Merge branch 'master' into 19-poc-use-mustache-as-template-engine

.gitlab-ci.yml

@@ -21,7 +21,7 @@ test:
   image: openjdk:8
   stage: test
   script:
-    - ./gradlew test
+    - ./gradlew allTests
   artifacts:
     reports:
       junit: ros2rag.tests/build/test-results/test/TEST-*.xml

Dockerfile

+FROM ubuntu:bionic
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV HOME /home/user
+RUN useradd --create-home --home-dir $HOME user \
+    && chmod -R u+rwx $HOME \
+    && chown -R user:user $HOME
+
+RUN apt-get update -y \
+    && apt-get upgrade -y \
+    && apt-get install -y --no-install-recommends openjdk-8-jdk \
+    && apt-get clean
+
+COPY --chown=user:user . /ros2rag/
+
+USER user
+WORKDIR /ros2rag
+
+RUN ./gradlew --no-daemon installDist
+
+ENTRYPOINT /bin/bash -c "./ros2rag.starter/build/install/ros2rag.starter/bin/ros2rag.starter ./ros2rag.starter/src/main/resources/config.json"
+

ros2rag.base/src/main/jastadd/backend/Generation.jadd

@@ -141,16 +141,23 @@ aspect AspectGeneration {
     sb.append(ind(indent + 1)).append(preemptiveReturnStatement()).append("\n");
     sb.append(ind(indent)).append("}\n");
     if (!getAlwaysApply()) {
-      sb.append(ind(indent)).append("if (").append(preemptiveExpectedValue());
-      if (getToken().isPrimitiveType()) {
-        sb.append(" == ").append(inputVariableName);
-      } else if (effectiveMappings().get(effectiveMappings().size() - 1).isDefaultMappingDefinition()) {
-        sb.append(" != null && ").append(preemptiveExpectedValue()).append(".equals(")
-          .append(inputVariableName).append(")");
+      MappingDefinition lastMapping = effectiveMappings().get(effectiveMappings().size() - 1);
+      sb.append(ind(indent)).append("if (");
+      if (lastMapping.getToType().isArray()) {
+        sb.append("java.util.Arrays.equals(").append(preemptiveExpectedValue())
+          .append(", ").append(inputVariableName).append(")");
       } else {
-        sb.append(" != null ? ").append(preemptiveExpectedValue()).append(".equals(")
-          .append(inputVariableName).append(")").append(" : ")
-          .append(inputVariableName).append(" == null");
+        sb.append(preemptiveExpectedValue());
+        if (getToken().isPrimitiveType() && lastMapping.getToType().isPrimitiveType()) {
+          sb.append(" == ").append(inputVariableName);
+        } else if (lastMapping.isDefaultMappingDefinition()) {
+          sb.append(" != null && ").append(preemptiveExpectedValue()).append(".equals(")
+            .append(inputVariableName).append(")");
+        } else {
+          sb.append(" != null ? ").append(preemptiveExpectedValue()).append(".equals(")
+            .append(inputVariableName).append(")").append(" : ")
+            .append(inputVariableName).append(" == null");
+        }
       }
       sb.append(") { ").append(preemptiveReturnStatement()).append(" }\n");
     }

ros2rag.base/src/main/jastadd/backend/Mappings.jrag

@@ -151,6 +151,12 @@ aspect Mappings {
       default: return false;
     }
   }
+  syn boolean MappingDefinitionType.isPrimitiveType() = false;
+  eq JavaMappingDefinitionType.isPrimitiveType() = getType().isPrimitiveType();
+
+  // --- isArray ---
+  syn boolean MappingDefinitionType.isArray() = false;
+  eq JavaArrayMappingDefinitionType.isArray() = true;
 
   // --- suitableDefaultMapping ---
   syn DefaultMappingDefinition UpdateDefinition.suitableDefaultMapping();

ros2rag.base/src/main/resources/MqttUpdater.jadd

@@ -231,8 +231,16 @@ public class MqttUpdater {
   }
 
   public void publish(String topic, byte[] bytes) {
+    publish(topic, bytes, false);
+  }
+
+  public void publish(String topic, byte[] bytes, boolean retain) {
+    publish(topic, bytes, this.qos, retain);
+  }
+
+  public void publish(String topic, byte[] bytes, org.fusesource.mqtt.client.QoS qos, boolean retain) {
     connection.getDispatchQueue().execute(() -> {
-      connection.publish(topic, bytes, qos, false, new org.fusesource.mqtt.client.Callback<Void>() {
+      connection.publish(topic, bytes, qos, retain, new org.fusesource.mqtt.client.Callback<Void>() {
         @Override
         public void onSuccess(Void value) {
           logger.debug("Published some bytes to {}", topic);

ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/Main.java

@@ -7,6 +7,7 @@ import config.Robotconfig.RobotConfig;
 import de.tudresden.inf.st.ros2rag.starter.ast.MqttUpdater;
 import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration;
 import de.tudresden.inf.st.ros2rag.starter.data.DataJoint;
+import org.apache.logging.log4j.Level;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 import panda.Linkstate.PandaLinkState;
@@ -19,6 +20,7 @@ import java.util.concurrent.TimeUnit;
 public class Main {
 
   private static final Logger logger = LogManager.getLogger(Main.class);
+  private String topicPattern;
 
   public static void main(String[] args) throws Exception {
     Main main = new Main();
@@ -32,6 +34,7 @@ public class Main {
   private void run(DataConfiguration config) throws IOException, InterruptedException {
     final CountDownLatch finish = new CountDownLatch(1);
 
+    int topicMaxLength = 0;
     MqttUpdater receiver = new MqttUpdater("receiver stub");
     receiver.setHost(config.mqttHost);
     receiver.waitUntilReady(2, TimeUnit.SECONDS);
@@ -39,7 +42,9 @@ public class Main {
     receiver.newConnection(config.dataConfigTopic, this::printDataConfig);
     for (DataJoint joint : config.joints) {
       receiver.newConnection(joint.topic, this::printPandaLinkState);
+      topicMaxLength = Math.max(topicMaxLength, joint.topic.length());
     }
+    this.topicPattern = "%" + topicMaxLength + "s";
 
     receiver.newConnection("components", bytes -> {
       String message = new String(bytes);
@@ -70,8 +75,10 @@ public class Main {
       PandaLinkState.Orientation tmpOrientation = pls.getOrient();
       PandaLinkState.TwistLinear tmpTwistLinear = pls.getTl();
       PandaLinkState.TwistAngular tmpTwistAngular = pls.getTa();
-      logger.info("{}: pos({},{},{}), orient({},{},{},{})," +
-              " twist-linear({},{},{}), twist-angular({},{},{})",
+      // panda::panda_link0: pos(-3.0621333E-8,-1.5197388E-8,3.3411725E-5), orient(0.0,0.0,0.0,0.0), twist-linear(0.0,0.0,0.0), twist-angular(0.0,0.0,0.0)
+
+      logger.printf(Level.INFO,topicPattern + ": pos(% .5f,% .5f,% .5f), ori(%.1f,%.1f,%.1f,%.1f)," +
+              " twL(%.1f,%.1f,%.1f), twA(%.1f,%.1f,%.1f)",
           pls.getName(),
           tmpPosition.getPositionX(),
           tmpPosition.getPositionY(),

ros2rag.receiverstub/src/main/resources/log4j2.xml

@@ -6,7 +6,7 @@
         </Console>
     </Appenders>
     <Loggers>
-        <Root level="debug">
+        <Root level="info">
             <AppenderRef ref="Console"/>
         </Root>
     </Loggers>

ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/Main.java

@@ -7,34 +7,21 @@ import java.util.concurrent.TimeUnit;
 
 public class Main {
   public static void main(String[] args) throws Exception {
-    final String topic;
-    final byte[] message;
-
-    if (args.length < 1) {
-      topic = "robot/joint1";
-    } else {
-      topic = args[0];
-    }
-
-    if (args.length < 2) {
-      Linkstate.PandaLinkState pls = Linkstate.PandaLinkState.newBuilder()
-          .setName("Joint1")
-          .setPos(Linkstate.PandaLinkState.Position.newBuilder()
-              .setPositionX(0.5f)
-              .setPositionY(0.5f)
-              .setPositionZ(0.5f)
-              .build())
-          .setOrient(Linkstate.PandaLinkState.Orientation.newBuilder()
-              .setOrientationX(0)
-              .setOrientationY(0)
-              .setOrientationZ(0)
-              .setOrientationW(0)
-              .build())
-          .build();
-      message = pls.toByteArray();
-    } else {
-      message = args[1].getBytes();
+    // assume 4 arguments
+    if (args.length < 4) {
+      System.err.println("Sends a new position, expected arguments: topic x y z");
+      return;
     }
+    final String topic = args[0];
+    Linkstate.PandaLinkState pls = Linkstate.PandaLinkState.newBuilder()
+        .setName(args[0])
+        .setPos(Linkstate.PandaLinkState.Position.newBuilder()
+            .setPositionX(Float.parseFloat(args[1]))
+            .setPositionY(Float.parseFloat(args[2]))
+            .setPositionZ(Float.parseFloat(args[3]))
+            .build())
+        .build();
+    final byte[] message = pls.toByteArray();
 
