From fa38ca9e87074fb8aa8f1d93ce932a34a0b9ef13 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Tue, 30 Jun 2020 16:24:50 +0200
Subject: [PATCH] More debugging messages in starter.
---
ros2rag.starter/src/main/jastadd/Computation.jrag | 2 ++
ros2rag.starter/src/main/jastadd/Definitions.ros2rag | 4 ++++
2 files changed, 6 insertions(+)
diff --git a/ros2rag.starter/src/main/jastadd/Computation.jrag b/ros2rag.starter/src/main/jastadd/Computation.jrag
index 09c1512..b61f819 100644
--- a/ros2rag.starter/src/main/jastadd/Computation.jrag
+++ b/ros2rag.starter/src/main/jastadd/Computation.jrag
@@ -1,5 +1,6 @@
aspect Computation {
syn boolean RobotArm.isInSafetyZone() {
+ System.out.println("isInSafetyZone()");
for (Joint joint : getJointList()) {
if (model().getZoneModel().isInSafetyZone(joint.getCurrentPosition())) {
return true;
@@ -10,6 +11,7 @@ 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();
diff --git a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
index 0498332..7d49c97 100644
--- a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
+++ b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
@@ -10,19 +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();
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)
--
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