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Commit 6356b146 authored by René Schöne's avatar René Schöne
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fixing tests

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ros3rag.placeA/src/main/jastadd/WorldModelA.jadd
+ 14
− 0
View file @ 6356b146
aspect Navigation {
//--- worldModelA ---
inh WorldModelA ASTNode.worldModelA();
eq WorldModelA.getChild().worldModelA() = this;
}
aspect Glue {
class WorldModelA implements de.tudresden.inf.st.ros3rag.common.SharedMainParts.WorldModelWrapper {}
......@@ -5,4 +11,12 @@ aspect Glue {
syn LogicalScene WorldModelA.getLogicalScene() = hasScene() ? getScene().getLogicalScene() : new LogicalScene();
eq WorldModelA.getScene().regionList() = getRegionList();
eq Region.locationList() {
List<DropOffLocation> result = new ArrayList<>();
if (!worldModelA().hasScene()) { return result; }
for (String locationName : locationNamesAsList()) {
result.add(worldModelA().getScene().resolveObjectOfInterest(locationName).asDropOffLocation());
}
return result;
}
}
ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
+ 1
− 0
View file @ 6356b146
......@@ -374,6 +374,7 @@ aspect Navigation {
syn List<String> Robot.ownedCollaborationZonesAsList() = arrayAsList(getOwnedCollaborationZoneNames());
eq Region.locationList() {
List<DropOffLocation> result = new ArrayList<>();
if (!worldModelB().hasMyScene()) { return result; }
for (String locationName : locationNamesAsList()) {
result.add(worldModelB().getMyScene().resolveObjectOfInterest(locationName).asDropOffLocation());
}
......
ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestComputeOperations.java
+ 28
− 26
View file @ 6356b146
package de.tudresden.inf.st.placeB;
import de.tudresden.inf.st.placeB.ast.*;
import org.junit.jupiter.api.Disabled;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.ValueSource;
......@@ -17,6 +18,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
*
* @author rschoene - Initial contribution
*/
@Disabled("LogicalScene does not have enough information for located at, and new commands are not handled yet")
public class TestComputeOperations {
@ParameterizedTest(name = "testNoMovePossible [emptyPreviousLocation = {argumentsWithNames}]")
......@@ -24,15 +26,15 @@ public class TestComputeOperations {
public void testNoMovePossible(boolean emptyPreviousLocation) {
WorldModelB model = newModel();
addMyObjects(model, "x");
addMyLocations(model, "red", "blue", "green");
addMyLocationsAndRegions(model, "red", "blue", "green");
addRobots(model, "arm1", "arm2");
addReachability(model, "arm1", "red", "blue", "x");
addReachability(model, "arm2", "blue");
addReachability(model, "arm1", "P-red", "P-blue", "x");
addReachability(model, "arm2", "P-blue");
LogicalScene logicalScene = model.getMyScene().getLogicalScene();
LogicalMovableObject x = logicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
LogicalDropOffLocation red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
LogicalDropOffLocation green = logicalScene.resolveLogicalObjectOfInterest("green").asLogicalDropOffLocation();
LogicalRegion red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalRegion();
LogicalRegion green = logicalScene.resolveLogicalObjectOfInterest("green").asLogicalRegion();
DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, green);
List<Operation> operations = diff.computeOperations();
......@@ -50,15 +52,15 @@ public class TestComputeOperations {
public void testDirectMove(boolean emptyPreviousLocation) {
WorldModelB model = newModel();
addMyObjects(model, "x");
addMyLocations(model, "red", "blue", "green");
addMyLocationsAndRegions(model, "red", "blue", "green");
addRobots(model, "arm1", "arm2");
addReachability(model, "arm1", "red", "blue", "x");
addReachability(model, "arm2", "blue");
LogicalScene logicalScene = model.getMyScene().getLogicalScene();
LogicalMovableObject x = logicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