     MqttUpdater sender = new MqttUpdater("sender stub").dontSendWelcomeMessage();
     sender.setHost("localhost", 1883);

ros2rag.starter/src/main/jastadd/Computation.jrag

 aspect Computation {
   syn boolean RobotArm.isInSafetyZone() {
+    System.out.println("isInSafetyZone()");
     for (Joint joint : getJointList()) {
       if (model().getZoneModel().isInSafetyZone(joint.getCurrentPosition())) {
         return true;
@@ -10,15 +11,10 @@ aspect Computation {
 
   cache ZoneModel.isInSafetyZone(IntPosition pos);
   syn boolean ZoneModel.isInSafetyZone(IntPosition pos) {
+    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;
         }
       }

ros2rag.starter/src/main/jastadd/Definitions.ros2rag

@@ -10,20 +10,23 @@ RobotArm.AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
 
 // --- mapping definitions ---
 ParseLinkState maps byte[] bytes to panda.Linkstate.PandaLinkState {:
+//  System.out.println("ParseLinkState");
   return panda.Linkstate.PandaLinkState.parseFrom(bytes);
 :}
 
 SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
+//  System.out.println("SerializeRobotConfig");
   return rc.toByteArray();
 :}
 
 LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
+//  System.out.println("LinkStateToIntPosition");
   panda.Linkstate.PandaLinkState.Position p = pls.getPos();
-  { int i = 0; }
-  return IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ());
+  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");
   return config.Robotconfig.RobotConfig.newBuilder()
     .setSpeed(speed)
     .setLoopTrajectory(true)

ros2rag.starter/src/main/jastadd/RobotModel.relast

 Model ::= RobotArm ZoneModel ;
 
-ZoneModel ::= <Size:IntPosition> SafetyZone:Zone* ;
+ZoneModel ::= SafetyZone:Zone* ;
 
 Zone ::= Coordinate* ;
 

ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java

@@ -28,9 +28,8 @@ public class StarterMain {
     File configFile = new File(args[0]);
 
     final int[][] safetyZoneCoordinates = {
-        {0, 0, 0},
-        {-1, 0, 0},
-        {1, 0, 0}
+        {1, 1, 0},
+        {-1, -1, 1}
     };
 
     // --- No configuration below this line ---
@@ -43,7 +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) {
@@ -103,9 +101,9 @@ public class StarterMain {
         .setEnableOrientation(false)
         .setEnableTwistAngular(false)
         .setEnableTwistLinear(false)
-        .setPublishRate(1000)
+        .setPublishRate(100)
         .build();
-    mainHandler.publish(dataConfigTopic, dataConfig.toByteArray());
+    mainHandler.publish(dataConfigTopic, dataConfig.toByteArray(), true);
   }
 
   private void logStatus(String prefix, RobotArm robotArm) {

ros2rag.starter/src/main/resources/config.json

 {
   "joints": [
-    {"name": "Joint0", "topic": "panda_link_0"},
-    {"name": "Joint1", "topic": "panda_link_1"},
-    {"name": "Joint2", "topic": "panda_link_2"},
-    {"name": "Joint3", "topic": "panda_link_3"},
-    {"name": "Joint4", "topic": "panda_link_4"},
-    {"name": "Joint5", "topic": "panda_link_5"},
-    {"name": "Joint6", "topic": "panda_link_6"},
-    {"name": "EndEffector", "topic": "panda_link_7", "isEndEffector": true},
-    {"name": "LeftFinger", "topic": "panda_link_8"},
-    {"name": "RightFinger", "topic": "panda_link_9"}
+    {"name": "Joint0", "topic": "panda::panda_link0"},
+    {"name": "Joint1", "topic": "panda::panda_link1"},
+    {"name": "Joint2", "topic": "panda::panda_link2"},
+    {"name": "Joint3", "topic": "panda::panda_link3"},
+    {"name": "Joint4", "topic": "panda::panda_link4"},
+    {"name": "Joint5", "topic": "panda::panda_link5"},
+    {"name": "Joint6", "topic": "panda::panda_link6"},
+    {"name": "EndEffector", "topic": "panda::panda_link7", "isEndEffector": true},
+    {"name": "LeftFinger", "topic": "panda::panda_leftfinger"},
+    {"name": "RightFinger", "topic": "panda::panda_rightfinger"}
   ],
   "robotConfigTopic": "robotconfig",
   "dataConfigTopic": "dataconfig"

