diff --git a/buildSrc/src/main/groovy/ros3rag.java-ragconnect-conventions.gradle b/buildSrc/src/main/groovy/ros3rag.java-ragconnect-conventions.gradle
index ad1b6a77d40560af9619a15e0791845b4a506306..7a5e541fedb5b50e5a85dad17bafe418163a4f2b 100644
--- a/buildSrc/src/main/groovy/ros3rag.java-ragconnect-conventions.gradle
+++ b/buildSrc/src/main/groovy/ros3rag.java-ragconnect-conventions.gradle
@@ -15,7 +15,6 @@ dependencies {
relast group: 'org.jastadd', name: 'relast', version: "0.4.0-143"
ragconnect group: 'de.tudresden.inf.st', name: 'ragconnect', version: '1.0.0-alpha-198'
-// implementation group: 'de.tudresden.inf.st', name: 'dumpAstWithPlantuml', version: '0.3.5'
-// implementation fileTree(include: ['dumpAstWithPlantuml-0.3.5.jar'], dir: '../libs')
+ implementation group: 'de.tudresden.inf.st', name: 'dumpAst', version: '1.0.1-67'
}
diff --git a/open-latest-svg-b.sh b/open-latest-svg-b.sh
new file mode 100755
index 0000000000000000000000000000000000000000..34fd6ee4b295c3f8fb24c8518e85162373263f0d
--- /dev/null
+++ b/open-latest-svg-b.sh
@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+ls -c ros3rag.placeB/*.svg | head -n1 | xargs xdg-open
diff --git a/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/RegionConfiguration.java b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/RegionConfiguration.java
new file mode 100644
index 0000000000000000000000000000000000000000..278ad91a130bfb1b9ae63e32f17fa3811e68f16b
--- /dev/null
+++ b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/RegionConfiguration.java
@@ -0,0 +1,17 @@
+package de.tudresden.inf.st.ros3rag.common;
+
+import java.util.List;
+
+/**
+ * Data class for region definitions.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class RegionConfiguration {
+ public List<RegionDefinition> regions;
+
+ public static class RegionDefinition {
+ public String name;
+ public List<String> positions;
+ }
+}
diff --git a/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/Util.java b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/Util.java
index 1b8b116cf7dd075207d3b3177f619b543841a814..cb868eccfbc3ce6180ce82b8c25fe6f39a9da2a7 100644
--- a/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/Util.java
+++ b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/Util.java
@@ -27,13 +27,19 @@ public class Util {
private static final Logger logger = LogManager.getLogger(Util.class);
public static Configuration parseConfig(File configFile) throws IOException {
- System.out.println("Using config file: " + configFile.getAbsolutePath());
+ logger.info("Using config file: {}", configFile.getAbsolutePath());
ObjectMapper mapper = new ObjectMapper(
new YAMLFactory().configure(JsonParser.Feature.ALLOW_YAML_COMMENTS, true)
);
return mapper.readValue(configFile, Configuration.class);
}
+ public static RegionConfiguration parseRegionConfig(File regionConfigFile) throws IOException {
+ logger.info("Using region config file: {}", regionConfigFile.getAbsolutePath());
+ ObjectMapper mapper = new ObjectMapper();
+ return mapper.readValue(regionConfigFile, RegionConfiguration.class);
+ }
+
public static String mqttUri(String topic, Configuration config) {
return "mqtt://" + config.mqttHost + "/" + topic;
}
diff --git a/ros3rag.common/src/main/proto/cgv_connector.proto b/ros3rag.common/src/main/proto/cgv_connector.proto
index 1488917edfdec7ba51d75e077f50ba82bbc32585..b80690640592cccf383f78abf439d1a86b2ab901 100644
--- a/ros3rag.common/src/main/proto/cgv_connector.proto
+++ b/ros3rag.common/src/main/proto/cgv_connector.proto
@@ -64,7 +64,7 @@ message Selection {
message MergedSelection {
string idRobot = 1; // id of the robot that should execute this operation
string idPick = 2; // id of the object in the scene to be picked
- string idPlace = 3; // id of the location the picked object shall be placed. TODO should be a position
+ string idPlace = 3; // id of the location the picked object shall be placed.
