diff --git a/ros2rag.starter/src/main/jastadd/Computation.jrag b/ros2rag.starter/src/main/jastadd/Computation.jrag index b61f819dc4aed5a22feb25d635e9aaab95ba9f70..bddac5a4db5245259f19cfb72c86b9533fbf3fa7 100644 --- a/ros2rag.starter/src/main/jastadd/Computation.jrag +++ b/ros2rag.starter/src/main/jastadd/Computation.jrag @@ -14,13 +14,7 @@ aspect Computation { System.out.println("isInSafetyZone(" + pos + ")"); for (Zone sz : getSafetyZoneList()) { for (Coordinate coordinate : sz.getCoordinateList()) { - IntPosition inside = coordinate.getPosition(); - if (inside.getX() <= pos.getX() && - inside.getY() <= pos.getY() && - inside.getZ() <= pos.getZ() && - pos.getX() <= inside.getX() + getSize().getX() && - pos.getY() <= inside.getY() + getSize().getY() && - pos.getZ() <= inside.getZ() + getSize().getZ()) { + if (coordinate.getPosition().equals(pos)) { return true; } } diff --git a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag index 7d49c971a4b75679b658368af3cce439bc943d36..60e7d1923a9a0a735bc4c8c3718ddd1c8e5b7ed7 100644 --- a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag +++ b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag @@ -10,23 +10,23 @@ RobotArm.AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ; // --- mapping definitions --- ParseLinkState maps byte[] bytes to panda.Linkstate.PandaLinkState {: - System.out.println("ParseLinkState"); +// System.out.println("ParseLinkState"); return panda.Linkstate.PandaLinkState.parseFrom(bytes); :} SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {: - System.out.println("SerializeRobotConfig"); +// System.out.println("SerializeRobotConfig"); return rc.toByteArray(); :} LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {: - System.out.println("LinkStateToIntPosition"); +// System.out.println("LinkStateToIntPosition"); panda.Linkstate.PandaLinkState.Position p = pls.getPos(); return IntPosition.of((int) (Math.round(p.getPositionX() * 2)), (int) (Math.round(p.getPositionY() * 2)), (int) (Math.round(p.getPositionZ() * 2 + 0.5))); :} CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {: - System.out.println("CreateSpeedMessage"); +// System.out.println("CreateSpeedMessage"); return config.Robotconfig.RobotConfig.newBuilder() .setSpeed(speed) .setLoopTrajectory(true) diff --git a/ros2rag.starter/src/main/jastadd/RobotModel.relast b/ros2rag.starter/src/main/jastadd/RobotModel.relast index ea347d0ec303a8d3555cd0118d403b53664ffe33..415d3e5e25b8d03fa1d53bc6f95c05ad5e1987d8 100644 --- a/ros2rag.starter/src/main/jastadd/RobotModel.relast +++ b/ros2rag.starter/src/main/jastadd/RobotModel.relast @@ -1,6 +1,6 @@ Model ::= RobotArm ZoneModel ; -ZoneModel ::= <Size:IntPosition> SafetyZone:Zone* ; +ZoneModel ::= SafetyZone:Zone* ; Zone ::= Coordinate* ; diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java index a4a0f70c9058be997142bb286aa33b4e8c5b1897..66a48f60b39cb7c5d48af9993eeca7159dc92e51 100644 --- a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java +++ b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java @@ -42,7 +42,6 @@ public class StarterMain { model.MqttSetHost(config.mqttHost); ZoneModel zoneModel = new ZoneModel(); - zoneModel.setSize(makePosition(1, 1, 1)); Zone safetyZone = new Zone(); for (int[] coordinate : safetyZoneCoordinates) {