From fe2c004913444109eccc7d7dff5f0664042b0b3c Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Fri, 16 Sep 2022 14:26:57 +0200
Subject: [PATCH] festival updatesfestival updatesfestival updatesfestival
updatesfestival updatesfestival updatesfestival updatesfestival updates
---
src/main/jastadd/cleanup/Tracing.jadd | 33 ++++---
src/main/jastadd/common/Tracing.jadd | 5 +-
.../java/de/tudresden/inf/st/mg/Main.java | 99 +++++++++++++------
.../inf/st/mg/common/ColorDeserializer.java | 3 +-
.../inf/st/mg/common/DiagramProvider.java | 57 +++++++----
.../inf/st/mg/common/MotionGrammarParser.java | 8 +-
.../de/tudresden/inf/st/mg/ParserTest.java | 12 +--
7 files changed, 140 insertions(+), 77 deletions(-)
diff --git a/src/main/jastadd/cleanup/Tracing.jadd b/src/main/jastadd/cleanup/Tracing.jadd
index 70ef06b..806fc83 100644
--- a/src/main/jastadd/cleanup/Tracing.jadd
+++ b/src/main/jastadd/cleanup/Tracing.jadd
@@ -2,26 +2,20 @@ aspect Tracing {
refine
public void Pose.setX(double x) {
- World.printContextOf("Pose.setX()-BEFORE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.REMOVE_COLOR);
refined(x);
World.printContextOf("Pose.setX()-AFTER", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.ADD_COLOR);
- World.printContextOf("Pose.setX()-DONE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
}
refine
public void Pose.setY(double y) {
- World.printContextOf("Pose.setY()-BEFORE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.REMOVE_COLOR);
refined(y);
World.printContextOf("Pose.setY()-AFTER", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.ADD_COLOR);
- World.printContextOf("Pose.setY()-DONE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
}
refine
public void Pose.setZ(double z) {
- World.printContextOf("Pose.setZ()-BEFORE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.REMOVE_COLOR);
refined(z);
World.printContextOf("Pose.setZ()-AFTER", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.ADD_COLOR);
- World.printContextOf("Pose.setZ()-DONE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
}
refine
@@ -34,45 +28,52 @@ aspect Tracing {
// this is probably never called because each child overrides the setter method
refine
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 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
public void Robot.setIsIdle(boolean b) {
- World.printContextOf("Robot.setIsIdle()-BEFORE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.REMOVE_COLOR);
refined(b);
World.printContextOf("Robot.setIsIdle()-AFTER", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.ADD_COLOR);
- World.printContextOf("Robot.setIsIdle()-DONE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
}
refine RelAstAPI
public Robot Robot.setAttachedItem(MovableObject o) {
- World.printContextOf("Robot.setAttachedItem()-BEFORE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.REMOVE_COLOR);
var result = refined(o);
World.printContextOf("Robot.setAttachedItem()-AFTER", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.ADD_COLOR);
- World.printContextOf("Robot.setAttachedItem()-DONE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
return result;
}
refine RelAstAPI
public MovableObject MovableObject.setAttachedRobot(Robot r) {
- World.printContextOf("MovableObject.setAttachedRobot()-BEFORE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.REMOVE_COLOR);
var result = refined(r);
World.printContextOf("MovableObject.setAttachedRobot()-AFTER", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.ADD_COLOR);
- World.printContextOf("MovableObject.setAttachedRobot()-DONE", this, de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
+ return result;
+ }
+
+ // refine
+ // public RobotWorld RobotWorld.addSelection(Selection s) {
+ // RobotWorld w = refined(s);
+ // World.printContextOf("Robot.addSelection()-AFTER", s, de.tudresden.inf.st.mg.common.MotionGrammarConfig.ADD_COLOR);
+ // World.printContextOf("Robot.addSelection()-DONE", s, de.tudresden.inf.st.mg.common.MotionGrammarConfig.DEFAULT_COLOR);
+ // return w;
+ // }
+
+ refine
+ public JastAddList<T> JastAddList.addChild(T node) {
+ JastAddList<T> result = refined(node);
+ if (node != null && node instanceof Selection && getParent() != null) {
+ World.printContextOf("Robot.addSelection()-AFTER", node, de.tudresden.inf.st.mg.common.MotionGrammarConfig.ADD_COLOR);
+ }
return result;
}
diff --git a/src/main/jastadd/common/Tracing.jadd b/src/main/jastadd/common/Tracing.jadd
index bc80715..628082f 100644
--- a/src/main/jastadd/common/Tracing.jadd
+++ b/src/main/jastadd/common/Tracing.jadd
@@ -30,6 +30,8 @@ aspect Tracing {
}
}
String worldName = world.getClass().getSimpleName();
+ java.util.Date now = new java.util.Date();
