From 4f2514b81a1d0194ccb4b99440782d4a57ce66ee Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Thu, 28 Jul 2022 09:24:41 +0200
Subject: [PATCH] attempt with ragconnect 0.2.2 failed
- compiles, but dependency definitions are not able to model data flow to NTAs. appears to not work
---
...rag.java-old-ragconnect-conventions.gradle | 18 ++++++
.../src/main/resources/tasks.gradle | 4 +-
.../src/main/jastadd/OldWorldModelB.connect | 36 ++++++-----
.../src/main/jastadd/forwardsComp.jadd | 11 +---
.../de/tudresden/inf/st/old/b/OldMainB.java | 60 +++++++++++++++++--
5 files changed, 95 insertions(+), 34 deletions(-)
create mode 100644 buildSrc/src/main/groovy/ros3rag.java-old-ragconnect-conventions.gradle
diff --git a/buildSrc/src/main/groovy/ros3rag.java-old-ragconnect-conventions.gradle b/buildSrc/src/main/groovy/ros3rag.java-old-ragconnect-conventions.gradle
new file mode 100644
index 0000000..1f856db
--- /dev/null
+++ b/buildSrc/src/main/groovy/ros3rag.java-old-ragconnect-conventions.gradle
@@ -0,0 +1,18 @@
+plugins {
+ id 'ros3rag.java-jastadd-conventions'
+}
+
+configurations {
+ ragconnect
+ grammar2uml
+ relast
+}
+
+dependencies {
+ api group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
+ grammar2uml group: 'de.tudresden.inf.st', name: 'grammar2uml', version: '0.2.3'
+
+ relast group: 'org.jastadd', name: 'relast', version: "0.4.0-143"
+
+ implementation group: 'de.tudresden.inf.st', name: 'dumpAst', version: '1.2.1-77'
+}
diff --git a/ros3rag.common/src/main/resources/tasks.gradle b/ros3rag.common/src/main/resources/tasks.gradle
index b0c1d78..402e14e 100644
--- a/ros3rag.common/src/main/resources/tasks.gradle
+++ b/ros3rag.common/src/main/resources/tasks.gradle
@@ -65,7 +65,9 @@ task oldRagConnect(type: JavaExec) {
file('src/gen/workaround/merged.connect'),
'--rootNode=' + project.ext.ragConnectRootNode,
'--protocols=' + project.ext.ragConnectProtocols,
- '--List=JastAddList'
+ '--List=JastAddList',
+// '--logReads',
+ '--logWrites',
])
}
diff --git a/ros3rag.old.b/src/main/jastadd/OldWorldModelB.connect b/ros3rag.old.b/src/main/jastadd/OldWorldModelB.connect
index 165fa1a..d6ed83d 100644
--- a/ros3rag.old.b/src/main/jastadd/OldWorldModelB.connect
+++ b/ros3rag.old.b/src/main/jastadd/OldWorldModelB.connect
@@ -46,9 +46,7 @@ ConvertCommand maps de.tudresden.inf.st.ceti.Command command to Operation {:
// --- sending ---
send WorldModelB.NextOperationAsNtaToken using PrintCommand ;
-// (direct manipulation is dangerous) send WorldModelB.NextOperation using PrintAndRememberOperation ;
send Robot.MyPosition ;
-// (direct manipulation is dangerous) send Robot.myPosition(String) using ImmediateUpdate ;
PrintCommand maps de.tudresden.inf.st.ceti.Command cmd to byte[] {:
if (cmd == null) {
@@ -58,23 +56,6 @@ PrintCommand maps de.tudresden.inf.st.ceti.Command cmd to byte[] {:
return cmd.toByteArray();
:}
-// (direct manipulation is dangerous)
-//PrintAndRememberOperation maps Operation op to byte[] {:
-// byte[] result = op.toProtobufByteArray();
-// if (result == null) {
-// reject();
-// }
-// ((WorldModelB) this).addExecutedOperation(op);
-// return result;
-//:}
-//
-// (direct manipulation is dangerous)
-//ImmediateUpdate maps String pos to String {:
-// Robot robot = (Robot) this;
-// robot.setCurrentPosition(pos);
-// return pos;
-//:}
-
ConfigChangeCommandCheckForOwnedCollaborationZone maps byte[] bytes to String {:
de.tudresden.inf.st.ceti.Command command = null;
try {
@@ -187,3 +168,20 @@ CommandCheckForOccupiedCollaborationZone maps byte[] bytes to String {:
}
return String.join(",", occupiedZoneNames);
:}
+
+// probably need dependency definitions
+
+// WorldModelB.NextOperationAsNtaToken
+WorldModelB.NextOperationAsNtaToken canDependOn WorldModelB.OtherSceneAsJson as NextOperationWorldModelOtherSceneDep ;
+WorldModelB.NextOperationAsNtaToken canDependOn WorldModelB.MySceneAsProtobuf as NextOperationWorldModelMySceneDep ;
+WorldModelB.NextOperationAsNtaToken canDependOn Robot.CurrentPosition as NextOperationRobotCurrentPositionDep ;
+WorldModelB.NextOperationAsNtaToken canDependOn RobotObject.State as NextOperationRobotObjectStateDep ;
+WorldModelB.NextOperationAsNtaToken canDependOn Robot.OccupiedCollaborationZoneNames as NextOperationRobotOccupiedDep ;
+WorldModelB.NextOperationAsNtaToken canDependOn Robot.OwnedCollaborationZoneNames as NextOperationRobotOwnedDep ;
+
+// Robot.MyPosition
+//Robot.MyPosition canDependOn RobotObject.State as MyPositionRobotObjectStateDep ;
+Robot.MyPosition canDependOn WorldModelB.MySceneAsProtobuf as MyPositionMySceneDep ;
+Robot.MyPosition canDependOn Robot.CurrentPosition as MyPositionRobotCurrentPositionDep ;
+Robot.MyPosition canDependOn Robot.OccupiedCollaborationZoneNames as MyPositionRobotOccupiedDep ;
+Robot.MyPosition canDependOn Robot.OwnedCollaborationZoneNames as MyPositionRobotOwnedDep ;
diff --git a/ros3rag.old.b/src/main/jastadd/forwardsComp.jadd b/ros3rag.old.b/src/main/jastadd/forwardsComp.jadd
index 7406eb8..8c40534 100644
--- a/ros3rag.old.b/src/main/jastadd/forwardsComp.jadd
+++ b/ros3rag.old.b/src/main/jastadd/forwardsComp.jadd
@@ -9,16 +9,7 @@ aspect ForwardsCompatibility {
}
static Robot ASTNode.hackTemporaryRobot;
-// refine MqttHandler public boolean MqttHandler.newConnection(String topic, java.util.function.Consumer<byte[]> callback) {
-// if (topic.equals("/ceti_cell_placeworld/command")) {
-// // add decorator consumer to set hackTemporaryRobot
-// java.util.function.Consumer<byte[]> decoratedConsumer = input -> {
-//
-// };
-// }
-// refined();
-// }
- refine ROS2RAG public boolean Robot.connectOwnedCollaborationZoneNames(String uriString) throws java.io.IOException {
+ refine ROS2RAG public boolean Robot.connectOwnedCollaborationZoneNames(String uriString) throws java.io.IOException {
String scheme,host, path;
java.net.URI uri;
try {
diff --git a/ros3rag.old.b/src/main/java/de/tudresden/inf/st/old/b/OldMainB.java b/ros3rag.old.b/src/main/java/de/tudresden/inf/st/old/b/OldMainB.java
index 7cf3c3e..8727575 100644
--- a/ros3rag.old.b/src/main/java/de/tudresden/inf/st/old/b/OldMainB.java
+++ b/ros3rag.old.b/src/main/java/de/tudresden/inf/st/old/b/OldMainB.java
@@ -166,6 +166,17 @@ public class OldMainB extends SharedMainParts<MqttHandler, ArtificialRoot> {
checkSuccess(robot.connectMyPosition(mqttUri(topicPosition, config), true),
"MyPosition (" + robot.getName() + ")");
}
+
+ // TODO make the actual dependencies
+ model.getWorldModelB().addNextOperationWorldModelMySceneDep(model.getWorldModelB());
+ model.getWorldModelB().addNextOperationWorldModelOtherSceneDep(model.getWorldModelB());
+ for (Robot robot : model.getWorldModelB().getRobotList()) {
+ model.getWorldModelB().addNextOperationRobotCurrentPositionDep(robot);
+ robot.addMyPositionRobotCurrentPositionDep(robot);
+ robot.addMyPositionRobotOccupiedDep(robot);
+ robot.addMyPositionRobotOwnedDep(robot);
+ robot.addMyPositionMySceneDep(model.getWorldModelB());
+ }
}
private void checkSuccess(boolean connectSuccess, String target) {
@@ -179,10 +190,51 @@ public class OldMainB extends SharedMainParts<MqttHandler, ArtificialRoot> {
// Thread t = new Thread(() -> {
try {
String filename = artificialRoot.getWorldModelB().dumpAst(builder -> {
- builder.excludeChildren("Orientation", "Size");
- builder.excludeRelations("ContainedInRegion");
- builder.includeNonterminalAttributes("LogicalScene", "diffScenes", "diffToOperations");
- builder.includeAttributes("realRegion", "computeOperations", "myPosition");
+ builder.includeChildWhen((parentNode, childNode, contextName) -> {
+ switch (contextName) {
+ case "Orientation":
+ case "Size":
+ return false;
+ default:
+ return true;
+ }
+ });
+ builder.includeTokensWhen((node, tokenName, value) -> {
+ switch (tokenName) {
+ case "_internal_MySceneAsProtobuf":
+ case "_internal_OtherSceneAsJson":
+ return false;
+ default:
+ return true;
+ }
+ });
+ builder.includeAttributeWhen((node, attributeName, isNTA, value) -> {
+ if (isNTA) {
+ switch (attributeName) {
+ case "diffScenes":
+ case "diffToOperations":
+ case "LogicalScene":
+ return true;
+ default:
+ return false;
+ }
+ } else {
+ switch (attributeName) {
+ case "realRegion":
+ case "computeOperations":
+ case "myPosition":
+ return true;
+ default:
+ return false;
+ }
+ }
+ });
+ builder.includeRelationsWhen((sourceNode, targetNode, roleName) -> {
+ if (roleName.startsWith("_internal_") && (roleName.endsWith("Source") || roleName.endsWith("Target"))) {
+ return false;
+ }
+ return !roleName.equals("ContainedInRegion");
+ });
builder.includeNullNodes();
});
mainHandler.publish(TOPIC_MODEL_SVG_PATH, filename.getBytes(StandardCharsets.UTF_8));
--
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