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 5951e02070cbc6af009932eb27f40c603d4c18f9..0d57d35d53628f881c20562b7d57077108cfe6e0 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
@@ -26,8 +26,8 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
private final String TOPIC_REWIND;
private final String TOPIC_EXIT;
- private static final String TOPIC_SUFFIX_COORDINATOR_STATUS = "status";
- private static final String TOPIC_SUFFIX_COORDINATOR_COMMAND = "command";
+ public static final String TOPIC_SUFFIX_COORDINATOR_STATUS = "status";
+ public static final String TOPIC_SUFFIX_COORDINATOR_COMMAND = "command";
protected MqttHandler mainHandler;
protected WorldModel model;
@@ -61,7 +61,7 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
mainHandler = createMqttHandler().dontSendWelcomeMessage();
mainHandler.setHost(config.mqttHost);
if (!mainHandler.waitUntilReady(2, TimeUnit.SECONDS)) {
- logger.fatal("Could not connect to mqtt handler. Exiting");
+ logger.fatal("Could not connect to " + config.mqttHost + " -> Exiting");
return;
}
CountDownLatch exitCondition = new CountDownLatch(1);
@@ -101,7 +101,7 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
exitCondition.await();
}
- private String joinTopics(String... topics) {
+ public static String joinTopics(String... topics) {
StringBuilder sb = new StringBuilder();
for (int i = 0; i < topics.length; i++) {
String topic = topics[i];
diff --git a/ros3rag.common/src/main/resources/config-scaling-mini.yml b/ros3rag.common/src/main/resources/config-scaling-mini.yml
index 38b28ee0953f729200aa67bf0f082641d68c0e39..d113799d756625234256e0942e432fe44a9b4531 100644
--- a/ros3rag.common/src/main/resources/config-scaling-mini.yml
+++ b/ros3rag.common/src/main/resources/config-scaling-mini.yml
@@ -1,6 +1,5 @@
mqttHost: "localhost"
-filenameInitialScene: "src/main/resources/config-scene-a.json"
-coordinatorMqttTopicPrefix: "coordinating/rag-a"
+coordinatorMqttTopicPrefix: "coordinating/rag-"
topicLogicalUpdate: "place-b/logical-update"
views: 5
objects: 7
diff --git a/ros3rag.scaling.a/.gitignore b/ros3rag.scaling.a/.gitignore
index fc5fdd28bb5a1302864b7f3483a9a37a742d9485..ac24215235cff68e13758de8e911fb9cea58c214 100644
--- a/ros3rag.scaling.a/.gitignore
+++ b/ros3rag.scaling.a/.gitignore
@@ -3,4 +3,4 @@ src/gen-res/
src/gen/
out/
*.class
-world.svg
+world-a.svg
diff --git a/ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/MainScalingA.java b/ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/MainScalingA.java
index fbe6c33b52263550faf2205023d178306c6134ee..c9b9d09abdf94a8142b6db3f0c88e1d23982a9a6 100644
--- a/ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/MainScalingA.java
+++ b/ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/MainScalingA.java
@@ -2,17 +2,24 @@ package de.tudresden.inf.st.scaling.a;
import de.tudresden.inf.st.jastadd.dumpAst.ast.Dumper;
import de.tudresden.inf.st.ros3rag.common.ConfigurationScaling;
+import de.tudresden.inf.st.ros3rag.common.SharedMainParts;
import de.tudresden.inf.st.ros3rag.common.Util;
import de.tudresden.inf.st.scaling.a.ast.*;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
import java.io.IOException;
+import java.nio.charset.StandardCharsets;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.util.HashMap;
import java.util.Map;
import java.util.Random;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+
+import static de.tudresden.inf.st.ros3rag.common.SharedMainParts.TOPIC_SUFFIX_COORDINATOR_STATUS;
+import static de.tudresden.inf.st.ros3rag.common.SharedMainParts.joinTopics;
/**
* Scaling Case Study - Site A.
