diff --git a/buildSrc/src/main/groovy/ros3rag.java-application-conventions.gradle b/buildSrc/src/main/groovy/ros3rag.java-application-conventions.gradle
index ca778a499ace2bc60db88434e4f64745d05b4717..2242c13850ef41b8c202298aeab8ee06fded6cde 100644
--- a/buildSrc/src/main/groovy/ros3rag.java-application-conventions.gradle
+++ b/buildSrc/src/main/groovy/ros3rag.java-application-conventions.gradle
@@ -2,7 +2,3 @@ plugins {
id 'ros3rag.java-common-conventions'
id 'application'
}
-
-run {
- standardInput = System.in
-}
diff --git a/buildSrc/src/main/groovy/ros3rag.java-ragconnect-conventions.gradle b/buildSrc/src/main/groovy/ros3rag.java-ragconnect-conventions.gradle
index e653684f56697e4bb881b8ddcc44c94f127179b5..ad1b6a77d40560af9619a15e0791845b4a506306 100644
--- a/buildSrc/src/main/groovy/ros3rag.java-ragconnect-conventions.gradle
+++ b/buildSrc/src/main/groovy/ros3rag.java-ragconnect-conventions.gradle
@@ -3,17 +3,19 @@ plugins {
}
configurations {
- baseRuntimeClasspath
- ragconnectClasspath
- grammar2umlClasspath
+ ragconnect
+ grammar2uml
+ relast
}
dependencies {
api group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
- grammar2umlClasspath group: 'de.tudresden.inf.st', name: 'grammar2uml', version: '0.1.1'
+ grammar2uml group: 'de.tudresden.inf.st', name: 'grammar2uml', version: '0.2.3'
- ragconnectClasspath group: 'de.tudresden.inf.st', name: 'ragconnect', version: '0.3.1'
+ 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')
}
+
diff --git a/gradle.properties b/gradle.properties
index 22f6318499e1f85d428c501b08679b7257d9a688..45378cc37ed4a3ac3643f8748530f9082394c660 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -1,7 +1,8 @@
-jackson_version = 2.12.3
-jupiter_version = 5.8.0-M1
-assertj_version = 3.19.0
-log4j_version = 2.14.1
+jackson_version = 2.13.2.2
+jackson_yaml_version = 2.13.2
+jupiter_version = 5.8.2
+assertj_version = 3.22.0
+log4j_version = 2.17.2
protobuf_version = 4.0.0-rc-2
-protobuf_plugin_version = 0.8.16
-jastadd_gradle_version = 1.13.3
+protobuf_plugin_version = 0.8.18
+jastadd_gradle_version = 1.14.5
diff --git a/ros3rag.common/build.gradle b/ros3rag.common/build.gradle
index 25432f5ea77cf25415c59d185360e67eac23740e..d3efb0c5ed12f6d9609eb725358a3f3ebca5c707 100644
--- a/ros3rag.common/build.gradle
+++ b/ros3rag.common/build.gradle
@@ -12,7 +12,7 @@ plugins {
}
dependencies {
- implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: "${jackson_version}"
+ implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: "${jackson_yaml_version}"
api group: 'com.google.protobuf', name: 'protobuf-java', version: "${protobuf_version}"
api group: 'com.google.protobuf', name: 'protobuf-java-util', version: "${protobuf_version}"
api group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1'
diff --git a/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
index d9bb9027947046c3ab12603a1ee6164bdb834cb9..dfb03f3f94b8c06192e181b52f23713d597b8406 100644
--- a/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
+++ b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
@@ -68,7 +68,6 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
mainHandler.setHost(config.mqttHost);
mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
CountDownLatch exitCondition = new CountDownLatch(1);
- startCondition = new CountDownLatch(1);
mainHandler.newConnection(TOPIC_EXIT, bytes -> exitCondition.countDown());
mainHandler.newConnection(TOPIC_MODEL, bytes -> logStatus(new String(bytes)));
mainHandler.newConnection(TOPIC_REWIND, bytes ->
