From 3bd1297d496f50de98de03ae0c7b437ff3fc5265 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Wed, 15 Jun 2022 16:42:23 +0200
Subject: [PATCH] update
- remove CanReachObjectOfInterestWrapper
---
.../src/main/jastadd/WorldModelB.connect | 8 +++----
.../src/main/jastadd/WorldModelB.jadd | 20 +++++++++---------
.../src/main/jastadd/WorldModelB.relast | 4 +---
.../de/tudresden/inf/st/placeB/MainB.java | 4 ++--
.../tudresden/inf/st/placeB/SimpleMainB.java | 4 ++--
.../de/tudresden/inf/st/placeB/UtilB.java | 21 ++++++++-----------
6 files changed, 28 insertions(+), 33 deletions(-)
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
index 302541d..3d06500 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
@@ -1,7 +1,7 @@
// --- receiving ---
receive WorldModelB.MyScene using ParseScene, ConvertScene ;
receive indexed WorldModelB.OtherScene ;
-receive Robot.CanReachObjectOfInterestWrapper using ParseReachability, ConvertReachability ;
+receive Robot.CanReachObjectOfInterest using ParseReachability, ConvertReachability ;
receive Robot.OwnedCollaborationZoneNames using ConfigChangeCommandCheckForOwnedCollaborationZone ;
receive Robot.OccupiedCollaborationZoneNames using CommandCheckForOccupiedCollaborationZone ;
receive Robot.CurrentPosition ;
@@ -11,11 +11,11 @@ ParseReachability maps byte[] bytes to de.tudresden.inf.st.ceti.Reachability {:
return de.tudresden.inf.st.ceti.Reachability.parseFrom(bytes);
:}
-ConvertReachability maps de.tudresden.inf.st.ceti.Reachability r to CanReachObjectOfInterestWrapper {:
- var result = new CanReachObjectOfInterestWrapper();
+ConvertReachability maps de.tudresden.inf.st.ceti.Reachability r to JastAddList<CanReachObjectOfInterest> {:
+ var result = new JastAddList<CanReachObjectOfInterest>();
for (var objReach : r.getObjectsList()) {
if (objReach.getReachable()) {
- result.addCanReachObjectOfInterest(new CanReachObjectOfInterest().setObjectName(objReach.getIdObject()));
+ result.addChild(new CanReachObjectOfInterest().setObjectName(objReach.getIdObject()));
}
}
return result;
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
index 334c172..5b01bc7 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
@@ -309,15 +309,15 @@ aspect Computation {
return errorNoExecutableOperation();
}
- //--- canReach ---
- syn boolean Robot.canReach(String objectName) {
- for (CanReachObjectOfInterest canReachObj : getCanReachObjectOfInterestWrapper().getCanReachObjectOfInterestList()) {
- if (canReachObj.getObjectName().equals(objectName)) {
- return true;
- }
- }
- return false;
- }
+// //--- canReach --- | TODO not used
+// syn boolean Robot.canReach(String objectName) {
+// for (CanReachObjectOfInterest canReachObj : getCanReachObjectOfInterestList()) {
+// if (canReachObj.getObjectName().equals(objectName)) {
+// return true;
+// }
+// }
+// return false;
+// }
//--- reachableObjects ---
syn List<ObjectOfInterest> Robot.reachableObjects() {
@@ -325,7 +325,7 @@ aspect Computation {
return Collections.emptyList();
}
List<ObjectOfInterest> result = new ArrayList<>();
- for (CanReachObjectOfInterest canReachObj : getCanReachObjectOfInterestWrapper().getCanReachObjectOfInterestList()) {
+ for (CanReachObjectOfInterest canReachObj : getCanReachObjectOfInterestList()) {
result.add(worldModelB().getMyScene().resolveObjectOfInterest(canReachObj.getObjectName()));
}
return result;
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
index a0d205c..417bff8 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
@@ -1,12 +1,10 @@
WorldModelB ::= Region* Robot* [MyScene:Scene] OtherScene:LogicalScene* ExecutedOperation:Operation* /NextOperation:Operation/ ;
-// FIXME inline CanReachObjectOfInterestWrapper
-Robot ::= <Name:String> CanReachObjectOfInterestWrapper <OwnedCollaborationZoneNames> <OccupiedCollaborationZoneNames> <CurrentPosition> ;
+Robot ::= <Name:String> CanReachObjectOfInterest* <OwnedCollaborationZoneNames> <OccupiedCollaborationZoneNames> <CurrentPosition> ;
// relations into nodes received by RagConnect are not allowed
//rel Robot.OwnedCollaborationZone* <-> CollaborationZone.Owner? ;