}
message ConfigChange {
diff --git a/ros3rag.common/src/main/resources/jastadd/types.connect b/ros3rag.common/src/main/resources/jastadd/types.connect
index ed12a0066808358bff82d26c5a8630e3b35436e1..84730eb21d622f26726f658c247e9d76a860cc11 100644
--- a/ros3rag.common/src/main/resources/jastadd/types.connect
+++ b/ros3rag.common/src/main/resources/jastadd/types.connect
@@ -9,13 +9,13 @@ ConvertScene maps de.tudresden.inf.st.ceti.Scene pbScene to Scene {:
switch (pbObject.getType()) {
case BOX:
// BOX == MovableObject
- var movableObject = new MovableObject();
+ MovableObject movableObject = new MovableObject();
result.addMovableObject(movableObject);
obj = movableObject;
break;
case DROP_OFF_LOCATION:
// DROP_OFF_LOCATION == DropOffLocation
- var dropOffLocation = new DropOffLocation();
+ DropOffLocation dropOffLocation = new DropOffLocation();
result.addDropOffLocation(dropOffLocation);
obj = dropOffLocation;
break;
diff --git a/ros3rag.common/src/main/resources/jastadd/types.jadd b/ros3rag.common/src/main/resources/jastadd/types.jadd
index b2f7f85f1e0826e1fde6c9865571204108f3be69..55c36d43513dee2b85dc319034fc213b2e1bf7e7 100644
--- a/ros3rag.common/src/main/resources/jastadd/types.jadd
+++ b/ros3rag.common/src/main/resources/jastadd/types.jadd
@@ -97,19 +97,21 @@ aspect Computation {
var result = new LogicalScene();
Map<MovableObject, LogicalMovableObject> objects = new HashMap<>();
for (MovableObject movableObject : getMovableObjectList()) {
- var newLogicalMovableObject = new LogicalMovableObject();
+ LogicalMovableObject newLogicalMovableObject = new LogicalMovableObject();
newLogicalMovableObject.setName(movableObject.getName());
result.addLogicalMovableObject(newLogicalMovableObject);
objects.put(movableObject, newLogicalMovableObject);
}
- for (Region region : getRegionList()) {
- var logicalRegion = new LogicalRegion();
+ for (Region region : regionList()) {
+ LogicalRegion logicalRegion = new LogicalRegion();
logicalRegion.setName(region.getName());
result.addLogicalRegion(logicalRegion);
for (MovableObject movableObject : getMovableObjectList()) {
for (DropOffLocation location : region.getLocationList()) {
if (movableObject.isLocatedAt(location)) {
- logicalRegion.addContainedObject(objects.get(movableObject));
+ LogicalMovableObject logicalObject = objects.get(movableObject);
+ logicalRegion.addContainedObject(logicalObject);
+ logicalObject.setMyLocation(location);
}
}
}
@@ -167,6 +169,9 @@ aspect Navigation {
eq Scene.getMovableObject().containingScene() = this;
syn boolean LogicalMovableObject.hasLocatedAt() = !getLocatedAtList().isEmpty();
+
+ // must be "implemented" in concrete world models, i.e., an equation must be defined
+ inh JastAddList<Region> Scene.regionList();
}
aspect Printing {
@@ -202,9 +207,12 @@ aspect Printing {
}
syn String DropOffLocation.prettyPrint() {
- return "{loc " + getName() + getPosition().prettyPrint() + getOrientation().prettyPrint() + getSize().prettyPrint() + "}";
+ return "{" + printPrefix() + " " + getName() + getPosition().prettyPrint() + getOrientation().prettyPrint() + getSize().prettyPrint() + "}";
}
+ syn String DropOffLocation.printPrefix() = "loc";
+ eq CollaborationZone.printPrefix() = "CZ";
+
syn String Region.prettyPrint() {
return "{reg " + nameAndHash() + "}";
}
diff --git a/ros3rag.common/src/main/resources/jastadd/types.relast b/ros3rag.common/src/main/resources/jastadd/types.relast
index 4948abe610da2f9e743d1ad4f7339678a96bf89e..783bf00d21f8ec7a6ef01e25437dee6efc830f93 100644
--- a/ros3rag.common/src/main/resources/jastadd/types.relast
+++ b/ros3rag.common/src/main/resources/jastadd/types.relast
@@ -2,7 +2,8 @@ Position ::= <X:float> <Y:float> <Z:float> ;
Size ::= <Length:float> <Width:float> <Height:float> ;
Orientation ::= <X:float> <Y:float> <Z:float> <W:float> ;
-Scene ::= Region* DropOffLocation* MovableObject* /LogicalScene/ ;
+// Regions cannot be contained in scene, but must be retrieved via attribute
+Scene ::= DropOffLocation* MovableObject* /LogicalScene/ ;
CanReachObjectOfInterestWrapper ::= CanReachObjectOfInterest* ;
ObjectOfInterest ::= <Name:String> Position Size Orientation ;
@@ -19,6 +20,9 @@ LogicalRegion : LogicalObjectOfInterest ;
LogicalMovableObject : LogicalObjectOfInterest ;
rel LogicalRegion.ContainedObject* <-> LogicalMovableObject.LocatedAt* ;
+// TODO could lead to problems when including this information and sending it
+rel LogicalMovableObject.MyLocation? -> DropOffLocation ;
+
Region ::= <Name:String> ;
rel Region.Location* <-> DropOffLocation.ContainedInRegion* ;
diff --git a/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd b/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd
index 2f7fb2f5cfbc01f852a62d34d1d79e34c9896132..993b37486fb20dc4a15fd3d7104a7829c156c5d5 100644
--- a/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd
+++ b/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd
@@ -3,4 +3,6 @@ aspect Glue {
//--- getLogicalScene ---
syn LogicalScene WorldModelA.getLogicalScene() = hasScene() ? getScene().getLogicalScene() : new LogicalScene();
+
+ eq WorldModelA.getScene().regionList() = getRegionList();
}
diff --git a/ros3rag.placeA/src/main/jastadd/WorldModelA.relast b/ros3rag.placeA/src/main/jastadd/WorldModelA.relast
index 1e84df6672b3287fbf244a7c0aede4de741aafdd..2e9b0a603dd4d811a3e3f9e56548f2670d0f790a 100644
--- a/ros3rag.placeA/src/main/jastadd/WorldModelA.relast
+++ b/ros3rag.placeA/src/main/jastadd/WorldModelA.relast
@@ -1 +1 @@
-WorldModelA ::= [Scene] /LogicalScene/ ;
+WorldModelA ::= Region* [Scene] /LogicalScene/ ;
diff --git a/ros3rag.placeA/src/main/resources/mappping-a.json b/ros3rag.placeA/src/main/resources/mappping-a.json
deleted file mode 100644
index 062593023d070db663d263b0ae71e9b2df6f8f20..0000000000000000000000000000000000000000
--- a/ros3rag.placeA/src/main/resources/mappping-a.json
+++ /dev/null
@@ -1,12 +0,0 @@
-{
- "mappings": [
- { "location": "L1", "positions": ["P1"] },
- { "location": "L2", "positions": ["P2"] },
- { "location": "L3", "positions": ["P3"] },
- { "location": "L4", "positions": ["P4"] },
- { "location": "L5", "positions": ["P5"] },
- { "location": "L6", "positions": ["P6"] },
- { "location": "L-E", "positions": ["P-E"] },
- { "location": "L-F", "positions": ["P-F"] }
- ]
-}
diff --git a/ros3rag.placeA/src/main/resources/regions-a.json b/ros3rag.placeA/src/main/resources/regions-a.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c7aaf80748c7cd926f8bc9596f2542b6f185d2e
--- /dev/null
+++ b/ros3rag.placeA/src/main/resources/regions-a.json
@@ -0,0 +1,12 @@
+{
+ "regions": [
+ { "name": "Reg1", "positions": ["P1"] },
+ { "name": "Reg2", "positions": ["P2"] },
+ { "name": "Reg3", "positions": ["P3"] },
+ { "name": "Reg4", "positions": ["P4"] },
+ { "name": "Reg5", "positions": ["P5"] },
+ { "name": "Reg6", "positions": ["P6"] },
+ { "name": "Reg-E", "positions": ["P-E"] },
+ { "name": "Reg-F", "positions": ["P-F"] }
+ ]
+}
diff --git a/ros3rag.placeB/.gitignore b/ros3rag.placeB/.gitignore
index 87b4cdd3d7c6a41502ca98703abeeb69a1d536fb..e6a248d26d9db140d397c0b81d57239b09f09777 100644
--- a/ros3rag.placeB/.gitignore
+++ b/ros3rag.placeB/.gitignore
@@ -3,3 +3,5 @@ src/gen-res/
src/gen/
out/
*.class
+*.png
+*.svg
diff --git a/ros3rag.placeB/build.gradle b/ros3rag.placeB/build.gradle
index 5a2da9d4f49dc04cf2096201b826400e2e32dd21..08db7115996afb8f990a7055d07916b310ac81a8 100644
--- a/ros3rag.placeB/build.gradle
+++ b/ros3rag.placeB/build.gradle
@@ -33,3 +33,15 @@ ext.relastFiles = ["src/gen/jastadd/WorldModelB.relast", "src/main/jastadd/BFS/B
ext.jastaddAstPackage = 'de.tudresden.inf.st.placeB.ast'
apply from: '../ros3rag.common/src/main/resources/tasks.gradle'
+
+ragConnect {
+ doLast {
+ exec {
+ executable "pwd"
+ }
+ exec {
+ executable "./monkey-patch-ragconnect.sh"
+ args = [ "src/gen/jastadd/RagConnect.jadd" ]
+ }
+ }
+}
diff --git a/ros3rag.placeB/monkey-patch-ragconnect.sh b/ros3rag.placeB/monkey-patch-ragconnect.sh
new file mode 100755
index 0000000000000000000000000000000000000000..ddf330bee5aab31c2b7445027b6c4ee327a88796
--- /dev/null
+++ b/ros3rag.placeB/monkey-patch-ragconnect.sh
@@ -0,0 +1,2 @@
+#!/usr/bin/env bash
+sed -i 's/protected static/protected/' $1
diff --git a/ros3rag.placeB/src/main/jastadd/RobotReachabilityToBFS.jrag b/ros3rag.placeB/src/main/jastadd/RobotReachabilityToBFS.jrag
index a65379dedd4a92702d9608b573f4b7bbfc86c213..d20b32b2ff383f978ecb9ba68de19f66c181639f 100644
--- a/ros3rag.placeB/src/main/jastadd/RobotReachabilityToBFS.jrag
+++ b/ros3rag.placeB/src/main/jastadd/RobotReachabilityToBFS.jrag
@@ -44,12 +44,14 @@ aspect RobotReachabilityToBFS {
}
//--- correspondingVertex ---
- syn Optional<Vertex> LogicalObjectOfInterest.correspondingVertex() {
- if (!worldModelB().hasMyScene()) {
+ syn Optional<Vertex> LogicalObjectOfInterest.correspondingVertex() = worldModelB().correspondingVertex(this.getName());
+ syn Optional<Vertex> ObjectOfInterest.correspondingVertex() = worldModelB().correspondingVertex(this.getName());
+ syn Optional<Vertex> WorldModelB.correspondingVertex(String name) {
+ if (!hasMyScene()) {
return Optional.empty();
}
- for (Vertex v : worldModelB().toReachabilityGraph().getVertexList()) {
- if (v.getObjectOfInterest().getName().equals(this.getName())) {
+ for (Vertex v : toReachabilityGraph().getVertexList()) {
+ if (v.getObjectOfInterest().getName().equals(name)) {
return Optional.of(v);
}
}
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
index 7949de6d9688e9d1e046c8794ab0eb038154d39f..09270e201371e33e79de133fbdca1c1afbfad27e 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
@@ -3,6 +3,8 @@ receive WorldModelB.MyScene using ParseScene, ConvertScene ;
receive indexed WorldModelB.OtherScene ;
receive WorldModelB.TestingOtherScene ;
receive Robot.CanReachObjectOfInterestWrapper using ParseReachability, ConvertReachability ;
+receive Robot.DummyOwnedCollaborationZone using ConfigChangeCommandCheckForOwnedCollaborationZone ;
+receive Robot.Busy using ConfigChangeCommandCheckForBusy ;
// --- sending ---
send WorldModelB.NextOperation using PrintOperation ;
@@ -14,3 +16,48 @@ PrintOperation maps Operation op to byte[] {:
}
return result;
:}
+
+ConfigChangeCommandCheckForOwnedCollaborationZone maps byte[] bytes to String {:
+ de.tudresden.inf.st.ceti.ConfigChange cc = null;
+ try {
+ cc = de.tudresden.inf.st.ceti.ConfigChange.parseFrom(bytes);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ reject();
+ }
+ System.out.println(cc);
+ Scene scene = worldModelB().getMyScene();
+ ObjectOfInterest obj = scene.resolveObjectOfInterest(cc.getIdCollaborationZone());
+ DropOffLocation loc = obj.asDropOffLocation();
+ CollaborationZone cz = loc.asCollaborationZone();
+ Robot thisRobot = (Robot) this;
+ if (thisRobot.getName().equals(cc.getIdRobotNewOwner()) && !thisRobot.getOwnedCollaborationZoneList().contains(cz)) {
+ // config change is for this robot, add collaboration zone
+ thisRobot.addOwnedCollaborationZone(cz);
+ reject();
+ }
+ if (!thisRobot.getName().equals(cc.getIdRobotNewOwner()) && thisRobot.getOwnedCollaborationZoneList().contains(cz)) {
+ // config change is for another robot, remove collaboration zone
+ thisRobot.removeOwnedCollaborationZone(cz);
+ reject();
+ }
+ // need return to make compiler happy
+ return "";
+:}
+
+ConfigChangeCommandCheckForBusy maps byte[] bytes to boolean {:
+ de.tudresden.inf.st.ceti.MergedSelection ms = null;
+ try {
+ ms = de.tudresden.inf.st.ceti.MergedSelection.parseFrom(bytes);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ reject();
+ }
+ System.out.println(ms);
+ Robot thisRobot = (Robot) this;
+ if (thisRobot.getName().equals(ms.getIdRobot())) {
+ return true;
+ }
+ // if the command is not about this robot, do not change anything
+ reject();
+ // need return to make compiler happy
+ return false;
+:}
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
index c302e0c922adf29bb0fe5ca2bef5c292fd53d438..a64332153b7acb7fc81a3429b3b2d687a11b7cda 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
@@ -128,41 +128,53 @@ aspect Computation {
//--- computeOperations ---
syn List<Operation> Difference.computeOperations();
eq DifferenceObjectAtWrongPlace.computeOperations() {
- return (hasPreviousRegion() ? getPreviousRegion() : getObject()).correspondingVertex().map(previousVertex -> {
- return getNewRegion().correspondingVertex().map(newVertex -> {
- List<Edge> shortestPath = previousVertex.BFS(newVertex);
- if (shortestPath == null || shortestPath.isEmpty()) {
- return error("No sequence of operations to move " + getObject().getName() + (hasPreviousRegion() ? " from " + getPreviousRegion().getName() : "") + " to " + getNewRegion().getName());
- }
- // TODO insert config-change and evacuate commands
- List<Operation> result = new ArrayList<>();
- Vertex transit = previousVertex;
- for (Edge edge : shortestPath) {
- Vertex target = edge.getFrom().equals(transit) ? edge.getTo() : edge.getFrom();
- DropOffLocation targetLocation = target.getObjectOfInterest().asDropOffLocation();
- Robot executingRobot = edge.getRobot();
- if (targetLocation.isCollaborationZone()) {
- /* here we need to check, if the collaboration zone is
- (a) claimed by the executing robot, and
- (b) occupied by another robot, and
- (c) free (as no movable object is contained) -- this should be reflected in the graph!