LogicalDropOffLocation red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
LogicalDropOffLocation blue = logicalScene.resolveLogicalObjectOfInterest("blue").asLogicalDropOffLocation();
LogicalRegion red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalRegion();
LogicalRegion blue = logicalScene.resolveLogicalObjectOfInterest("blue").asLogicalRegion();
Robot arm1 = model.findRobot("arm1").orElseThrow();
// object "x" shall be place at red or blue
......@@ -72,7 +74,7 @@ public class TestComputeOperations {
PickAndPlace pickAndPlace = (PickAndPlace) op;
assertEquals(arm1, pickAndPlace.getRobotToExecute());
assertEquals(x, pickAndPlace.getObjectToPick());
assertEquals(blue, pickAndPlace.getTargetLocation());
assertThat(pickAndPlace.getTargetLocation().containedInRegion()).contains(blue.realRegion());
}
@ParameterizedTest(name = "testIndirectMoveWith2Robots [emptyPreviousLocation = {argumentsWithNames}]")
......@@ -80,16 +82,16 @@ public class TestComputeOperations {
public void testIndirectMoveWith2Robots(boolean emptyPreviousLocation) {
WorldModelB model = newModel();
addMyObjects(model, "x");
addMyLocations(model, "red", "blue", "green");
addMyLocationsAndRegions(model, "red", "blue", "green");
addRobots(model, "arm1", "arm2");
addReachability(model, "arm1", "red", "blue", "x");
addReachability(model, "arm2", "blue", "green");
LogicalScene logicalScene = model.getMyScene().getLogicalScene();
LogicalMovableObject x = logicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
LogicalDropOffLocation red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
LogicalDropOffLocation blue = logicalScene.resolveLogicalObjectOfInterest("blue").asLogicalDropOffLocation();
LogicalDropOffLocation green = logicalScene.resolveLogicalObjectOfInterest("green").asLogicalDropOffLocation();
LogicalRegion red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalRegion();
LogicalRegion blue = logicalScene.resolveLogicalObjectOfInterest("blue").asLogicalRegion();
LogicalRegion green = logicalScene.resolveLogicalObjectOfInterest("green").asLogicalRegion();
Robot arm1 = model.findRobot("arm1").orElseThrow();
Robot arm2 = model.findRobot("arm2").orElseThrow();
......@@ -104,14 +106,14 @@ public class TestComputeOperations {
PickAndPlace pickAndPlace1 = (PickAndPlace) op1;
assertEquals(arm1, pickAndPlace1.getRobotToExecute());
assertEquals(x, pickAndPlace1.getObjectToPick());
assertEquals(blue, pickAndPlace1.getTargetLocation());
assertThat(pickAndPlace1.getTargetLocation().containedInRegion()).contains(blue.realRegion());
Operation op2 = operations.get(1);
assertThat(op2).isInstanceOf(PickAndPlace.class);
PickAndPlace pickAndPlace2 = (PickAndPlace) op2;
assertEquals(arm2, pickAndPlace2.getRobotToExecute());
assertEquals(x, pickAndPlace2.getObjectToPick());
assertEquals(green, pickAndPlace2.getTargetLocation());
assertThat(pickAndPlace2.getTargetLocation().containedInRegion()).contains(green.realRegion());
}
@ParameterizedTest(name = "testIndirectMoveWith3Robots [emptyPreviousLocation = {argumentsWithNames}]")
......@@ -124,7 +126,7 @@ public class TestComputeOperations {
*/
WorldModelB model = newModel();
addMyObjects(model, "x");
addMyLocations(model, "red", "blue", "green", "yellow", "purple");
addMyLocationsAndRegions(model, "red", "blue", "green", "yellow", "purple");
addRobots(model, "arm1", "arm2", "arm3", "arm4", "arm5");
addReachability(model, "arm1", "red", "blue", "x");
addReachability(model, "arm2", "red", "green", "x");
......@@ -134,10 +136,10 @@ public class TestComputeOperations {
LogicalScene logicalScene = model.getMyScene().getLogicalScene();
LogicalMovableObject x = logicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
LogicalDropOffLocation red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
LogicalDropOffLocation green = logicalScene.resolveLogicalObjectOfInterest("green").asLogicalDropOffLocation();
LogicalDropOffLocation yellow = logicalScene.resolveLogicalObjectOfInterest("yellow").asLogicalDropOffLocation();
