diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2119e45bafa4d99b58d418f8dcc6f5d06ebbf9af..5b20de79ae14abf02272bfc9a22db6735c71a5f2 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,6 +1,10 @@
variables:
GIT_SUBMODULE_STRATEGY: recursive
+services:
+ - name: "eclipse-mosquitto:1.6.9"
+ alias: "mqtt"
+
stages:
- build
@@ -8,14 +12,6 @@ build:
image: openjdk:8
stage: build
before_script:
- # - git submodule init
- # - git submodule sync
- # - cat .gitmodules
- # - cat .git/config
- # - ls -lah *
- # - rm -rf relast.preprocessor/*
- # - ls -lah *
- # - git submodule update --remote
- ls -lah *
script:
- ./gradlew --no-daemon build
diff --git a/ros2rag.base/src/main/resources/MqttUpdater.jadd b/ros2rag.base/src/main/resources/MqttUpdater.jadd
index ef3e483fc80a389f4d5311cbfc6b9c0dccab7885..6e986f2df4fc44f67e28b0015e524e1455f5e5fd 100644
--- a/ros2rag.base/src/main/resources/MqttUpdater.jadd
+++ b/ros2rag.base/src/main/resources/MqttUpdater.jadd
@@ -145,16 +145,18 @@ public class MqttUpdater {
// subscribe at broker
org.fusesource.mqtt.client.Topic[] topicArray = { new org.fusesource.mqtt.client.Topic(topic, this.qos) };
- connection.subscribe(topicArray, new org.fusesource.mqtt.client.Callback<byte[]>() {
- @Override
- public void onSuccess(byte[] qoses) {
- logger.debug("Subscribed to {}, qoses: {}", topic, qoses);
- }
+ connection.getDispatchQueue().execute(() -> {
+ connection.subscribe(topicArray, new org.fusesource.mqtt.client.Callback<byte[]>() {
+ @Override
+ public void onSuccess(byte[] qoses) {
+ logger.debug("Subscribed to {}, qoses: {}", topic, qoses);
+ }
- @Override
- public void onFailure(Throwable cause) {
- logger.error("Could not subscribe to {}", topic, cause);
- }
+ @Override
+ public void onFailure(Throwable cause) {
+ logger.error("Could not subscribe to {}", topic, cause);
+ }
+ });
});
}
@@ -187,30 +189,34 @@ public class MqttUpdater {
logger.warn("Stopping without connection. Was setHost() called?");
return;
}
- connection.disconnect(new org.fusesource.mqtt.client.Callback<Void>() {
- @Override
- public void onSuccess(Void value) {
- logger.info("Disconnected {} from {}", name, host);
- }
+ connection.getDispatchQueue().execute(() -> {
+ connection.disconnect(new org.fusesource.mqtt.client.Callback<Void>() {
+ @Override
+ public void onSuccess(Void value) {
+ logger.info("Disconnected {} from {}", name, host);
+ }
- @Override
- public void onFailure(Throwable ignored) {
- // Disconnects never fail. And we do not care either.
- }
+ @Override
+ public void onFailure(Throwable ignored) {
+ // Disconnects never fail. And we do not care either.
+ }
+ });
});
}
public void publish(String topic, byte[] bytes) {
- connection.publish(topic, bytes, qos, false, new org.fusesource.mqtt.client.Callback<Void>() {
- @Override
- public void onSuccess(Void value) {
- logger.debug("Published some bytes to {}", topic);
- }
+ connection.getDispatchQueue().execute(() -> {
+ connection.publish(topic, bytes, qos, false, new org.fusesource.mqtt.client.Callback<Void>() {
+ @Override
+ public void onSuccess(Void value) {
+ logger.debug("Published some bytes to {}", topic);
+ }
- @Override
- public void onFailure(Throwable value) {
- logger.warn("Could not publish on topic '{}'", topic);
- }
+ @Override
+ public void onFailure(Throwable value) {
+ logger.warn("Could not publish on topic '{}'", topic);
+ }
+ });
});
}
}
diff --git a/ros2rag.tests/build.gradle b/ros2rag.tests/build.gradle
index f8225fc931fe5dba242d61c53d93fc83a5daa28b..c37cfdd23f9a7ffd87393fda2e722c821983eff7 100644
--- a/ros2rag.tests/build.gradle
+++ b/ros2rag.tests/build.gradle
@@ -89,6 +89,7 @@ task preprocessExampleTest(type: JavaExec, group: 'verification') {
task compileExampleTest(type: RelastTest) {
verbose = true
useJastAddNames = true
+ jastAddList = 'JastAddList'
relastFiles 'src/test/02-after-ros2rag/example/Grammar.relast'
grammarName = 'src/test/03-after-relast/example/example'
packageName = 'example.ast'
diff --git a/ros2rag.tests/src/test/01-input/example/Example.jadd b/ros2rag.tests/src/test/01-input/example/Example.jadd
index 40ae586a2a0feb5c4fe274cc71ba5f05da4cbaad..53f41b6b1d5f7c181d0e4ea06a34ab8240eb82d1 100644
--- a/ros2rag.tests/src/test/01-input/example/Example.jadd
+++ b/ros2rag.tests/src/test/01-input/example/Example.jadd
@@ -79,7 +79,10 @@ aspect GrammarTypes {
return false;
}
+ syn double RobotArm.speedLow() = 0.4d;
+ syn double RobotArm.speedHigh() = 1.0d;
+
syn double RobotArm.getAppropriateSpeed() {
- return isInSafetyZone() ? 0.4d : 1.0d;
+ return isInSafetyZone() ? speedLow() : speedHigh();
}
}
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
index 9ff94b7b15bbbce1a2d2936abd53921c7b140591..d70f89378395d32ff0b88cc0be72fab72e85f84c 100644
--- a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
+++ b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
@@ -1,9 +1,18 @@
package org.jastadd.ros2rag.tests;
+import com.google.protobuf.InvalidProtocolBufferException;
+import config.Robotconfig.RobotConfig;
import example.ast.*;
+import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.Test;
import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+
+import static org.junit.Assert.*;
/**
* Test case "example".
