From fd9f3265b366e938b7c4aa9bd64e00f25c7d40a2 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Sun, 29 May 2022 15:35:18 +0200
Subject: [PATCH] simplify
---
src/main/jastadd/cleanup/SemanticActions.jadd | 40 ++++++++-----------
1 file changed, 17 insertions(+), 23 deletions(-)
diff --git a/src/main/jastadd/cleanup/SemanticActions.jadd b/src/main/jastadd/cleanup/SemanticActions.jadd
index b3e0a42..056e96c 100644
--- a/src/main/jastadd/cleanup/SemanticActions.jadd
+++ b/src/main/jastadd/cleanup/SemanticActions.jadd
@@ -4,17 +4,14 @@ aspect SemanticActions {
RobotScene scene = world.asRobotScene();
System.out.println("performing semantic action for element Pick");
String objectName = object();
- java.util.concurrent.Executors.newSingleThreadExecutor().submit(new Runnable() {
- @Override
- public void run() {
- 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);
- }
+ 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);
});
}
@@ -23,18 +20,15 @@ aspect SemanticActions {
System.out.println("performing semantic action for element Pick");
String objectName = object();
String placeName = place();
- java.util.concurrent.Executors.newSingleThreadExecutor().submit(new Runnable() {
- @Override
- public void run() {
- 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);
- }
+ 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);
});
}
--
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