Skip to content
Snippets Groups Projects
Commit fe2c0049 authored by Johannes Mey's avatar Johannes Mey
Browse files

festival updatesfestival updatesfestival updatesfestival updatesfestival 

updatesfestival updatesfestival updatesfestival updates
parent 9e38c09c
No related branches found
No related tags found
1 merge request!1festival updatesfestival updatesfestival updatesfestival updatesfestival
Pipeline #14647 failed
Stage: build
Stage: test
Stage: ragdoc
Show whitespace changes
Inline Side-by-side
Showing
with 140 additions and 77 deletions
src/main/jastadd/cleanup/Tracing.jadd
+ 17
− 16
View file @ fe2c0049
......@@ -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;
}
......
src/main/jastadd/common/Tracing.jadd
+ 4
− 1
View file @ fe2c0049
......@@ -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");
}
}
src/main/java/de/tudresden/inf/st/mg/Main.java
+ 69
− 30
View file @ fe2c0049
......@@ -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;
......@@ -18,40 +20,41 @@ 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");
if (!simulate) {
org.fusesource.mqtt.client.MQTT handler = new org.fusesource.mqtt.client.MQTT();
try {
handler.setHost("tcp://localhost:1883");
......@@ -73,6 +76,27 @@ public class Main {
e.printStackTrace();
}
try {
world.connectSelection("mqtt://localhost/vr_selection");
} 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);
}
}
src/main/java/de/tudresden/inf/st/mg/common/ColorDeserializer.java
+ 1
− 2
View file @ fe2c0049
......@@ -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);
}
}
src/main/java/de/tudresden/inf/st/mg/common/DiagramProvider.java
+ 39
− 18
View file @ fe2c0049
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;
}
}
......
src/main/java/de/tudresden/inf/st/mg/common/MotionGrammarParser.java
+ 5
− 3
View file @ fe2c0049
......@@ -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();
......
src/test/java/de/tudresden/inf/st/mg/ParserTest.java
+ 5
− 7
View file @ fe2c0049
......@@ -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();
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment