update grammars

- remove robot in placeA
- connect indexed list for other logical scenes in placeB (new ragconnect feature)

ros3rag.placeA/src/main/jastadd/WorldModelA.jadd

-aspect Resolving {
-  //--- resolveObjectOfInterest ---
-  inh ObjectOfInterest Robot.resolveObjectOfInterest(String name);
-  eq WorldModelA.getRobot().resolveObjectOfInterest(String name) {
-    return getScene().resolveObjectOfInterest(name);
-  }
-}
-
 aspect Glue {
   class WorldModelA implements de.tudresden.inf.st.ros3rag.common.SharedMainParts.WorldModelWrapper {}
 

ros3rag.placeA/src/main/jastadd/WorldModelA.relast

-WorldModelA ::= Robot [Scene] /LogicalScene/ ;
-
-Robot ::= <Name:String> ;
+WorldModelA ::= [Scene] /LogicalScene/ ;

ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/MainA.java

 package de.tudresden.inf.st.placeA;
 
 import de.tudresden.inf.st.placeA.ast.MqttHandler;
-import de.tudresden.inf.st.placeA.ast.Robot;
 import de.tudresden.inf.st.placeA.ast.Scene;
 import de.tudresden.inf.st.placeA.ast.WorldModelA;
 import de.tudresden.inf.st.ros3rag.common.SharedMainParts;
-import de.tudresden.inf.st.ros3rag.common.Util;
 
 import java.io.IOException;
 
@@ -58,20 +56,14 @@ public class MainA extends SharedMainParts<MqttHandler, WorldModelA> {
 
   @Override
   protected de.tudresden.inf.st.ceti.Scene readSceneAndRobots() throws Exception {
-    /// Reading scene and robot
+    /// Reading scene
     de.tudresden.inf.st.ceti.Scene scene = readScene(
         UtilA.pathToDirectoryOfPlaceA().resolve(config.filenameInitialScene)
     );
     Scene myScene = UtilA.convert(scene);
     model.setScene(myScene);
 
-    // if multiple robots are specified, then error message will be displayed
-    Util.extractRobotNames(scene).forEach(name -> {
-      if (model.getRobot() != null) {
-        logger.error("Robot already set. Overriding with newly found name.");
-      }
-      model.setRobot(new Robot().setName(name));
-    });
+    // no robots to be set
 
     return scene;
   }

ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/SimpleMainA.java

 package de.tudresden.inf.st.placeA;
 
-import de.tudresden.inf.st.ceti.Object;
 import de.tudresden.inf.st.placeA.ast.*;
 import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
 import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 
-import java.nio.file.Paths;
 import java.util.Scanner;
 import java.util.concurrent.TimeUnit;
 
@@ -37,19 +35,6 @@ public class SimpleMainA {
     var model = new WorldModelA();
     model.setScene(myScene);
 
-    // find robot (should be only one)
-    for (var obj : scene.getObjectsList()) {
-      if (obj.getType().equals(Object.Type.ARM)) {
-        if (model.getRobot() != null) {
-          logger.error("Found multiple robots in scene for place A!");
-        }
-        model.setRobot(new Robot().setName(obj.getId()));
-      }
-    }
-    if (model.getRobot() == null) {
-      logger.error("Found no robots in scene for place A!");
-    }
-
     // send initial scene once
 //    MqttHandler publisher = new MqttHandler().dontSendWelcomeMessage().setHost("localhost");
 //    publisher.publish("scene/init", scene.toByteArray());
@@ -66,11 +51,6 @@ public class SimpleMainA {
   private static void testBuildModelA() {
     WorldModelA model = new WorldModelA();
 
-    // robot
-    Robot robot = new Robot();
-    robot.setName("panda1");
-    model.setRobot(robot);
-
     // scene
     var scene = new Scene();
     model.setScene(scene);

ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/UtilA.java

@@ -44,9 +44,6 @@ public class UtilA {
 
   public static String getModelInfos(WorldModelA model, boolean detailed) {
     StringBuilder sb = new StringBuilder();
-    sb.append("myRobot: ")
-        .append(model.getRobot().getName())
-        .append("\n");
     if (detailed) {
       // also include "normal" scene
       sb.append("myScene:");

ros3rag.placeB/src/main/jastadd/WorldModelB.connect

 // --- receiving ---
 receive WorldModelB.MyScene using ParseScene, ConvertScene ;
-receive WorldModelB.OtherScene1 ;
-receive WorldModelB.OtherScene2 ;
+receive indexed WorldModelB.OtherScene ;
 receive WorldModelB.TestingOtherScene ;
 receive Robot.CanReachObjectOfInterestWrapper using ParseReachability, ConvertReachability ;
 

ros3rag.placeB/src/main/jastadd/WorldModelB.jadd

@@ -2,18 +2,6 @@ aspect Computation {
   //--- unspecifiedLocation ---
   syn nta LogicalDropOffLocation WorldModelB.unspecifiedLocation() = new LogicalDropOffLocation().setName("<unspecified>");
 
-  //--- getOtherSceneList ---
-  syn JastAddList<LogicalScene> WorldModelB.getOtherSceneList() {
-    JastAddList<LogicalScene> result = new JastAddList<>();
-    if (hasOtherScene1()) {
-      result.add(getOtherScene1());
-    }
-    if (hasOtherScene2()) {
-      result.add(getOtherScene2());
-    }
-    return result;
-  }
-
   //--- mergedOtherScene ---
   syn nta LogicalScene WorldModelB.mergedOtherScene() {
     // return empty scene, if there are no other scenes (yet)

ros3rag.placeB/src/main/jastadd/WorldModelB.relast

-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
+WorldModelB ::= Robot* [MyScene:Scene] OtherScene:LogicalScene* /NextOperation:Operation/ TestingOtherScene:LogicalScene* ;
 
 Robot ::= <Name:String> CanReachObjectOfInterestWrapper ;
 

ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/MainB.java

@@ -82,7 +82,7 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
   @Override
   protected void connectEndpoints() throws IOException {
     model.connectMyScene(mqttUri(TOPIC_MY_SCENE_UPDATE_FROM_ROS, config));
-    model.connectOtherScene1(mqttUri(TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A, config));
+    model.connectOtherScene(mqttUri(TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A, config));
     model.connectNextOperation(mqttUri(TOPIC_COMMAND, config), false);
   }
 

ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java

@@ -188,7 +188,7 @@ public class SimpleMainB {
 
     /// Connect endpoints
     model.connectMyScene(mqttUri("TOPIC_MY_SCENE_UPDATE_FROM_ROS", config));
-    model.connectOtherScene1(mqttUri("TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A", config));
+    model.connectOtherScene(mqttUri("TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A", config));
     model.connectNextOperation(mqttUri("TOPIC_COMMANDS", config), false);
 
     System.out.println("before");
@@ -264,7 +264,7 @@ public class SimpleMainB {
     LogicalDropOffLocation otherGamma = new LogicalDropOffLocation().setName("placeGamma");
     otherGamma.addContainedObject(otherObj1);
     otherScene.addLogicalDropOffLocation(otherGamma);
-    model.setOtherScene1(otherScene);
+    model.addOtherScene(otherScene);
 
     // printing and testing
     printModelInfos(model);

ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestComputeOperations.java

@@ -60,9 +60,11 @@ public class TestComputeOperations {
     LogicalDropOffLocation red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
     LogicalDropOffLocation blue = logicalScene.resolveLogicalObjectOfInterest("blue").asLogicalDropOffLocation();
     Robot arm1 = model.findRobot("arm1").orElseThrow();
-    DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, blue);
 
+    // object "x" shall be place at red or blue
+    DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, blue);
     List<Operation> operations = diff.computeOperations();
+
     assertThat(operations).isNotEmpty();
     assertThat(operations).hasSize(1);
     Operation op = operations.get(0);
@@ -90,9 +92,11 @@ public class TestComputeOperations {
     LogicalDropOffLocation green = logicalScene.resolveLogicalObjectOfInterest("green").asLogicalDropOffLocation();
     Robot arm1 = model.findRobot("arm1").orElseThrow();
     Robot arm2 = model.findRobot("arm2").orElseThrow();
-    DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, green);
 
+    // object "x" shall be place at red or green
+    DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, green);
     List<Operation> operations = diff.computeOperations();
+
     assertThat(operations).isNotEmpty();
     assertThat(operations).hasSize(2);
     Operation op1 = operations.get(0);
@@ -137,9 +141,11 @@ public class TestComputeOperations {
     Robot arm2 = model.findRobot("arm2").orElseThrow();
     Robot arm4 = model.findRobot("arm4").orElseThrow();
     Robot arm5 = model.findRobot("arm5").orElseThrow();
-    DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, purple);
 