- */
+ // need to use position of object and pick one from new region
+ DropOffLocation previousLocation = getObject().getMyLocation();
+ return previousLocation.correspondingVertex().map(previousVertex -> {
+ Region region = getNewRegion().realRegion();
+ if (region == null) {
+ return error("No region found for " + getNewRegion().nameAndHash());
+ }
+ // pick location from newRegion, that is free
+ return region.getLocationList().stream()
+ .filter(location -> location.getObjectLocatedHere() == null)
+ .findFirst()
+ .map(newLocation -> {
+ return newLocation.correspondingVertex().map(newVertex -> {
+ List<Edge> shortestPath = previousVertex.BFS(newVertex);
+ if (shortestPath == null || shortestPath.isEmpty()) {
+ return error("No sequence of operations to move " + getObject().getName() + (hasPreviousRegion() ? " from " + getPreviousRegion().getName() : "") + " to " + getNewRegion().getName());
+ }
+ // TODO insert config-change and evacuate commands
+ List<Operation> result = new ArrayList<>();
+ Vertex transit = previousVertex;
+ for (Edge edge : shortestPath) {
+ Vertex target = edge.getFrom().equals(transit) ? edge.getTo() : edge.getFrom();
+ DropOffLocation targetLocation = target.getObjectOfInterest().asDropOffLocation();
+ Robot executingRobot = edge.getRobot();
+ if (targetLocation.isCollaborationZone()) {
+ /* here we need to check, if the collaboration zone is
+ (a) claimed by the executing robot, and
+ (b) occupied by another robot, and
+ (c) free (as no movable object is contained) -- this should be reflected in the graph!
+ */
- // order is important here, first add ConfigChange, then Evacuate
- CollaborationZone cz = targetLocation.asCollaborationZone();
- if (cz.hasOwner() && !cz.getOwner().equals(executingRobot)) {
- result.add(ConfigChange.of(executingRobot, cz));
- }
- if (cz.hasOccupient() && !cz.getOccupient().equals(executingRobot)) {
- result.add(Evacuate.of(cz.getOccupient()));
- }
- }
- result.add(PickAndPlace.of(executingRobot, getObject(), targetLocation));
- transit = target;
- }
- return result;
- }).orElseGet(() -> error("Could not resolve graph vertex of new region " + getNewRegion().getName()));
- }).orElseGet(() -> error("Could not resolve graph vertex of previous region " + getPreviousRegion().getName()));
+ // order is important here, first add ConfigChange, then Evacuate
+ CollaborationZone cz = targetLocation.asCollaborationZone();
+ if (!cz.hasOwner() || (cz.hasOwner() && !cz.getOwner().equals(executingRobot))) {
+ result.add(ConfigChange.of(executingRobot, cz));
+ }
+ if (cz.hasOccupient() && !cz.getOccupient().equals(executingRobot)) {
+ result.add(Evacuate.of(cz.getOccupient()));
+ }
+ }
+ result.add(PickAndPlace.of(executingRobot, getObject(), targetLocation));
+ transit = target;
+ }
+ return result;
+ }).orElseGet(() -> error("Could not resolve graph vertex of new region " + getNewRegion().nameAndHash()));
+ }).orElseGet(() -> error("Could not find a free location in " + getNewRegion().nameAndHash()));
+ }).orElseGet(() -> error("Could not resolve graph vertex of previous location " + previousLocation.nameAndHash()));
}
eq DifferenceNewObject.computeOperations() {
// FIXME. stub, may be implemented later
@@ -215,7 +227,7 @@ aspect Computation {
//--- canReach ---
syn boolean Robot.canReach(String objectName) {
- for (var canReachObj : getCanReachObjectOfInterestWrapper().getCanReachObjectOfInterestList()) {
+ for (CanReachObjectOfInterest canReachObj : getCanReachObjectOfInterestWrapper().getCanReachObjectOfInterestList()) {
if (canReachObj.getObjectName().equals(objectName)) {
return true;
}
@@ -229,7 +241,7 @@ aspect Computation {
return Collections.emptyList();
}
List<ObjectOfInterest> result = new ArrayList<>();
- for (var canReachObj : getCanReachObjectOfInterestWrapper().getCanReachObjectOfInterestList()) {
+ for (CanReachObjectOfInterest canReachObj : getCanReachObjectOfInterestWrapper().getCanReachObjectOfInterestList()) {
result.add(worldModelB().getMyScene().resolveObjectOfInterest(canReachObj.getObjectName()));
