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

Resolve "PoC: Use mustache as template engine"

Closes #19

See merge request jastadd/ros2rag!2

ros2rag.starter/build.gradle

@@ -30,9 +30,10 @@ dependencies {
     baseRuntimeClasspath project (':ros2rag.base')
     implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-xml', version: "${jackson_version}"
     implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: "${jackson_version}"
+    implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: "${jackson_version}"
     implementation group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
-    compile 'com.google.protobuf:protobuf-java:3.0.0'
-    compile group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
+    implementation group: 'com.google.protobuf', name: 'protobuf-java', version: '3.0.0'
+    implementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
 
     jastadd2 "org.jastadd:jastadd:2.3.4"
 }

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())) {
+    for (Link link : getLinkList()) {
+      if (model().getZoneModel().isInSafetyZone(link.getCurrentPosition())) {
         return true;
       }
     }

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

@@ -2,11 +2,11 @@
  * Version 2020-05-28
  */
 // --- update definitions ---
-read Joint.CurrentPosition using ParseLinkState, LinkStateToIntPosition ;
+read Link.CurrentPosition using ParseLinkState, LinkStateToIntPosition ;
 write RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
 
 // --- dependency definitions ---
-RobotArm.AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
+RobotArm.AppropriateSpeed canDependOn Link.CurrentPosition as dependency1 ;
 
 // --- mapping definitions ---
 ParseLinkState maps byte[] bytes to panda.Linkstate.PandaLinkState {:

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

@@ -2,7 +2,7 @@ aspect Navigation {
   inh Model RobotArm.model();
   eq Model.getRobotArm().model() = this;
 
-  inh RobotArm Joint.containingRobotArm();
-  eq RobotArm.getJoint().containingRobotArm() = this;
+  inh RobotArm Link.containingRobotArm();
+  eq RobotArm.getLink().containingRobotArm() = this;
   eq RobotArm.getEndEffector().containingRobotArm() = this;
 }

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

@@ -4,10 +4,10 @@ ZoneModel ::= SafetyZone:Zone* ;
 
 Zone ::= Coordinate* ;
 
-RobotArm ::= Joint* EndEffector /<AppropriateSpeed:double>/ ;
+RobotArm ::= Link* EndEffector /<AppropriateSpeed:double>/ ;
 
-Joint ::= <Name:String> <CurrentPosition:IntPosition> ;
+Link ::= <Name:String> <CurrentPosition:IntPosition> ;
 
-EndEffector : Joint;
+EndEffector : Link;
 
 Coordinate ::= <Position:IntPosition> ;

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

 package de.tudresden.inf.st.ros2rag.starter;
 
 import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.dataformat.yaml.YAMLFactory;
 import config.Dataconfig;
 import de.tudresden.inf.st.ros2rag.starter.ast.*;
 import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration;
-import de.tudresden.inf.st.ros2rag.starter.data.DataJoint;
+import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration.ActualConfiguration;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 
 import java.io.File;
 import java.io.IOException;
+import java.util.Map.Entry;
+import java.util.SortedMap;
 import java.util.concurrent.CountDownLatch;
 import java.util.concurrent.TimeUnit;
 
@@ -25,26 +28,26 @@ public class StarterMain {
   private Model model;
 
   public void run(String[] args) throws IOException, InterruptedException {
-    File configFile = new File(args[0]);
-
-    final int[][] safetyZoneCoordinates = {
-        {1, 1, 0},
-        {-1, -1, 1}
-    };
+    File configFile = new File(args.length == 0 ? "./src/main/resources/config.yaml" : args[0]);
 
     // --- No configuration below this line ---
 
-    ObjectMapper mapper = new ObjectMapper();
+    ObjectMapper mapper = new ObjectMapper(new YAMLFactory());
     System.out.println("Using config file: " + configFile.getAbsolutePath());
-    DataConfiguration config = mapper.readValue(configFile, DataConfiguration.class);
+    ActualConfiguration config = mapper.readValue(configFile, DataConfiguration.class).panda_mqtt_connector;
 
     model = new Model();
-    model.MqttSetHost(config.mqttHost);
+    Util.setMqttHost(model::MqttSetHost, config);
 
     ZoneModel zoneModel = new ZoneModel();
 