+    // object "x" shall be place at red or purple
+    DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, purple);
     List<Operation> operations = diff.computeOperations();
+
     assertThat(operations).isNotEmpty();
     assertThat(operations).hasSize(3);
 

ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestDifference.java

@@ -181,7 +181,6 @@ public class TestDifference {
     assertNotNull(diffs);
     assertEquals(2, diffs.getNumChild());
     assertThat(diffs).allMatch(d -> d instanceof DifferenceObjectAtWrongPlace);
-    //noinspection unchecked
     assertThat(diffs).map(diff -> (DifferenceObjectAtWrongPlace) diff)
         .extracting(d -> d.getObject().getName(), d -> d.getPreviousLocation().getName(), d -> d.getNewLocation().getName())
         .containsOnly(tuple("x", "blue", "red"),

ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestMultiScenes.java

@@ -34,8 +34,8 @@ public class TestMultiScenes {
   @ValueSource(booleans = {true, false})
   public void oneSceneNoContains(boolean scene1) {
     WorldModelB model = newModel();
-    TestUtils.addOtherLocations(scene1 ? model.getOtherScene1() : model.getOtherScene2(), "red");
-    TestUtils.addOtherObjects(scene1 ? model.getOtherScene1() : model.getOtherScene2(), "a");
+    TestUtils.addOtherLocations(model.getOtherScene(scene1 ? 0 : 1), "red");
+    TestUtils.addOtherObjects(model.getOtherScene(scene1 ? 0 : 1), "a");
 
     LogicalScene actual = model.mergedOtherScene();
 
@@ -50,16 +50,16 @@ public class TestMultiScenes {
     WorldModelB model = newModel();
     TestUtils.addOtherLocations(model, "red");
     TestUtils.addOtherObjects(model, "a");
-    TestUtils.addOtherLocations(model.getOtherScene2(), "blue");
-    TestUtils.addOtherObjects(model.getOtherScene2(), "b");
+    TestUtils.addOtherLocations(model.getOtherScene(1), "blue");
+    TestUtils.addOtherObjects(model.getOtherScene(1), "b");
 
     LogicalScene actual = model.mergedOtherScene();
 
     assertThat(actual.getLogicalDropOffLocationList())
         .size().isEqualTo(2);
     assertThat(actual.getLogicalDropOffLocationList())
-        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalDropOffLocationList())
-        .doesNotContainAnyElementsOf(model.getOtherScene2().getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalDropOffLocationList())
         .extracting("Name").containsOnly("red", "blue");
     assertThat(actual.getLogicalDropOffLocationList())
         .extracting("ContainedObjects").containsOnly(Collections.emptyList());
@@ -67,8 +67,8 @@ public class TestMultiScenes {
     assertThat(actual.getLogicalMovableObjectList())
         .size().isEqualTo(2);
     assertThat(actual.getLogicalMovableObjectList())
-        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalMovableObjectList())
-        .doesNotContainAnyElementsOf(model.getOtherScene2().getLogicalMovableObjectList())
+        .doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalMovableObjectList())
+        .doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalMovableObjectList())
         .extracting("Name").containsOnly("a", "b");
     assertThat(actual.getLogicalMovableObjectList())
         .extracting("LocatedAt").containsOnly((LogicalDropOffLocation) null);
@@ -80,9 +80,9 @@ public class TestMultiScenes {
     WorldModelB model = newModel();
     TestUtils.addOtherLocations(model, "red", "blue");
     TestUtils.addOtherObjects(model, "a", "b");
-    model.getOtherScene2().addLogicalDropOffLocation(new LogicalDropOffLocation().setName("red"));
-    model.getOtherScene2().addLogicalMovableObject(new LogicalMovableObject().setName("a"));
-    TestUtils.addContainedObjects(scene1 ? model.getOtherScene1() : model.getOtherScene2(),
+    model.getOtherScene(1).addLogicalDropOffLocation(new LogicalDropOffLocation().setName("red"));
+    model.getOtherScene(1).addLogicalMovableObject(new LogicalMovableObject().setName("a"));
+    TestUtils.addContainedObjects(model.getOtherScene(scene1 ? 0 : 1),
         "red", "a");
 