ros2rag.tests/build.gradle

@@ -30,11 +30,22 @@ dependencies {
 }
 
 test {
-    useJUnitPlatform()
+    useJUnitPlatform {
+        excludeTags 'mqtt'
+    }
 
     maxHeapSize = '1G'
 }
 
+task allTests(type: Test, dependsOn: testClasses) {
+    description = 'Run every test'
+    group = 'verification'
+
+    useJUnitPlatform {
+        includeTags 'mqtt'
+    }
+}
+
 relastTest {
     compilerLocation = '../libs/relast.jar'
 }
@@ -82,7 +93,7 @@ task compileExampleTest(type: RelastTest) {
             'src/test/02-after-ros2rag/example/ROS2RAG.jadd'
 }
 
-test.dependsOn compileExampleTest
+testClasses.dependsOn compileExampleTest
 compileExampleTest.dependsOn preprocessExampleTest
 
 // --- Test: default-only-read ---
@@ -112,7 +123,7 @@ task compileDefaultOnlyReadTest(type: RelastTest) {
             'src/test/02-after-ros2rag/defaultOnlyRead/ROS2RAG.jadd'
 }
 
-test.dependsOn compileDefaultOnlyReadTest
+testClasses.dependsOn compileDefaultOnlyReadTest
 compileDefaultOnlyReadTest.dependsOn preprocessDefaultOnlyReadTest
 
 // --- Test: default-only-write ---
@@ -143,7 +154,7 @@ task compileDefaultOnlyWriteTest(type: RelastTest) {
             'src/test/02-after-ros2rag/defaultOnlyWrite/ROS2RAG.jadd'
 }
 
-test.dependsOn compileDefaultOnlyWriteTest
+testClasses.dependsOn compileDefaultOnlyWriteTest
 compileDefaultOnlyWriteTest.dependsOn preprocessDefaultOnlyWriteTest
 
 // --- Test: read1write2 ---
@@ -174,7 +185,7 @@ task compileRead1Write2Test(type: RelastTest) {
             'src/test/02-after-ros2rag/read1write2/ROS2RAG.jadd'
 }
 
-test.dependsOn compileRead1Write2Test
+testClasses.dependsOn compileRead1Write2Test
 compileRead1Write2Test.dependsOn preprocessRead1Write2Test
 
 // --- Test: read2write1 ---
@@ -205,7 +216,7 @@ task compileRead2Write1Test(type: RelastTest) {
             'src/test/02-after-ros2rag/read2write1/ROS2RAG.jadd'
 }
 
-test.dependsOn compileRead2Write1Test
+testClasses.dependsOn compileRead2Write1Test
 compileRead2Write1Test.dependsOn preprocessRead2Write1Test
 
 clean {

ros2rag.tests/src/test/01-input/example/Test.jadd

 aspect GrammarTypes {
+  public class TestCounter {
+    public static TestCounter INSTANCE = new TestCounter();
+    public int numberParseLinkState = 0;
+    public int numberSerializeRobotConfig = 0;
+    public int numberLinkStateToIntPosition = 0;
+    public int numberCreateSpeedMessage = 0;
+    public int numberInSafetyZone = 0;
+    public static void reset() {
+      TestCounter.INSTANCE = new TestCounter();
+    }
+  }
+
   public class IntPosition {
     private final int x, y, z;
 
@@ -53,6 +65,7 @@ aspect GrammarTypes {
   eq RobotArm.getEndEffector().containingRobotArm() = this;
 
   syn boolean RobotArm.isInSafetyZone() {
+    TestCounter.INSTANCE.numberInSafetyZone += 1;
     for (Joint joint : getJointList()) {
       if (model().getZoneModel().isInSafetyZone(joint.getCurrentPosition())) {
         return true;

ros2rag.tests/src/test/01-input/example/Test.relast

@@ -4,7 +4,7 @@ ZoneModel ::= <Size:IntPosition> SafetyZone:Zone* ;
 
 Zone ::= Coordinate* ;
 