     Zone safetyZone = new Zone();
-    for (int[] coordinate : safetyZoneCoordinates) {
+    for (String zone : config.zones) {
+      int[] coordinate = {0, 0, 0};
+      String[] zoneSplit = zone.split(" ");
+      for (int i = 0; i < zoneSplit.length; i++) {
+        coordinate[i] = Integer.parseInt(zoneSplit[i]);
+      }
       safetyZone.addCoordinate(new Coordinate(
           IntPosition.of(coordinate[0], coordinate[1], coordinate[2])));
     }
@@ -55,24 +58,23 @@ public class StarterMain {
     RobotArm robotArm = new RobotArm();
     model.setRobotArm(robotArm);
 
-    for (DataJoint dataJoint : config.joints) {
-      final Joint jointOrEndEffector;
-      if (dataJoint.isEndEffector) {
+    Util.iterateLinks((isEndEffector, topic, name) -> {
+      Link link;
+      if (isEndEffector) {
         EndEffector endEffector = new EndEffector();
         robotArm.setEndEffector(endEffector);
-        jointOrEndEffector = endEffector;
+        link = endEffector;
       } else {
-        Joint joint = new Joint();
-        robotArm.addJoint(joint);
-        jointOrEndEffector = joint;
+        link = new Link();
+        robotArm.addLink(link);
       }
-      jointOrEndEffector.setName(dataJoint.name);
-      jointOrEndEffector.setCurrentPosition(makePosition(0, 0, 0));
-      robotArm.addDependency1(jointOrEndEffector);
-      jointOrEndEffector.connectCurrentPosition(dataJoint.topic);
-    }
+      link.setName(name);
+      link.setCurrentPosition(makePosition(0, 0, 0));
+      link.containingRobotArm().addDependency1(link);
+      link.connectCurrentPosition(topic);
+    }, config);
 
-    robotArm.connectAppropriateSpeed(config.robotConfigTopic, true);
+    robotArm.connectAppropriateSpeed(config.topics.robotConfig, true);
 
     logStatus("Start", robotArm);
     CountDownLatch exitCondition = new CountDownLatch(1);
@@ -81,12 +83,12 @@ public class StarterMain {
     logger.info("To exit the system cleanly, send a message to the topic 'exit', or use Ctrl+C.");
 
     mainHandler = new MqttUpdater("mainHandler");
-    mainHandler.setHost(config.mqttHost);
+    Util.setMqttHost(mainHandler, config);
     mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
     mainHandler.newConnection("exit", bytes -> exitCondition.countDown());
     mainHandler.newConnection("model", bytes -> logStatus(new String(bytes), robotArm));
 
-    sendInitialDataConfig(mainHandler, config.dataConfigTopic);
+    sendInitialDataConfig(mainHandler, config.topics.dataConfig);
 
     Runtime.getRuntime().addShutdownHook(new Thread(this::close));
 
@@ -110,7 +112,7 @@ public class StarterMain {
     StringBuilder sb = new StringBuilder(prefix).append("\n")
         .append("robotArm.isInSafetyZone: ").append(robotArm.isInSafetyZone())
         .append(", robotArm.getAppropriateSpeed = ").append(robotArm.getAppropriateSpeed()).append("\n");
-    for (Joint joint : robotArm.getJointList()) {
+    for (Link joint : robotArm.getLinkList()) {
       sb.append(joint.getName()).append(": ").append(joint.getCurrentPosition()).append("\n");
     }
     sb.append("endEffector ").append(robotArm.getEndEffector().getName()).append(": ")