@@ -128,7 +127,7 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
startCondition.countDown();
break;
default:
- System.err.println("Unknown command: " + command);
+ System.err.println("Unknown coordinator command: " + command);
}
}
@@ -147,10 +146,11 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
if (config.useCoordinator()) {
+ startCondition = new CountDownLatch(1);
mainHandler.publish(joinTopics(config.coordinatorMqttTopicPrefix, TOPIC_SUFFIX_COORDINATOR_STATUS),
"up".getBytes(StandardCharsets.UTF_8));
+ startCondition.await();
}
- startCondition.await();
connectEndpoints();
diff --git a/ros3rag.common/src/main/resources/tasks.gradle b/ros3rag.common/src/main/resources/tasks.gradle
index 1a8119d2cfa1494004dcdd4c0badaa202f0238d9..8016213bdb698da3a2458d150e84f6574ec4f03e 100644
--- a/ros3rag.common/src/main/resources/tasks.gradle
+++ b/ros3rag.common/src/main/resources/tasks.gradle
@@ -1,9 +1,8 @@
dependencies {
-// jastadd2 "org.jastadd:jastadd:2.3.5"
- jastadd2 fileTree(include: ['jastadd2.jar'], dir: '../libs')
+ jastadd2 "org.jastadd:jastadd2:2.3.5-dresden-5"
+// jastadd2 fileTree(include: ['jastadd2.jar'], dir: '../libs')
api group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
-
}
sourceCompatibility = 11
@@ -14,7 +13,7 @@ targetCompatibility = 11
task ragConnect(type: JavaExec) {
group = 'Build'
main = 'org.jastadd.ragconnect.compiler.Compiler'
- classpath = configurations.ragconnectClasspath
+ classpath = configurations.ragconnect
args([
'--o=src/gen/jastadd',
@@ -26,6 +25,7 @@ task ragConnect(type: JavaExec) {
'--logWrites',
// '--verbose',
'--rootNode=' + project.ext.ragConnectRootNode,
+ '--List=JastAddList',
'--experimental-jastadd-329',
'--incremental=param',
"--tracing=cache,flush"
@@ -38,7 +38,7 @@ task ragConnect(type: JavaExec) {
task grammar2uml(type: JavaExec) {
main = 'de.tudresden.inf.st.jastadd.grammar2uml.compiler.Compiler'
- classpath = configurations.grammar2umlClasspath
+ classpath = configurations.grammar2uml
args([
'--verbose',
@@ -49,10 +49,16 @@ task grammar2uml(type: JavaExec) {
// phase: RelAst
task relastToJastAdd(type: JavaExec) {
group = 'Build'
- main = "-jar"
+ classpath = configurations.relast
+ //noinspection GroovyAssignabilityCheck, GroovyAccessibility
+ mainClass = 'org.jastadd.relast.compiler.Compiler'
- args(["../libs/relast.jar",
- "--grammarName=./src/gen/jastadd/model",
+ doFirst {
+ mkdir "src/gen/jastadd/"
+ }
+
+ args = [
+ "--grammarName=./src/gen/jastadd/model",
"--useJastAddNames",
"--listClass=java.util.ArrayList",
"--jastAddList=JastAddList",
@@ -60,7 +66,7 @@ task relastToJastAdd(type: JavaExec) {
"--resolverHelper",
"--file",
"src/gen/jastadd/types.relast"
- ] + project.ext.relastFiles)
+ ] + project.ext.relastFiles
inputs.files project.ext.relastFiles + ['src/gen/jastadd/types.relast']
outputs.files file("./src/gen/jastadd/model.ast"), file("./src/gen/jastadd/model.jadd")
diff --git a/ros3rag.placeA/src/main/jastadd/WorldModelA.connect b/ros3rag.placeA/src/main/jastadd/WorldModelA.connect
index 0edcf6fdd768c76b2c9d42170aa7d6ffdc4902c6..c3e16e8da32f55d35ca7eb6ce2bcfdf7e8f2b57f 100644
--- a/ros3rag.placeA/src/main/jastadd/WorldModelA.connect
+++ b/ros3rag.placeA/src/main/jastadd/WorldModelA.connect
@@ -1,13 +1,13 @@
// --- receiving ---
-receive tree WorldModelA.Scene using ParseScene, ConvertScene ;
+receive WorldModelA.Scene using ParseScene, ConvertScene ;
// rs: not sure whether we want to receive a complete scene. could be hard to update/merge
// if necessary, need a mapping. the multi-point-connection is an alternative.