LogicalDropOffLocation purple = logicalScene.resolveLogicalObjectOfInterest("purple").asLogicalDropOffLocation();
LogicalRegion red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalRegion();
LogicalRegion green = logicalScene.resolveLogicalObjectOfInterest("green").asLogicalRegion();
LogicalRegion yellow = logicalScene.resolveLogicalObjectOfInterest("yellow").asLogicalRegion();
LogicalRegion purple = logicalScene.resolveLogicalObjectOfInterest("purple").asLogicalRegion();
Robot arm2 = model.findRobot("arm2").orElseThrow();
Robot arm4 = model.findRobot("arm4").orElseThrow();
Robot arm5 = model.findRobot("arm5").orElseThrow();
......@@ -154,28 +156,28 @@ public class TestComputeOperations {
PickAndPlace pickAndPlace1 = (PickAndPlace) op1;
assertEquals(arm2, pickAndPlace1.getRobotToExecute());
assertEquals(x, pickAndPlace1.getObjectToPick());
assertEquals(green, pickAndPlace1.getTargetLocation());
assertThat(pickAndPlace1.getTargetLocation().containedInRegion()).contains(green.realRegion());
Operation op2 = operations.get(1);
assertThat(op2).isInstanceOf(PickAndPlace.class);
PickAndPlace pickAndPlace2 = (PickAndPlace) op2;
assertEquals(arm4, pickAndPlace2.getRobotToExecute());
assertEquals(x, pickAndPlace2.getObjectToPick());
assertEquals(yellow, pickAndPlace2.getTargetLocation());
assertThat(pickAndPlace2.getTargetLocation().containedInRegion()).contains(yellow.realRegion());
Operation op3 = operations.get(2);
assertThat(op3).isInstanceOf(PickAndPlace.class);
PickAndPlace pickAndPlace3 = (PickAndPlace) op3;
assertEquals(arm5, pickAndPlace3.getRobotToExecute());
assertEquals(x, pickAndPlace3.getObjectToPick());
assertEquals(purple, pickAndPlace3.getTargetLocation());
assertThat(pickAndPlace3.getTargetLocation().containedInRegion()).contains(purple.realRegion());
}
private DifferenceObjectAtWrongPlace createDifferenceObjectAtWrongPlace(LogicalMovableObject x, LogicalDropOffLocation previousLocation, LogicalDropOffLocation newLocation) {
private DifferenceObjectAtWrongPlace createDifferenceObjectAtWrongPlace(LogicalMovableObject x, LogicalRegion previousRegion, LogicalRegion newRegion) {
DifferenceObjectAtWrongPlace result = new DifferenceObjectAtWrongPlace();
result.setObject(x);
result.setPreviousLocation(previousLocation);
result.setNewLocation(newLocation);
result.setPreviousRegion(previousRegion);
result.setNewRegion(newRegion);
return result;
}
}
ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestDifference.java
+ 18
− 18
View file @ 6356b146
......@@ -24,7 +24,7 @@ public class TestDifference {
addMyLocation(model, "red", new Position(0, 0, 0), noRotation(), new Size(1, 1, 1));
addOtherObjects(model, "x");
addOtherLocations(model, "red");
addOtherRegions(model, "red");
addContainedObjects(model, "red", "x");
LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
......@@ -38,8 +38,8 @@ public class TestDifference {
assertThat(diff).isInstanceOf(DifferenceObjectAtWrongPlace.class);
DifferenceObjectAtWrongPlace wrongPlace = (DifferenceObjectAtWrongPlace) diff;
assertEquals("x", wrongPlace.getObject().getName());
assertNull(wrongPlace.getPreviousLocation());
assertEquals("red", wrongPlace.getNewLocation().getName());
assertNull(wrongPlace.getPreviousRegion());
assertEquals("red", wrongPlace.getNewRegion().getName());
}
@Test
......@@ -51,12 +51,12 @@ public class TestDifference {
addMyLocation(model, "blue", new Position(0, 0, 0), noRotation(), new Size(1, 1, 1));
addOtherObjects(model, "x");
addOtherLocations(model, "red");
addOtherRegions(model, "red");
addContainedObjects(model, "red", "x");
LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
LogicalMovableObject x = myLogicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
assertEquals("blue", x.getLocatedAt().getName());
assertEquals("P-blue", x.getNameOfMyLocation());
JastAddList<Difference> diffs = model.diffScenes();
assertNotNull(diffs);
......@@ -65,8 +65,8 @@ public class TestDifference {