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

+package de.tudresden.inf.st.ros2rag.starter;
+
+import de.tudresden.inf.st.ros2rag.starter.ast.Link;
+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.DataConfiguration.ActualConfiguration;
+
+import java.io.IOException;
+import java.util.Map;
+import java.util.SortedMap;
+
+/**
+ * Helper method dealing with config.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class Util {
+  public static void setMqttHost(RootElement model, ActualConfiguration config) throws IOException {
+    HostAndPort hostAndPort = split(config.server);
+    model.MqttSetHost(hostAndPort.host, hostAndPort.port);
+  }
+
+  public static void setMqttHost(MqttUpdater handler, ActualConfiguration config) throws IOException {
+    HostAndPort hostAndPort = split(config.server);
+    handler.setHost(hostAndPort.host, hostAndPort.port);
+  }
+
+  public static void iterateLinks(HandleLink callback, ActualConfiguration config) {
+    for (Map.Entry<String, SortedMap<String, String>> dataRobot : config.parts.entrySet()) {
+      String topicPrefix = dataRobot.getKey() + "/";
+      for (Map.Entry<String, String> dataLink : dataRobot.getValue().entrySet()) {
+        String name = dataLink.getKey();
+        callback.handle(false, topicPrefix + name, name);
+      }
+    }
+    for (Map.Entry<String, SortedMap<String, String>> dataRobot : config.end_effectors.entrySet()) {
+      String topicPrefix = dataRobot.getKey() + "/";
+      for (Map.Entry<String, String> dataLink : dataRobot.getValue().entrySet()) {
+        String name = dataLink.getKey();
+        callback.handle(true, topicPrefix + name, name);
+      }
+    }
+  }
+
+  private static HostAndPort split(String serverString) {
+    HostAndPort result = new HostAndPort();
+    String[] serverTokens = serverString.replace("tcp://", "").split(":");
+    result.host = serverTokens[0];
+    result.port = Integer.parseInt(serverTokens[1]);
+    return result;
+  }
+
+  private static class HostAndPort {
+    String host;
+    int port;
+  }
+
+  @FunctionalInterface
+  public interface RootElement {
+    void MqttSetHost(String host, int port) throws IOException;
+  }
+
+  @FunctionalInterface
+  public interface HandleLink {
+    void handle(boolean isEndEffector, String topic, String name);
+  }
+}

ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/data/DataConfiguration.java

 package de.tudresden.inf.st.ros2rag.starter.data;
 
-import java.util.ArrayList;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
+import java.util.SortedMap;
 
 /**
  * Data class for initial configuration.
@@ -9,9 +11,17 @@ import java.util.List;
  * @author rschoene - Initial contribution
  */
 public class DataConfiguration {
-  public List<DataJoint> joints = new ArrayList<>();
-  public String robotConfigTopic;
-  public String dataConfigTopic;
-  public int exitAfterSeconds = 0;
-  public String mqttHost = "localhost";
+  public ActualConfiguration panda_mqtt_connector;
+  public static class ActualConfiguration {
+    public String server = "tcp://localhost:1883";
+    public DataTopics topics;
+    public int zone_size;
+    public List<String> zones;
+    public Map<String, SortedMap<String, String>> parts;
+    public Map<String, SortedMap<String, String>> end_effectors;
+  }
+  public static class DataTopics {
+    public String robotConfig;
+    public String dataConfig;
+  }
 }

ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/data/DataJoint.java

-package de.tudresden.inf.st.ros2rag.starter.data;
-
-/**
- * Data class to describe a joint.
- *
- * @author rschoene - Initial contribution
- */
-public class DataJoint {
-  public String topic;
-  public String name;
-  public boolean isEndEffector = false;
-}

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

+panda_mqtt_connector:
+  server: "tcp://localhost:1883"
+  topics:
+    robotConfig: "robotconfig"
+    dataConfig: "dataconfig"
+  zone_size: 0.5
+  zones:
+    - "1 1"
+    - "-1 -1 1"
+  parts:
+    panda:
+      Link0: "panda::panda_link0"
+      Link1: "panda::panda_link1"
+      Link2: "panda::panda_link2"
+      Link3: "panda::panda_link3"
+      Link4: "panda::panda_link4"
+      Link5: "panda::panda_link5"
+      Link6: "panda::panda_link6"
+      LeftFinger: "panda::panda_leftfinger"
+      RightFinger: "panda::panda_rightfinger"
+  end_effectors:
+    panda:
+      EndEffector: "panda::panda_link7"

ros2rag.tests/build.gradle

@@ -19,14 +19,15 @@ buildscript {
 }
 
 dependencies {
-    runtime 'org.jastadd:jastadd:2.3.4'
     implementation project(':ros2rag.base')
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.0'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.0'
-    testImplementation 'org.assertj:assertj-core:3.12.1'
+
+    runtime group: 'org.jastadd', name: 'jastadd', version: '2.3.4'
+    testImplementation group: 'org.junit.jupiter', name: 'junit-jupiter-api', version: '5.4.0'
+    testRuntimeOnly group: 'org.junit.jupiter', name: 'junit-jupiter-engine', version: '5.4.0'
+    testImplementation group: 'org.assertj', name: 'assertj-core', version: '3.12.1'
     testImplementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
     testImplementation group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
-    testImplementation 'com.google.protobuf:protobuf-java:3.0.0'
+    testImplementation group: 'com.google.protobuf', name: 'protobuf-java', version: '3.0.0'
 }
 
 test {