}
return result;
@@ -311,6 +323,8 @@ aspect Navigation {
syn boolean Operation.isErrorOperation() = false;
eq ErrorOperation.isErrorOperation() = true;
+ syn Region LogicalRegion.realRegion() = worldModelB().findRegion(getName());
+
//--- allMappings ---
// inh LocationMapping LogicalDropOffLocation.allMappings();
// eq WorldModelB.getChild().allMappings() = getLocationMapping();
@@ -323,6 +337,8 @@ aspect GlueForShared {
eq WorldModelB.diffScenes().resolveLogicalObjectOfInterest(String name) = getMyScene().getLogicalScene().resolveLogicalObjectOfInterest(name);
class WorldModelB implements de.tudresden.inf.st.ros3rag.common.SharedMainParts.WorldModelWrapper {}
+
+ eq WorldModelB.getMyScene().regionList() = getRegionList();
}
aspect Printing {
@@ -358,6 +374,20 @@ aspect Printing {
}
}
+aspect DumpAst {
+ public void WorldModelB.dumpAst(java.util.function.Consumer<de.tudresden.inf.st.jastadd.dumpAst.ast.DumpBuilder> options) {
+ String now = java.time.LocalDateTime.now().format(java.time.format.DateTimeFormatter.ISO_LOCAL_DATE_TIME).replaceAll("[:\\.]", "-");
+ try {
+ de.tudresden.inf.st.jastadd.dumpAst.ast.DumpBuilder builder = de.tudresden.inf.st.jastadd.dumpAst.ast.Dumper.read(this);
+ options.accept(builder);
+ //builder.dumpAsPNG(java.nio.file.Paths.get(now + ".png"));
+ builder.dumpAsSVG(java.nio.file.Paths.get(now + ".svg"));
+ } catch (java.io.IOException e) {
+ e.printStackTrace();
+ }
+ }
+}
+
aspect Resolving {
//--- findRobot ---
public Optional<Robot> WorldModelB.findRobot(String name) {
@@ -368,4 +398,17 @@ aspect Resolving {
}
return Optional.empty();
}
+
+ // TODO use Optional here, or not?
+ public Region WorldModelB.findRegion(String name) {
+ for (Region region : getRegionList()) {
+ if (region.getName().equals(name)) {
+ return region;
+ }
+ }
+ return null;
+ }
+
+ // do not resolve real regions and real locations (send by site-A)
+ refine RefResolverStubs eq LogicalMovableObject.resolveMyLocationByToken(String name) = null;
}
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
index 7e84df331c5f8f9faf56ea1cded039ed1664fa15..7e45d74c5cb4ff0850e04c26d9caf46caf22bbac 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
@@ -1,6 +1,6 @@
-WorldModelB ::= Robot* [MyScene:Scene] OtherScene:LogicalScene* /NextOperation:Operation/ TestingOtherScene:LogicalScene* ;
+WorldModelB ::= Region* Robot* [MyScene:Scene] OtherScene:LogicalScene* /NextOperation:Operation/ TestingOtherScene:LogicalScene* ;
-Robot ::= <Name:String> CanReachObjectOfInterestWrapper <Busy:boolean> ;
+Robot ::= <Name:String> CanReachObjectOfInterestWrapper <Busy:boolean> <DummyOwnedCollaborationZone> ;
rel Robot.OwnedCollaborationZone* <-> CollaborationZone.Owner? ;
rel Robot.OccupiedCollaborationZone? <-> CollaborationZone.Occupient? ;
@@ -28,7 +28,6 @@ rel PickAndPlace.ObjectToPick -> LogicalMovableObject ;
rel PickAndPlace.TargetLocation -> DropOffLocation ;
ConfigChange : Operation ;
-rel ConfigChange.CollaborationZone -> DropOffLocation ;
-// TODO maybe should be: rel ConfigChange.CollaborationZone -> CollaborationZone ;
+rel ConfigChange.CollaborationZone -> CollaborationZone ;
Evacuate : Operation ;
diff --git a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java
index 64ab76d7ed3e3d0366378659d5c6788948d140b3..c9e5e34d3e3b5b677a258e94cb232bef6b43a616 100644
--- a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java
+++ b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java
@@ -8,20 +8,17 @@ import de.tudresden.inf.st.ros3rag.common.Util;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
+import java.io.File;
import java.io.IOException;
import java.nio.charset.StandardCharsets;
import java.nio.file.Path;
import java.nio.file.Paths;
-import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
-import java.util.Scanner;
import java.util.concurrent.CountDownLatch;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
-import static de.tudresden.inf.st.ros3rag.common.Util.mqttUri;
-
/**
* Testing features for placeB.