@@ -21,27 +28,69 @@ import java.util.Random;
*/
public class MainScalingA {
private static final Logger logger = LogManager.getLogger(MainScalingA.class);
+ private static final String TOPIC_EXIT = "place-a/exit";
+
private CompleteWorld world;
+ private MqttHandler mainHandler;
+ private ConfigurationScaling config;
- public static void main(String[] args) throws IOException {
+ public static void main(String[] args) throws IOException, InterruptedException {
new MainScalingA().run(args);
}
- private void run(@SuppressWarnings("unused") String[] args) throws IOException {
+ private void run(@SuppressWarnings("unused") String[] args) throws IOException, InterruptedException {
logger.info("Hi from A");
Path pathToConfig = Paths.get("..",
"ros3rag.common", "src", "main", "resources", "config-scaling-mini.yml");
- ConfigurationScaling config = Util.parseScalingConfig(pathToConfig.toFile());
+ config = Util.parseScalingConfig(pathToConfig.toFile());
world = createWorld(config);
+ mainHandler = new MqttHandler().dontSendWelcomeMessage().setHost(config.mqttHost);
+ boolean mqttAvailable = mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
+ if (!mqttAvailable) {
+ logger.fatal("Could not connect to " + config.mqttHost + " -> Exiting.");
+ return;
+ }
+
generateAndSetViews();
- Dumper.read(world).dumpAsSVG(Paths.get("world.svg"));
+ Dumper.read(world).dumpAsSVG(Paths.get("world-a.svg"));
+
+ logger.info("Using coordinator logic");
+ final String coordinatorPrefix = config.coordinatorMqttTopicPrefix + "a";
+ mainHandler.newConnection(SharedMainParts.joinTopics(coordinatorPrefix,
+ SharedMainParts.TOPIC_SUFFIX_COORDINATOR_COMMAND),
+ bytes -> {
+ connectMyScenes();
+ mainHandler.publish(joinTopics(coordinatorPrefix, TOPIC_SUFFIX_COORDINATOR_STATUS),
+ "ready".getBytes(StandardCharsets.UTF_8));
+ });
+
+ Runtime.getRuntime().addShutdownHook(new Thread(this::close));
+
+ CountDownLatch exitCondition = new CountDownLatch(1);
+ mainHandler.newConnection(TOPIC_EXIT, bytes -> {
+ logger.info("Got exit command");
+ exitCondition.countDown();
+ logger.debug("exit latch count = {}",
+ exitCondition.getCount());
+ });
+ mainHandler.publish(joinTopics(coordinatorPrefix, TOPIC_SUFFIX_COORDINATOR_STATUS),
+ "up".getBytes(StandardCharsets.UTF_8));
+
+ exitCondition.await();
+ }
+
+ private void connectMyScenes() {
for (int viewIndex = 0; viewIndex < world.getConfig().getNumberOfViews(); viewIndex++) {
- world.connectView(
- Util.mqttUri(config.topicLogicalUpdate, config.mqttHost),
- viewIndex,
- true);
+ try {
+ world.connectView(
+ Util.mqttUri(joinTopics(config.topicLogicalUpdate, String.valueOf(viewIndex)), config.mqttHost),
+ viewIndex,
+ true);
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
}
}
@@ -93,4 +142,10 @@ public class MainScalingA {
world.addView(view);
}
}
+
+ private void close() {
+ logger.info("Exiting ...");
+ mainHandler.close();
+ world.ragconnectCloseConnections();
+ }
}
diff --git a/ros3rag.scaling.b/.gitignore b/ros3rag.scaling.b/.gitignore
index 87b4cdd3d7c6a41502ca98703abeeb69a1d536fb..90b7ef48578e2e905cac2779a0b49e98b48734fb 100644
--- a/ros3rag.scaling.b/.gitignore
+++ b/ros3rag.scaling.b/.gitignore
@@ -3,3 +3,4 @@ src/gen-res/
src/gen/
out/
*.class
+world-b.svg
diff --git a/ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/MainScalingB.java b/ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/MainScalingB.java
index 6d333373a0a4f17ef2dd865ad0dcf8db88dda4c1..41b8248dfcd92c784c477673d480e3df7a1d2113 100644
--- a/ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/MainScalingB.java
+++ b/ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/MainScalingB.java
@@ -1,17 +1,25 @@
package de.tudresden.inf.st.scaling.b;
+import de.tudresden.inf.st.jastadd.dumpAst.ast.Dumper;
import de.tudresden.inf.st.ros3rag.common.ConfigurationScaling;
+import de.tudresden.inf.st.ros3rag.common.SharedMainParts;
import de.tudresden.inf.st.ros3rag.common.Util;
import de.tudresden.inf.st.scaling.b.ast.*;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
import java.io.IOException;
+import java.nio.charset.StandardCharsets;
import java.nio.file.Path;
import java.nio.file.Paths;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
import java.util.stream.IntStream;
+import static de.tudresden.inf.st.ros3rag.common.SharedMainParts.TOPIC_SUFFIX_COORDINATOR_STATUS;
+import static de.tudresden.inf.st.ros3rag.common.SharedMainParts.joinTopics;
+
/**
* Scaling Case Study - Site B.