//rel Robot.OccupiedCollaborationZone? <-> CollaborationZone.Occupient? ;
-CanReachObjectOfInterestWrapper ::= CanReachObjectOfInterest* ;
CanReachObjectOfInterest ::= <ObjectName:String> ;
abstract Difference ;
diff --git a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/MainB.java b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/MainB.java
index 9df4a09..ef2ab53 100644
--- a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/MainB.java
+++ b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/MainB.java
@@ -122,8 +122,8 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
Robot robot = UtilB.createRobot(robotConfiguration.name);
model.addRobot(robot);
- CanReachObjectOfInterestWrapper reachabilityWrapper = UtilB.convertToReachability(robotConfiguration.reachableLocations);
- robot.setCanReachObjectOfInterestWrapper(reachabilityWrapper);
+ JastAddList<CanReachObjectOfInterest> reachabilityList = UtilB.convertToReachability(robotConfiguration.reachableLocations);
+ robot.setCanReachObjectOfInterestList(reachabilityList);
}
}
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 926804a..ff99e99 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
@@ -133,8 +133,8 @@ public class SimpleMainB {
Robot robot = UtilB.createRobot(robotConfiguration.name);
model.addRobot(robot);
- CanReachObjectOfInterestWrapper reachabilityWrapper = UtilB.convertToReachability(robotConfiguration.reachableLocations);
- robot.setCanReachObjectOfInterestWrapper(reachabilityWrapper);
+ JastAddList<CanReachObjectOfInterest> reachabilityList = UtilB.convertToReachability(robotConfiguration.reachableLocations);
+ robot.setCanReachObjectOfInterestList(reachabilityList);
}
Runnable close = () -> {
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 e66baba..fffa2f6 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
@@ -38,12 +38,10 @@ public class UtilB {
static Robot createRobot(String name, String... canReach) {
Robot result = new Robot().setName(name).setCurrentPosition("unknown");
- CanReachObjectOfInterestWrapper wrapper = new CanReachObjectOfInterestWrapper();
for (String canReachName : canReach) {
- wrapper.addCanReachObjectOfInterest(new CanReachObjectOfInterest(canReachName));
+ result.addCanReachObjectOfInterest(new CanReachObjectOfInterest(canReachName));
}
- result.setCanReachObjectOfInterestWrapper(wrapper);
return result;
}
@@ -103,9 +101,8 @@ public class UtilB {
robot -> robot.getName()
+ "(" + (robot.isBusy() ? "busy" : "free")
+ ", canReach: "
- + robot.getCanReachObjectOfInterestWrapper()
- .getCanReachObjectOfInterestList()
- .prettyPrint(canReachObj -> resolveObjName(model, canReachObj.getObjectName()))
+ + robot.getCanReachObjectOfInterestList().prettyPrint(
+ canReachObj -> resolveObjName(model, canReachObj.getObjectName()))
+ ")"))
.append("\n");
if (detailed) {
@@ -144,9 +141,9 @@ public class UtilB {
return new ExposingASTNode().exposed_apply_ConvertScene(scene);
}
- static CanReachObjectOfInterestWrapper convertToReachability(List<String> reachableLocations) {
- CanReachObjectOfInterestWrapper result = new CanReachObjectOfInterestWrapper();
- reachableLocations.forEach(location -> result.addCanReachObjectOfInterest(new CanReachObjectOfInterest(location)));
+ static JastAddList<CanReachObjectOfInterest> convertToReachability(List<String> reachableLocations) {
+ JastAddList<CanReachObjectOfInterest> result = new JastAddList<>();
+ reachableLocations.forEach(location -> result.addChild(new CanReachObjectOfInterest(location)));
return result;
}
@@ -189,9 +186,9 @@ public class UtilB {
public Scene exposed_apply_ConvertScene(de.tudresden.inf.st.ceti.Scene pbScene) throws Exception {
return _ragconnect__apply_ConvertScene(pbScene);
}
- public CanReachObjectOfInterestWrapper exposed_apply_ConvertReachability(de.tudresden.inf.st.ceti.Reachability r) throws Exception {
- return _ragconnect__apply_ConvertReachability(r);
- }
+// public CanReachObjectOfInterestWrapper exposed_apply_ConvertReachability(de.tudresden.inf.st.ceti.Reachability r) throws Exception {
+// return _ragconnect__apply_ConvertReachability(r);
+// }
}
}
--
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