RightPlace/*uses object, provides place*/;
 WaitForEmptyTable : MotionGrammarElement ::= NotEmptyTable Wait/*uses const "1sec"*/;
+WaitForFullTable : MotionGrammarElement ::= EmptyTable Wait/*uses const "1sec"*/;
 
 // Tokens
 EmptyTable                        : Token;

src/main/jastadd/cleanup/SemanticActions.jadd

@@ -9,13 +9,13 @@ aspect SemanticActions {
             java.util.concurrent.Executors.newSingleThreadExecutor().submit(() -> {
                 scene.getTable().getRobot().setIsIdle(false);
                 try {
-                    Thread.sleep(1200);
+                    Thread.sleep(3000);
                 } 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);
+                    Thread.sleep(3000);
                 } catch (InterruptedException e) { /* ignore */ }
                 scene.getTable().getRobot().setIsIdle(true);
             });
@@ -38,14 +38,14 @@ aspect SemanticActions {
             java.util.concurrent.Executors.newSingleThreadExecutor().submit(() -> {
                 scene.getTable().getRobot().setIsIdle(false);
                 try {
-                    Thread.sleep(1200);
+                    Thread.sleep(3000);
                 } 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);
+                    Thread.sleep(3000);
                 } catch (InterruptedException e) { /* ignore */ }
                 scene.getTable().getRobot().setIsIdle(true);
             });

src/main/java/de/tudresden/inf/st/mg/RobotParser.java

@@ -36,6 +36,17 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
     result.parser = this;
     parent.setChild(result, index);
 
+    while (true) {
+      peekEmptyTable();
+      if (peekedEmptyTable_ != null) {
+        int i = result.getNumWaitForFullTable();
+        result.addWaitForFullTable(null);
+        parseWaitForFullTable(result.getWaitForFullTableList(), i);
+      } else {
+        break;
+      }
+    }
+
     while (true) {
       peekObjectAtWrongPlace(result);
       if (peekedObjectAtWrongPlace_ != null) {
@@ -58,9 +69,9 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
       }
     }
 
-    parseEmptyTable(result, 2);
+    parseEmptyTable(result, 3);
 
-    // semantic action for T
+    // semantic action for Tidy
     result.action(getWorld());
     printAST("parseTidy", result);
   }
@@ -79,6 +90,19 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
     printAST("parseMoveObjectToCorrectPlace", result);
   }
 
+  private void parseWaitForFullTable(ASTNode<?> parent, int index) throws ParseException {
+    WaitForFullTable result = new WaitForFullTable();
+    result.parser = this;
+    parent.setChild(result, index);
+
+    parseEmptyTable(result, 0);
+    parseWait(result, 1);
+
+    // semantic action for WaitForFullTable
+    result.action(getWorld());
+    printAST("parseWaitForFullTable", result);
+  }
+
   private void parseWaitForEmptyTable(ASTNode<?> parent, int index) throws ParseException {
     WaitForEmptyTable result = new WaitForEmptyTable();
     result.parser = this;
@@ -401,6 +425,11 @@ public final class RobotParser extends MotionGrammarParser<Tidy> {
     printAST("parseObjectAtWrongPlace", result);
   }
 
+  private boolean peekEmptyTable() {
+    peekedEmptyTable_ = getWorld().parseEmptyTable();
+    return peekedEmptyTable_ != null;
+  }
+
   private void parseEmptyTable(ASTNode<?> parent, int index) throws ParseException {
     EmptyTable result;
 

src/main/java/de/tudresden/inf/st/mg/common/DiagramProvider.java

@@ -36,7 +36,7 @@ public class DiagramProvider {
   private DiagramProvider() {
     asts = new ArrayList<>();
 
-    Javalin app = Javalin.create().start(7070);
+    Javalin app = Javalin.create(config -> config.enableCorsForOrigin("http://localhost:3000")).start(7070);
     app.get("/", ctx -> ctx.result("Hello World"));
 
     app.get("/asts/", ctx -> {
@@ -64,7 +64,7 @@ public class DiagramProvider {
       asts.add(new AST(timestamp, step, parseRule, Files.readString(diagramPath)));
       clients.keySet().forEach(session -> {
         System.err.println("sending");
-        session.send(asts);
+        session.send(asts.get(asts.size()-1));
       });
     } catch (IOException e) {
       System.err.println("Unable to read AST diagram file " + diagramPath);