*
@@ -19,37 +27,137 @@ import java.util.stream.IntStream;
*/
public class MainScalingB {
private static final Logger logger = LogManager.getLogger(MainScalingB.class);
+ private static final String TOPIC_EXIT = "place-b/exit";
+ private static final String TOPIC_MODEL = "place-b/model";
+ private static final String TOPIC_MODEL_SVG_PATH = "place-b/model/svg/path";
+
private WorldModelB world;
+ private MqttHandler mainHandler;
+ private ConfigurationScaling config;
- public static void main(String[] args) throws IOException {
+ public static void main(String[] args) throws IOException, InterruptedException {
new MainScalingB().run(args);
}
- private void run(@SuppressWarnings("unused") String[] args) throws IOException {
+ private void run(@SuppressWarnings("unused") String[] args) throws IOException, InterruptedException {
logger.info("Hi from B");
Path pathToConfig = Paths.get("..",
"ros3rag.common", "src", "main", "resources", "config-scaling-mini.yml");
- ConfigurationScaling config = Util.parseScalingConfig(pathToConfig.toFile());
+ config = Util.parseScalingConfig(pathToConfig.toFile());
world = new WorldModelB();
- generateWorld(config);
+ mainHandler = new MqttHandler().dontSendWelcomeMessage().setHost(config.mqttHost);
+ boolean mqttAvailable = mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
+ if (!mqttAvailable) {
+ logger.fatal("Could not connect to " + config.mqttHost + " -> Exiting.");
+ return;
+ }
+
+ generateWorld();
+ dumpModel();
+
+ logger.info("Using coordinator logic");
+ final String coordinatorPrefix = config.coordinatorMqttTopicPrefix + "b";
+ mainHandler.newConnection(joinTopics(coordinatorPrefix,
+ SharedMainParts.TOPIC_SUFFIX_COORDINATOR_COMMAND),
+ bytes -> {
+ initMyScene();
+ mainHandler.publish(joinTopics(coordinatorPrefix, TOPIC_SUFFIX_COORDINATOR_STATUS),
+ "ready".getBytes(StandardCharsets.UTF_8));
+ });
+
+ Runtime.getRuntime().addShutdownHook(new Thread(this::close));
+
+ CountDownLatch exitCondition = new CountDownLatch(1);
+ mainHandler.newConnection(TOPIC_EXIT, bytes -> {
+ logger.info("Got exit command");
+ exitCondition.countDown();
+ logger.debug("exit latch count = {}",
+ exitCondition.getCount());
+ });
+ mainHandler.newConnection(TOPIC_MODEL, bytes -> dumpModel());
+
+ mainHandler.publish(joinTopics(coordinatorPrefix, TOPIC_SUFFIX_COORDINATOR_STATUS),
+ "up".getBytes(StandardCharsets.UTF_8));
+
+ exitCondition.await();
}
- private void generateWorld(ConfigurationScaling config) throws IOException {
+ private void initMyScene() {
+ Scene myNewScene = new Scene();
+
+ int pcc = 0; // position-coordination-counter
+ // locations
+ for (Region region : world.getRegionList()) {
+ if (region.getName().startsWith("Collab")) {
+ // exactly one collaboration zone
+ CollaborationZone cz = new CollaborationZone()
+ .setName("P-" + region.getName())
+ .setPosition(Position.of(pcc, pcc, pcc))
+ .setOrientation(Orientation.of(0, 0, 0, 1))
+ .setSize(Size.of(0.1, 0.1, 0));
+ myNewScene.addDropOffLocation(cz);
+ pcc += 1;
+ } else {
+ for (String locationName : region.locationNamesAsList()) {
+ DropOffLocation location = new DropOffLocation()
+ .setName(locationName)
+ .setPosition(Position.of(pcc, pcc, pcc))
+ .setOrientation(Orientation.of(0, 0, 0, 1))
+ .setSize(Size.of(0.1, 0.1, 0));
+ myNewScene.addDropOffLocation(location);
+ pcc += 1;
+ }
+ }
+ }
+
+ // all objects at start
+ for (int objectIndex = 0; objectIndex < config.objects; objectIndex++) {
+ DropOffLocation location = myNewScene.resolveObjectOfInterest("P-Start" + objectIndex).asDropOffLocation();
+ MovableObject obj = new MovableObject()
+ .setName("O" + objectIndex)
+ .setPosition(Position.of(location.getPosition().getX(),
+ location.getPosition().getY(),
+ location.getPosition().getZ()))
+ .setOrientation(Orientation.of(0, 0, 0, 1))