-RobotArm ::= Joint* EndEffector <AttributeTestSource:int> /<AppropriateSpeed:double>/ ;
+RobotArm ::= Joint* EndEffector /<AppropriateSpeed:double>/ ;
 
 Joint ::= <Name:String> <CurrentPosition:IntPosition> ;
 

ros2rag.tests/src/test/01-input/example/Test.ros2rag

@@ -5,24 +5,26 @@ write RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
 
 // --- dependency definitions ---
 RobotArm.AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
-RobotArm.AppropriateSpeed canDependOn RobotArm.AttributeTestSource as dependency2 ;
 
 // --- mapping definitions ---
 ParseLinkState maps byte[] bytes to panda.Linkstate.PandaLinkState {:
+  TestCounter.INSTANCE.numberParseLinkState += 1;
   return panda.Linkstate.PandaLinkState.parseFrom(bytes);
 :}
 
 SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
+  TestCounter.INSTANCE.numberSerializeRobotConfig += 1;
   return rc.toByteArray();
 :}
 
 LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
+  TestCounter.INSTANCE.numberLinkStateToIntPosition += 1;
   panda.Linkstate.PandaLinkState.Position p = pls.getPos();
-  { int i = 0; }
-  return IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ());
+  return IntPosition.of((int) (10 * p.getPositionX()), (int) (10 * p.getPositionY()), (int) (10 * p.getPositionZ()));
 :}
 
 CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
+  TestCounter.INSTANCE.numberCreateSpeedMessage += 1;
   return config.Robotconfig.RobotConfig.newBuilder()
     .setSpeed(speed)
     .build();

ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/AbstractMqttTest.java

@@ -2,6 +2,7 @@ package org.jastadd.ros2rag.tests;
 
 import defaultOnlyRead.ast.MqttUpdater;
 import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.Tag;
 
 import java.io.IOException;
 import java.util.concurrent.TimeUnit;
@@ -11,6 +12,7 @@ import java.util.concurrent.TimeUnit;
  *
  * @author rschoene - Initial contribution
  */
+@Tag("mqtt")
 public abstract class AbstractMqttTest {
   static boolean checkDone = false;
   static Boolean checkResult;

ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java

@@ -106,7 +106,7 @@ public class DefaultOnlyReadTest extends AbstractMqttTest {
     sender.publish(TOPIC_BOXED_DOUBLE, ByteBuffer.allocate(8).putDouble(expectedDoubleValue).array());
     sender.publish(TOPIC_BOXED_CHARACTER, ByteBuffer.allocate(2).putChar(expectedCharValue).array());
 
-    TimeUnit.SECONDS.sleep(2);
+    TestUtils.waitForMqtt();
 
     assertEquals(expectedIntValue, integers.getIntValue());
     assertEquals(expectedShortValue, integers.getShortValue());

ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java

@@ -67,21 +67,21 @@ public class DefaultOnlyWriteTest extends AbstractMqttTest {
     setupReceiverAndConnect(true);
 
     // check initial value
-    TimeUnit.SECONDS.sleep(2);
+    TestUtils.waitForMqtt();
     checkData(1, 1, 1.1, 'a', "ab");
 
     // set new value
     setData("2", "2.2", "cd");
 
     // check new value
-    TimeUnit.SECONDS.sleep(2);
+    TestUtils.waitForMqtt();
     checkData(2, 2, 2.2, 'c', "cd");
 
     // set new value
     setData("3", "3.2", "ee");
 
     // check new value
-    TimeUnit.SECONDS.sleep(2);
+    TestUtils.waitForMqtt();
     checkData(3, 3, 3.2, 'e', "ee");
   }
 
@@ -92,21 +92,21 @@ public class DefaultOnlyWriteTest extends AbstractMqttTest {
     setupReceiverAndConnect(false);
 
     // check initial value (will be default values)
-    TimeUnit.SECONDS.sleep(2);
+    TestUtils.waitForMqtt();
     checkData(0, null, null, null, null);
 
     // set new value
     setData("2", "2.2", "cd");
 
     // check new value
-    TimeUnit.SECONDS.sleep(2);
+    TestUtils.waitForMqtt();
     checkData(1, 2, 2.2, 'c', "cd");
 
     // set new value
     setData("3", "3.2", "ee");
 
     // check new value
-    TimeUnit.SECONDS.sleep(2);
+    TestUtils.waitForMqtt();
     checkData(2, 3, 3.2, 'e', "ee");
   }