+ java.nio.file.Path svgPath = de.tudresden.inf.st.mg.common.MotionGrammarConfig.astDiagramDir.resolve("Context-" + worldName + "-" + new java.text.SimpleDateFormat("yyyy.MM.dd.HH.mm.ss.SSS").format(now) + "-" + step + ".svg");
try {
de.tudresden.inf.st.jastadd.dumpAst.ast.Dumper.read(world)
@@ -39,10 +41,11 @@ aspect Tracing {
.includeAttributeWhen((node, attributeName, isNTA, value) -> isNTA)
.<ASTNode>includeChildWhen((parentNode, childNode, contextName) -> !((contextName.equals("Pose") || contextName.equals("Robot")) && childNode.inDemonstrationTable()))
.<ASTNode>includeRelationsWhen((sourceNode, targetNode, roleName) -> !roleName.equals("AttachedRobot") && !(sourceNode != null && sourceNode.inDemonstrationTable()) && !(targetNode != null && targetNode.inDemonstrationTable())) // !sourceNode.inDemonstrationTable()
- .dumpAsSVG(de.tudresden.inf.st.mg.common.MotionGrammarConfig.astDiagramDir.resolve("Context-" + worldName + "-" + new java.text.SimpleDateFormat("yyyy.MM.dd.HH.mm.ss.SSS").format(new java.util.Date()) + "-" + step + ".svg"));
+ .dumpAsSVG(svgPath);
} catch (java.io.IOException e) {
e.printStackTrace();
}
+ de.tudresden.inf.st.mg.common.DiagramProvider.getInstance().publish(now, 0, step, svgPath, "context");
}
}
diff --git a/src/main/java/de/tudresden/inf/st/mg/Main.java b/src/main/java/de/tudresden/inf/st/mg/Main.java
index 9dcea61..60829c7 100644
--- a/src/main/java/de/tudresden/inf/st/mg/Main.java
+++ b/src/main/java/de/tudresden/inf/st/mg/Main.java
@@ -5,9 +5,11 @@ 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;
+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;
@@ -18,61 +20,83 @@ import java.net.URISyntaxException;
import java.nio.file.Files;
import java.nio.file.Path;
import java.util.Comparator;
+import java.util.Random;
public class Main {
public static final Path TIDY_AST_DIAGRAM_DIR = Path.of("src", "gen", "resources", "diagrams", "parsing", "tidy");
- /**
- * 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) {
+ private final RobotWorld world;
+ public Main(boolean simulate) {
MotionGrammarConfig.astDiagramDir = TIDY_AST_DIAGRAM_DIR;
try {
Files.walk(TIDY_AST_DIAGRAM_DIR).sorted(Comparator.reverseOrder()).map(Path::toFile).forEach(File::delete);
Files.createDirectories(TIDY_AST_DIAGRAM_DIR);
- } catch (IOException e) {
- // do nothing
+ } catch (IOException ignored) {
}
- RobotWorld world = RobotWorld.initialWorld();
-
+ if (simulate) {
+ world = RobotWorld.initialWorld(new Random(1));
+ } else {
+ world = RobotWorld.initialWorld();
+ }
try {
SimpleModule module = new SimpleModule();
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));
- } catch (IOException ignored) {
- ignored.printStackTrace();
+ } catch (IOException e) {
+ e.printStackTrace();
}
World.enableContextPrinting(true);
world.printContext("initial");
- 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();
+ if (!simulate) {
+ 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();
+ }
+
+ try {
+ world.connectSelection("mqtt://localhost/vr_selection");
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
}
- System.err.println(world.connection.isConnected());
+ }
- try {
- world.connectTable("mqtt://localhost//ceti_cell_empty/scene/update");
- } catch (IOException e) {
- e.printStackTrace();
+ private Thread parse;
+
+ public void startParse() {
+ if (parse != null && parse.isAlive()) {
+ parse.interrupt(); // if not working replace by stop()
}
+ parse = new Thread(this::parse);
+ parse.start();
+ }
+ public void parse() {
+ System.out.println("starting to parse");
// create a parser using the world
RobotParser parser = new RobotParser(world);
@@ -82,12 +106,27 @@ public class Main {
} catch (MotionGrammarParser.ParseException e) {
throw new RuntimeException(e);
}
+ System.out.println("parsing completed!");
+ }
+
+ 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(100000 * 1000);
- } catch (InterruptedException e) {
- e.printStackTrace();
+ 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/ColorDeserializer.java b/src/main/java/de/tudresden/inf/st/mg/common/ColorDeserializer.java
index 437aac1..2af744d 100644
--- a/src/main/java/de/tudresden/inf/st/mg/common/ColorDeserializer.java
+++ b/src/main/java/de/tudresden/inf/st/mg/common/ColorDeserializer.java
@@ -26,7 +26,6 @@ public class ColorDeserializer extends JsonDeserializer<String> {
Long g = nodeG == null ? 0 : Math.round(nodeG.asDouble() * 255);
JsonNode nodeB = node.get("b");
Long b = nodeB == null ? 0 : Math.round(nodeB.asDouble() * 255);
- System.out.println("#" + String.format("%02X%02X%02X", r, g, b));
- return "\"#" + String.format("%02X%02X%02X", r, g, b) + "\""; // FIXME remove quotes