+ .setSize(Size.of(0, 0, 0));
+ myNewScene.addMovableObject(obj);
+ }
+
+ // robot objects
+ for (int robotIndex = 0; robotIndex < config.robots; robotIndex++) {
+ myNewScene.addRobotObject(new RobotObject()
+ .setName("ARM" + robotIndex)
+ .setActive(false)
+ .setPosition(new Position())
+ .setOrientation(new Orientation())
+ .setSize(new Size()));
+ }
+
+ world.setMyScene(myNewScene);
+ }
+
+ private void generateWorld() throws IOException {
// start region
- world.addRegion(new Region().setName("Start").setLocationNames(locationsFor("Start", config)));
+ world.addRegion(new Region().setName("Start").setLocationNames(locationsFor("Start")));
// robots
for (int robotIndex = 0; robotIndex < config.robots; robotIndex++) {
// region of the robot
String regionOfRobot = "Region" + robotIndex;
- world.addRegion(new Region().setName(regionOfRobot).setLocationNames(locationsFor(regionOfRobot, config)));
+ world.addRegion(new Region().setName(regionOfRobot).setLocationNames(locationsFor(regionOfRobot)));
+
+ // region of collaboration zones
+ if (robotIndex != config.robots - 1) {
+ String collaborationRegion = "Collab" + robotIndex;
+ world.addRegion(new Region().setName(collaborationRegion).setLocationNames("P-" + collaborationRegion));
+ }
Robot robot = new Robot().setName("ARM" + robotIndex);
// reachability
CanReachObjectOfInterestWrapper wrapper = new CanReachObjectOfInterestWrapper();
- // each robot arm can reach the region with the same index as the arm (and the start region, for the first robot)
+ // each robot arm can reach the location of its region (and the start region, for the first robot)
if (robotIndex == 0) {
for (String location : world.findRegion("Start").locationNamesAsList()) {
wrapper.addCanReachObjectOfInterest(new CanReachObjectOfInterest(location));
@@ -58,6 +166,15 @@ public class MainScalingB {
for (String location : world.findRegion(regionOfRobot).locationNamesAsList()) {
wrapper.addCanReachObjectOfInterest(new CanReachObjectOfInterest(location));
}
+ // add reachability for collaboration zones
+ if (robotIndex != 0) {
+ // reachability to previous collaboration zone
+ wrapper.addCanReachObjectOfInterest(new CanReachObjectOfInterest("P-Collab" + (robotIndex - 1)));
+ }
+ if (robotIndex != config.robots - 1) {
+ // reachability to its collaboration zone
+ wrapper.addCanReachObjectOfInterest(new CanReachObjectOfInterest("P-Collab" + (robotIndex)));
+ }
robot.setCanReachObjectOfInterestWrapper(wrapper);
world.addRobot(robot);
}
@@ -65,16 +182,38 @@ public class MainScalingB {
// other scenes
for (int sceneIndex = 0; sceneIndex < config.views; sceneIndex++) {
world.addOtherScene(new LogicalScene());
- world.connectOtherScene(config.topicLogicalUpdate, sceneIndex);
}
+ world.connectOtherScene(Util.mqttUri(joinTopics(config.topicLogicalUpdate, "#"), config.mqttHost));
// my scene
world.setMyScene(new Scene());
}
- private String locationsFor(String regionName, ConfigurationScaling config) {
+ private String locationsFor(String regionName) {
return IntStream.range(0, config.objects)
.mapToObj(index -> "P-" + regionName + index)
.collect(Collectors.joining(","));
}
+
+ private void dumpModel() {
+ try {
+ String filename = world.dumpAst(builder -> {
+ builder.excludeChildren("Orientation", "Size");
+ builder.excludeRelations("ContainedInRegion");
+ builder.includeNonterminalAttributes("LogicalScene", "diffScenes", "diffToOperations");
+ builder.includeAttributes("realRegion", "computeOperations");
+ builder.includeNullNodes();
+ });
+ mainHandler.publish(TOPIC_MODEL_SVG_PATH, filename.getBytes(StandardCharsets.UTF_8));
+ } catch (Exception e) {
+ logger.catching(e);
+ }
+ }
+
+ private void close() {
+ logger.info("Exiting ...");
+ mainHandler.close();
+ world.ragconnectCloseConnections();
+ }
+
}