@@ -12,10 +21,90 @@ import java.io.IOException;
*/
public class ExampleTest {
+ private static final double DELTA = 0.001d;
+ private static final String TOPIC_CONFIG = "robot/config";
+ private static final String TOPIC_JOINT1 = "robot/arm/joint1";
+
+ private Model model;
+ private RobotArm robotArm;
+ private Joint joint1;
+
+ private CountDownLatch stop;
+
+ @AfterEach
+ public void signalCondition() {
+ if (stop != null) {
+ stop.countDown();
+ }
+ }
+
@Test
- public void buildModel() throws IOException {
- Model model = new Model();
- model.MqttSetHost("localhost");
+ public void buildModel() {
+ createModel();
+ }
+
+ @Test
+ public void communicate() throws IOException, InterruptedException {
+ createModel();
+ List<RobotConfig> receivedConfigs = new ArrayList<>();
+
+ CountDownLatch start = new CountDownLatch(1);
+ stop = new CountDownLatch(1);
+ createListenerThread(receivedConfigs, start, stop);
+ start.await();
+
+ model.MqttSetHost(TestUtils.getMqttHost());
+ assertTrue(model.MqttWaitUntilReady(2, TimeUnit.SECONDS));
+ // joint is currently within the safety zone, so speed should be low
+ robotArm.connectAppropriateSpeed(TOPIC_CONFIG, true);
+ joint1.connectCurrentPosition(TOPIC_JOINT1);
+
+ // now change the position of the joint out of the safety zone
+ joint1.setCurrentPosition(makePosition(2, 2, 2));
+
+ // and wait for MQTT to send/receive messages
+ TimeUnit.SECONDS.sleep(2);
+
+ // there should be two configs received by now (the initial one, and the updated)
+ assertEquals(2, receivedConfigs.size());
+ RobotConfig actualInitialConfig = receivedConfigs.get(0);
+ assertEquals(robotArm.speedLow(), actualInitialConfig.getSpeed(), DELTA);
+
+ RobotConfig actualUpdatedConfig = receivedConfigs.get(1);
+ assertEquals(robotArm.speedHigh(), actualUpdatedConfig.getSpeed(), DELTA);
+ model.MqttCloseConnections();
+ }
+
+ private void createListenerThread(List<RobotConfig> receivedConfigs,
+ CountDownLatch startCondition, CountDownLatch stopCondition) {
+ new Thread(() -> {
+ MqttUpdater receiver = new MqttUpdater("receiver");
+ try {
+ receiver.setHost(TestUtils.getMqttHost(), TestUtils.getMqttDefaultPort());
+ } catch (IOException e) {
+ fail("Could not set host: " + e.getMessage());
+ }
+ assertTrue(receiver.waitUntilReady(2, TimeUnit.SECONDS));
+ receiver.newConnection(TOPIC_CONFIG, bytes -> {
+ try {
+ RobotConfig config = RobotConfig.parseFrom(bytes);
+ receivedConfigs.add(config);
+ } catch (InvalidProtocolBufferException e) {
+ fail("Received bad config: " + e.getMessage());
+ }
+ });
+ startCondition.countDown();
+ try {
+ stopCondition.await();
+ receiver.close();
+ } catch (InterruptedException e) {
+ e.printStackTrace();
+ }
+ }).start();
+ }
+
+ private void createModel() {
+ model = new Model();
ZoneModel zoneModel = new ZoneModel();
zoneModel.setSize(makePosition(1, 1, 1));
@@ -32,10 +121,10 @@ public class ExampleTest {
zoneModel.addSafetyZone(safetyZone);
model.setZoneModel(zoneModel);
- RobotArm robotArm = new RobotArm();
+ robotArm = new RobotArm();
robotArm.setAttributeTestSource(1); // set initial value, no trigger
- Joint joint1 = new Joint();
+ joint1 = new Joint();
joint1.setName("joint1");
joint1.setCurrentPosition(myPosition);
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
new file mode 100644
index 0000000000000000000000000000000000000000..083b9982cfce12243080dd10d75b15a22dd2c8cf
--- /dev/null
+++ b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
@@ -0,0 +1,24 @@
+package org.jastadd.ros2rag.tests;
+
+/**
+ * Utility methods for tests.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class TestUtils {
+
+ public static String getMqttHost() {
+ if (System.getenv("GITLAB_CI") != null) {
+ // we are in the CI, so use "mqtt" as host
+ return "mqtt";
+ } {
+ // else assume a locally running mqtt broker
+ return "localhost";
+ }
+ }
+
+ public static int getMqttDefaultPort() {
+ return 1883;
+ }
+
+}