*
@@ -29,6 +26,7 @@ import static de.tudresden.inf.st.ros3rag.common.Util.mqttUri;
*/
public class SimpleMainB {
private static final Logger logger = LogManager.getLogger(SimpleMainB.class);
+ boolean exitAutomatically = true;
public static void main(String[] args) throws Exception {
System.out.println("Running SimpleMainB");
@@ -48,6 +46,7 @@ public class SimpleMainB {
}
private void readModelAndReceiveFromA() throws Exception {
+
Configuration config = new Configuration();
config.mqttHost = "localhost";
ReachabilityConfig reachabilityR1 = new ReachabilityConfig();
@@ -76,8 +75,26 @@ public class SimpleMainB {
Path initialSceneFile = UtilB.pathToDirectoryOfPlaceB().resolve("src/main/resources/config-scene-b-2022.json");
de.tudresden.inf.st.ceti.Scene scene = Util.readScene(initialSceneFile);
Scene myScene = UtilB.convert(scene);
+ // change locations P-E and P-F to collaboration zones
+ for (String collaborationZoneName : new String[]{ "P-E", "P-F" }) {
+ DropOffLocation loc = myScene.resolveObjectOfInterest(collaborationZoneName).asDropOffLocation();
+ CollaborationZone cz = new CollaborationZone();
+ cz.setName(collaborationZoneName);
+ cz.setPosition(loc.getPosition());
+ cz.setOrientation(loc.getOrientation());
+ cz.setSize(loc.getSize());
+ int index = myScene.getDropOffLocationList().getIndexOfChild(loc);
+ if (index == -1) {
+ throw new RuntimeException("Could not find location " + collaborationZoneName + " in list");
+ }
+ myScene.setDropOffLocation(cz, index);
+ }
model.setMyScene(myScene);
+ // read and set regions
+ File regionBFile = UtilB.pathToDirectoryOfPlaceB().resolve("src/main/resources/regions-b.json").toFile();
+ UtilB.setRegions(model, Util.parseRegionConfig(regionBFile));
+
// init robots (copied from MainB)
for (String name : Util.extractRobotNames(scene)) {
Robot robot = UtilB.createRobot(name);
@@ -104,6 +121,10 @@ public class SimpleMainB {
Runtime.getRuntime().addShutdownHook(new Thread(close));
model.connectOtherScene(Util.mqttUri(topicUpdateFromPlaceA, config), 0);
+ for (Robot robot : model.getRobotList()) {
+ robot.connectBusy(Util.mqttUri(topicCommand, config));
+ robot.connectDummyOwnedCollaborationZone(Util.mqttUri(topicCommand, config));
+ }
model.connectNextOperation(Util.mqttUri(topicCommand, config), true);
// prepare exit condition
@@ -114,6 +135,13 @@ public class SimpleMainB {
// prepare model status
mqttHandler.newConnection(topicModel, bytes -> {
String message = new String(bytes);
+ model.dumpAst(builder -> {
+ builder.excludeChildren("Orientation", "Size");
+ builder.excludeRelations("ContainedInRegion");
+ builder.includeNonterminalAttributes("LogicalScene", "diffScenes", "diffToOperations");
+ builder.includeAttributes("realRegion", "computeOperations");
+ builder.includeNullNodes();
+ });
String content = UtilB.getModelInfos(model, message.equals("Start") || message.startsWith("detail"));
logger.info("WorldModel\n{}", content);
mqttHandler.publish(topicModelStatus, content.getBytes(StandardCharsets.UTF_8));
@@ -121,8 +149,13 @@ public class SimpleMainB {
// read scene from A, serialize it and send it via mqtt
Path sceneAFile = Util.pathToModuleDirectory("ros3rag.placeA").resolve("src/main/resources/config-scene-a-2022.json");
+ File regionAFile = Util.pathToModuleDirectory("ros3rag.placeA").resolve("src/main/resources/regions-a.json").toFile();
de.tudresden.inf.st.ceti.Scene scenePlaceA = Util.readScene(sceneAFile);
Scene sceneFromPlaceA = UtilB.convert(scenePlaceA);
+ // need to "wrap" the scene in a world model to access regions. will use one from site-B here for convenience
+ WorldModelB tempWorldModel = new WorldModelB();
+ tempWorldModel.setMyScene(sceneFromPlaceA);
+ UtilB.setRegions(tempWorldModel, Util.parseRegionConfig(regionAFile));