     LogicalScene actual = model.mergedOtherScene();
@@ -90,8 +90,8 @@ public class TestMultiScenes {
     assertThat(actual.getLogicalDropOffLocationList())
         .size().isEqualTo(2);
     assertThat(actual.getLogicalDropOffLocationList())
-        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalDropOffLocationList())
-        .doesNotContainAnyElementsOf(model.getOtherScene2().getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalDropOffLocationList())
         .extracting("Name").containsExactly("red", "blue");
     LogicalDropOffLocation red = actual.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
     assertThat(red.getContainedObjectList())
@@ -100,7 +100,7 @@ public class TestMultiScenes {
     assertThat(actual.getLogicalMovableObjectList())
         .size().isEqualTo(2);
     assertThat(actual.getLogicalMovableObjectList())
-        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalMovableObjectList())
+        .doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalMovableObjectList())
         .extracting("Name").containsOnly("a", "b");
     LogicalMovableObject a = actual.resolveLogicalObjectOfInterest("a").asLogicalMovableObject();
     assertThat(a.getLocatedAt())
@@ -114,17 +114,17 @@ public class TestMultiScenes {
     TestUtils.addOtherObjects(model, "a", "b");
     TestUtils.addContainedObjects(model, "red", "a");
 
-    TestUtils.addOtherLocations(model.getOtherScene2(), "red");
-    TestUtils.addOtherObjects(model.getOtherScene2(), "a", "b");
-    TestUtils.addContainedObjects(model.getOtherScene2(), "red", "a");
+    TestUtils.addOtherLocations(model.getOtherScene(1), "red");
+    TestUtils.addOtherObjects(model.getOtherScene(1), "a", "b");
+    TestUtils.addContainedObjects(model.getOtherScene(1), "red", "a");
 
     LogicalScene actual = model.mergedOtherScene();
 
     assertThat(actual.getLogicalDropOffLocationList())
         .size().isEqualTo(2);
     assertThat(actual.getLogicalDropOffLocationList())
-        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalDropOffLocationList())
-        .doesNotContainAnyElementsOf(model.getOtherScene2().getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalDropOffLocationList())
         .extracting("Name").containsExactly("red", "blue");
     LogicalDropOffLocation red = actual.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
     assertThat(red.getContainedObjectList())
@@ -133,7 +133,7 @@ public class TestMultiScenes {
     assertThat(actual.getLogicalMovableObjectList())
         .size().isEqualTo(2);
     assertThat(actual.getLogicalMovableObjectList())
-        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalMovableObjectList())
+        .doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalMovableObjectList())
         .extracting("Name").containsOnly("a", "b");
     LogicalMovableObject a = actual.resolveLogicalObjectOfInterest("a").asLogicalMovableObject();
     assertThat(a.getLocatedAt())

ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestUtils.java

@@ -12,8 +12,8 @@ public class TestUtils {
     WorldModelB model = new WorldModelB();
     Scene scene = new Scene();
     model.setMyScene(scene);
-    model.setOtherScene1(new LogicalScene());
-    model.setOtherScene2(new LogicalScene());
+    model.addOtherScene(new LogicalScene());
+    model.addOtherScene(new LogicalScene());
     return model;
   }
 
@@ -70,7 +70,7 @@ public class TestUtils {
   }
 
   public static void addOtherObjects(WorldModelB model, String... names) {
-    addOtherObjects(model.getOtherScene1(), names);
+    addOtherObjects(model.getOtherScene(0), names);
   }
 
   public static void addOtherObjects(LogicalScene scene, String... names) {
@@ -80,7 +80,7 @@ public class TestUtils {
   }
 
   public static void addOtherLocations(WorldModelB model, String... names) {
-    addOtherLocations(model.getOtherScene1(), names);
+    addOtherLocations(model.getOtherScene(0), names);
   }
 
   public static void addOtherLocations(LogicalScene scene, String... names) {
@@ -90,7 +90,7 @@ public class TestUtils {
   }
 
   public static void addContainedObjects(WorldModelB model, String locationName, String... objectNames) {
-    addContainedObjects(model.getOtherScene1(), locationName, objectNames);
+    addContainedObjects(model.getOtherScene(0), locationName, objectNames);
   }
 
   public static void addContainedObjects(LogicalScene scene, String locationName, String... objectNames) {