+ return "#" + String.format("%02x%02x%02x", r, g, b);
}
}
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
index d7c7881..1a3d247 100644
--- a/src/main/java/de/tudresden/inf/st/mg/common/DiagramProvider.java
+++ b/src/main/java/de/tudresden/inf/st/mg/common/DiagramProvider.java
@@ -1,11 +1,14 @@
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;
@@ -16,6 +19,8 @@ public class DiagramProvider {
private static DiagramProvider INSTANCE;
+ private Main controller;
+
private static final Map<WsContext, String> clients = new ConcurrentHashMap<>();
public static DiagramProvider getInstance() {
@@ -25,16 +30,22 @@ public class DiagramProvider {
return INSTANCE;
}
- private final List<AST> asts;
+ private AST ast;
+ private AST context;
private DiagramProvider() {
- asts = new ArrayList<>();
+ 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"));
- Javalin app = Javalin.create(config -> config.enableCorsForOrigin("http://localhost:3000")).start(7070);
- app.get("/", ctx -> ctx.result("Hello World"));
+ app.get("/ast/", ctx -> {
+ ctx.json(ast);
+ });
- app.get("/asts/", ctx -> {
- ctx.json(asts);
+ app.get("/context/", ctx -> {
+ ctx.json(context);
});
app.ws("ast-events", ws -> {
@@ -47,27 +58,34 @@ public class DiagramProvider {
clients.remove(ctx);
});
ws.onMessage(ctx -> {
- System.err.println("somebody sent us a message: " + ctx.message());
+ 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 publishAst(Date timestamp, int step, String parseRule, Path diagramPath) {
- System.err.println("publishing AST");
+ public void publish(Date timestamp, int step, String parseRule, Path diagramPath, String type) {
try {
- asts.add(new AST(timestamp, step, parseRule, Files.readString(diagramPath)));
- clients.keySet().forEach(session -> {
- System.err.println("sending");
- session.send(asts.get(asts.size() - 1));
- });
+ 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 AST diagram file " + diagramPath);
+ System.err.println("Unable to read " + type + " diagram file " + diagramPath);
e.printStackTrace();
}
}
- public void publishContext() {
-
+ public void setController(Main controller) {
+ this.controller = controller;
}
public static class AST {
@@ -76,11 +94,14 @@ public class DiagramProvider {
public String parseRule;
public String diagram;
- public AST(Date timestamp, int step, String parseRule, 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;
}
}
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 c88be6d..6a536e5 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
@@ -22,8 +22,10 @@ public abstract class MotionGrammarParser<T extends MotionGrammarElement> {
protected static void waitSomeTime() {
try {
- Thread.sleep(1000/*ms*/);
- } catch(InterruptedException ignored) {
+ Thread.sleep(100/*ms*/);
+ } catch(InterruptedException e) {
+ System.err.println("received interruption while parsing");
+ Thread.currentThread().stop();
}
}
@@ -73,7 +75,7 @@ public abstract class MotionGrammarParser<T extends MotionGrammarElement> {
.skinParam(SkinParamBooleanSetting.Shadowing, false)
.skinParam(SkinParamStringSetting.backgroundColor, "white")
.dumpAsSVG(svgPath);
- DiagramProvider.getInstance().publishAst(new Date(), timeStep_, step, svgPath);
+ DiagramProvider.getInstance().publish(new Date(), timeStep_, step, svgPath, "ast");
timeStep_++;
} catch (IOException e) {
e.printStackTrace();
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 9ad07f0..cc683a6 100644
--- a/src/test/java/de/tudresden/inf/st/mg/ParserTest.java
+++ b/src/test/java/de/tudresden/inf/st/mg/ParserTest.java
@@ -56,7 +56,11 @@ public class ParserTest {
// for some reason, the best random seed value here is 1 and not 0???
RobotWorld world = RobotWorld.initialWorld(new Random(1));
- World.printContextOf("initial", null, "");
+ world.printContext("initial");
+
+ // create a parser using the world
+ RobotParser parser = new RobotParser(world);
+ parser.setDebugDiagramDir(TIDY_AST_DIAGRAM_DIR);
world.addSelection(new Selection().setObject("boxRed").setTimeStamp(java.time.Instant.now()))
.addSelection(new Selection().setObject("boxGreen").setTimeStamp(java.time.Instant.now()))
@@ -65,12 +69,6 @@ public class ParserTest {
.addSelection(new Selection().setObject("boxRed").setTimeStamp(java.time.Instant.now()))
.addSelection(new Selection().setObject("boxRed").setTimeStamp(java.time.Instant.now()));
- World.printContextOf("initial-with-selection", null, "");
-
- // create a parser using the world
- RobotParser parser = new RobotParser(world);
- parser.setDebugDiagramDir(TIDY_AST_DIAGRAM_DIR);
-
// parse (synchronously, long-running)
var result = parser.parse();
--
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