LogicalScene logicalSceneFromPlaceA = sceneFromPlaceA.getLogicalScene();
byte[] bytesToSend = _ragconnect__apply__TreeDefaultLogicalSceneToBytesMapping(logicalSceneFromPlaceA);
@@ -134,6 +167,11 @@ public class SimpleMainB {
TimeUnit.SECONDS.sleep(2);
mqttHandler.publish(topicModel, "detailed".getBytes(StandardCharsets.UTF_8));
+ if (exitAutomatically) {
+ TimeUnit.SECONDS.sleep(3);
+ exitCondition.countDown();
+ }
+
exitCondition.await();
}
diff --git a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/UtilB.java b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/UtilB.java
index 773c0018762e9b96761062ccb0570601883d237e..8de49d58742ead0b9a46d4668f45093959b3067a 100644
--- a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/UtilB.java
+++ b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/UtilB.java
@@ -3,6 +3,8 @@ package de.tudresden.inf.st.placeB;
import com.google.protobuf.util.JsonFormat;
import de.tudresden.inf.st.ceti.Reachability;
import de.tudresden.inf.st.placeB.ast.*;
+import de.tudresden.inf.st.ros3rag.common.RegionConfiguration;
+import de.tudresden.inf.st.ros3rag.common.RegionConfiguration.RegionDefinition;
import de.tudresden.inf.st.ros3rag.common.Util;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
@@ -136,13 +138,26 @@ public class UtilB {
return new ExposingASTNode().exposed_apply_ConvertReachability(r);
}
+ static void setRegions(WorldModelB model, RegionConfiguration config) {
+ JastAddList<Region> result = new JastAddList<>();
+ for (RegionDefinition def : config.regions) {
+ Region region = new Region();
+ region.setName(def.name);
+ for (String position : def.positions) {
+ region.addLocation(model.getMyScene().resolveObjectOfInterest(position).asDropOffLocation());
+ }
+ result.add(region);
+ }
+ model.setRegionList(result);
+ }
+
@SuppressWarnings("rawtypes")
static class ExposingASTNode extends ASTNode {
public Scene exposed_apply_ConvertScene(de.tudresden.inf.st.ceti.Scene pbScene) throws Exception {
- return ASTNode._ragconnect__apply_ConvertScene(pbScene);
+ return _ragconnect__apply_ConvertScene(pbScene);
}
public CanReachObjectOfInterestWrapper exposed_apply_ConvertReachability(de.tudresden.inf.st.ceti.Reachability r) throws Exception {
- return ASTNode._ragconnect__apply_ConvertReachability(r);
+ return _ragconnect__apply_ConvertReachability(r);
}
}
diff --git a/ros3rag.placeB/src/main/resources/mappping-b.json b/ros3rag.placeB/src/main/resources/mappping-b.json
deleted file mode 100644
index 062593023d070db663d263b0ae71e9b2df6f8f20..0000000000000000000000000000000000000000
--- a/ros3rag.placeB/src/main/resources/mappping-b.json
+++ /dev/null
@@ -1,12 +0,0 @@
-{
- "mappings": [
- { "location": "L1", "positions": ["P1"] },
- { "location": "L2", "positions": ["P2"] },
- { "location": "L3", "positions": ["P3"] },
- { "location": "L4", "positions": ["P4"] },
- { "location": "L5", "positions": ["P5"] },
- { "location": "L6", "positions": ["P6"] },
- { "location": "L-E", "positions": ["P-E"] },
- { "location": "L-F", "positions": ["P-F"] }
- ]
-}
diff --git a/ros3rag.placeB/src/main/resources/regions-b.json b/ros3rag.placeB/src/main/resources/regions-b.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c7aaf80748c7cd926f8bc9596f2542b6f185d2e
--- /dev/null
+++ b/ros3rag.placeB/src/main/resources/regions-b.json
@@ -0,0 +1,12 @@
+{
+ "regions": [
+ { "name": "Reg1", "positions": ["P1"] },
+ { "name": "Reg2", "positions": ["P2"] },
+ { "name": "Reg3", "positions": ["P3"] },
+ { "name": "Reg4", "positions": ["P4"] },
+ { "name": "Reg5", "positions": ["P5"] },
+ { "name": "Reg6", "positions": ["P6"] },
+ { "name": "Reg-E", "positions": ["P-E"] },
+ { "name": "Reg-F", "positions": ["P-F"] }
+ ]
+}