// we need to decide for one way
// rs: let's try to use a "multi-point-connection" (same input meesage, multiple recipients)
-receive tree ObjectOfInterest.Position using DeserializeObject, ExtractPositionFromObject ;
-receive tree ObjectOfInterest.Size using DeserializeObject, ExtractSizeFromObject ;
-receive tree ObjectOfInterest.Orientation using DeserializeObject,ExtractOrientationFromObject ;
+receive ObjectOfInterest.Position using DeserializeObject, ExtractPositionFromObject ;
+receive ObjectOfInterest.Size using DeserializeObject, ExtractSizeFromObject ;
+receive ObjectOfInterest.Orientation using DeserializeObject,ExtractOrientationFromObject ;
DeserializeObject maps byte[] bytes to de.tudresden.inf.st.ceti.Object {:
return de.tudresden.inf.st.ceti.Object.parseFrom(bytes);
@@ -38,4 +38,4 @@ ExtractOrientationFromObject maps de.tudresden.inf.st.ceti.Object o to Orientati
:}
// --- sending ---
-send tree WorldModelA.LogicalScene ;
+send WorldModelA.LogicalScene ;
diff --git a/ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/UtilA.java b/ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/UtilA.java
index 623867a147fbdef4627fdf5de7707de8690d26a2..fafa021fed70482ede4922a531724e386b8e1adc 100644
--- a/ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/UtilA.java
+++ b/ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/UtilA.java
@@ -68,7 +68,7 @@ public class UtilA {
@SuppressWarnings("rawtypes")
static class ExposingASTNode extends ASTNode {
public Scene exposed_apply_ConvertScene(de.tudresden.inf.st.ceti.Scene pbScene) throws Exception {
- return ASTNode._apply_ConvertScene(pbScene);
+ return ASTNode._ragconnect__apply_ConvertScene(pbScene);
}
}
}
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
index 374830424811e961e9a541705e7e21da49bf1ba3..d2a9fab1ffc9a1e03bed700abce9002545137088 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
@@ -1,11 +1,12 @@
// --- receiving ---
-receive tree WorldModelB.MyScene using ParseScene, ConvertScene ;
-receive tree WorldModelB.OtherScene1 ;
-receive tree WorldModelB.OtherScene2 ;
-receive tree Robot.CanReachObjectOfInterestWrapper using ParseReachability, ConvertReachability ;
+receive WorldModelB.MyScene using ParseScene, ConvertScene ;
+receive WorldModelB.OtherScene1 ;
+receive WorldModelB.OtherScene2 ;
+receive WorldModelB.TestingOtherScene ;
+receive Robot.CanReachObjectOfInterestWrapper using ParseReachability, ConvertReachability ;
// --- sending ---
-send tree WorldModelB.NextOperation using PrintOperation ;
+send WorldModelB.NextOperation using PrintOperation ;
PrintOperation maps Operation op to byte[] {:
var result = op.toMergedSelection();
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
index d474353f51d2f96183a30ed438208fab5c1bbc8d..f2bc3600e6bc36d75cadc98b8f6100cc8cdaa220 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
@@ -1,4 +1,4 @@
-WorldModelB ::= Robot* [MyScene:Scene] [OtherScene1:LogicalScene] [OtherScene2:LogicalScene] /OtherScene:LogicalScene*/ /NextOperation:Operation/ ;
+WorldModelB ::= Robot* [MyScene:Scene] [OtherScene1:LogicalScene] [OtherScene2:LogicalScene] /OtherScene:LogicalScene*/ /NextOperation:Operation/ TestingOtherScene:LogicalScene* ;
// workaround with NTA OtherSceneList as receiving lists is not possible yet
Robot ::= <Name:String> CanReachObjectOfInterestWrapper ;
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 b68cd908f8c48d62adcff4e0569a59ffc68cb9c2..64b88e1562b3a5b6739aaefad95214e0ca3d2119 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
@@ -138,10 +138,10 @@ public class UtilB {
@SuppressWarnings("rawtypes")
static class ExposingASTNode extends ASTNode {
public Scene exposed_apply_ConvertScene(de.tudresden.inf.st.ceti.Scene pbScene) throws Exception {
- return ASTNode._apply_ConvertScene(pbScene);
+ return ASTNode._ragconnect__apply_ConvertScene(pbScene);
}
public CanReachObjectOfInterestWrapper exposed_apply_ConvertReachability(de.tudresden.inf.st.ceti.Reachability r) throws Exception {
- return ASTNode._apply_ConvertReachability(r);
+ return ASTNode._ragconnect__apply_ConvertReachability(r);
}
}