assertThat(diff).isInstanceOf(DifferenceObjectAtWrongPlace.class);
DifferenceObjectAtWrongPlace wrongPlace = (DifferenceObjectAtWrongPlace) diff;
assertEquals("x", wrongPlace.getObject().getName());
assertEquals("blue", wrongPlace.getPreviousLocation().getName());
assertEquals("red", wrongPlace.getNewLocation().getName());
assertEquals("blue", wrongPlace.getPreviousRegion().getName());
assertEquals("red", wrongPlace.getNewRegion().getName());
}
@Test
......@@ -78,11 +78,11 @@ public class TestDifference {
addMyLocation(model, "red", new Position(0, 0, 0), noRotation(), new Size(1, 1, 1));
addOtherObjects(model, "x");
addOtherLocations(model, "red");
addOtherRegions(model, "red");
LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
LogicalMovableObject x = myLogicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
assertEquals("red", x.getLocatedAt().getName());
assertEquals("P-red", x.getNameOfMyLocation());
JastAddList<Difference> diffs = model.diffScenes();
assertNotNull(diffs);
......@@ -91,7 +91,7 @@ public class TestDifference {
assertThat(diff).isInstanceOf(DifferenceObjectMisplaced.class);
DifferenceObjectMisplaced misplaced = (DifferenceObjectMisplaced) diff;
assertEquals("x", misplaced.getObject().getName());
assertEquals("red", misplaced.getPreviousLocation().getName());
assertEquals("red", misplaced.getPreviousRegion().getName());
}
@Test
......@@ -103,7 +103,7 @@ public class TestDifference {
addMyLocation(model, "red", new Position(0, 0, 0), noRotation(), new Size(1, 1, 1));
addOtherObjects(model, "x");
addOtherLocations(model, "red");
addOtherRegions(model, "red");
LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
LogicalMovableObject x = myLogicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
......@@ -123,12 +123,12 @@ public class TestDifference {
addMyLocation(model, "red", new Position(0, 0, 0), noRotation(), new Size(1, 1, 1));
addOtherObjects(model, "x");
addOtherLocations(model, "red");
addOtherRegions(model, "red");
addContainedObjects(model, "red", "x");
LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
LogicalMovableObject x = myLogicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
assertEquals("red", x.getLocatedAt().getName());
assertEquals("P-red", x.getNameOfMyLocation());
JastAddList<Difference> diffs = model.diffScenes();
assertNotNull(diffs);
......@@ -143,7 +143,7 @@ public class TestDifference {
addMyLocation(model, "red", new Position(0, 0, 0), noRotation(), new Size(1, 1, 1));
addOtherObjects(model, "x");
addOtherLocations(model, "red");
addOtherRegions(model, "red");
LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
assertNull(myLogicalScene.resolveLogicalObjectOfInterest("x"));
......@@ -168,21 +168,21 @@ public class TestDifference {
addMyLocation(model, "green", new Position(2, 2, 2), noRotation(), new Size(1, 1, 1));
addOtherObjects(model, "x", "y");
addOtherLocations(model, "red");
addOtherRegions(model, "red");
addContainedObjects(model, "red", "x", "y");
LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
LogicalMovableObject x = myLogicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
LogicalMovableObject y = myLogicalScene.resolveLogicalObjectOfInterest("y").asLogicalMovableObject();
assertEquals("blue", x.getLocatedAt().getName());
assertEquals("green", y.getLocatedAt().getName());
assertEquals("P-blue", x.getNameOfMyLocation());
assertEquals("P-green", y.getNameOfMyLocation());
JastAddList<Difference> diffs = model.diffScenes();
assertNotNull(diffs);
assertEquals(2, diffs.getNumChild());
assertThat(diffs).allMatch(d -> d instanceof DifferenceObjectAtWrongPlace);
assertThat(diffs).map(diff -> (DifferenceObjectAtWrongPlace) diff)
.extracting(d -> d.getObject().getName(), d -> d.getPreviousLocation().getName(), d -> d.getNewLocation().getName())
.extracting(d -> d.getObject().getName(), d -> d.getPreviousRegion().getName(), d -> d.getNewRegion().getName())
.containsOnly(tuple("x", "blue", "red"),
tuple("y", "green", "red"));
}
......
ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestMultiScenes.java
+ 31
− 30
View file @ 6356b146
package de.tudresden.inf.st.placeB;
import de.tudresden.inf.st.placeB.ast.LogicalDropOffLocation;
import de.tudresden.inf.st.placeB.ast.LogicalRegion;
import de.tudresden.inf.st.placeB.ast.LogicalMovableObject;
import de.tudresden.inf.st.placeB.ast.LogicalScene;
import de.tudresden.inf.st.placeB.ast.WorldModelB;
import org.assertj.core.groups.Tuple;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.ValueSource;
......@@ -26,7 +27,7 @@ public class TestMultiScenes {
LogicalScene actual = model.mergedOtherScene();
assertThat(actual.getLogicalDropOffLocationList()).isEmpty();
assertThat(actual.getLogicalRegionList()).isEmpty();
assertThat(actual.getLogicalMovableObjectList()).isEmpty();
}
......@@ -34,12 +35,12 @@ public class TestMultiScenes {
@ValueSource(booleans = {true, false})
public void oneSceneNoContains(boolean scene1) {
WorldModelB model = newModel();
TestUtils.addOtherLocations(model.getOtherScene(scene1 ? 0 : 1), "red");
TestUtils.addOtherRegions(model.getOtherScene(scene1 ? 0 : 1), "red");
TestUtils.addOtherObjects(model.getOtherScene(scene1 ? 0 : 1), "a");
LogicalScene actual = model.mergedOtherScene();
assertThat(actual.getLogicalDropOffLocationList())
assertThat(actual.getLogicalRegionList())
.extracting("Name").containsOnly("red");
assertThat(actual.getLogicalMovableObjectList())
.extracting("Name").containsOnly("a");
......@@ -48,20 +49,20 @@ public class TestMultiScenes {
@Test
public void twoScenesNoContains() {
WorldModelB model = newModel();
TestUtils.addOtherLocations(model, "red");
TestUtils.addOtherRegions(model, "red");
TestUtils.addOtherObjects(model, "a");
TestUtils.addOtherLocations(model.getOtherScene(1), "blue");
TestUtils.addOtherRegions(model.getOtherScene(1), "blue");
TestUtils.addOtherObjects(model.getOtherScene(1), "b");
LogicalScene actual = model.mergedOtherScene();
assertThat(actual.getLogicalDropOffLocationList())
assertThat(actual.getLogicalRegionList())
.size().isEqualTo(2);
assertThat(actual.getLogicalDropOffLocationList())
.doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalDropOffLocationList())
.doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalDropOffLocationList())
assertThat(actual.getLogicalRegionList())
.doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalRegionList())
.doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalRegionList())
.extracting("Name").containsOnly("red", "blue");
assertThat(actual.getLogicalDropOffLocationList())
assertThat(actual.getLogicalRegionList())
.extracting("ContainedObjects").containsOnly(Collections.emptyList());
assertThat(actual.getLogicalMovableObjectList())
......@@ -71,29 +72,29 @@ public class TestMultiScenes {
.doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalMovableObjectList())
.extracting("Name").containsOnly("a", "b");
assertThat(actual.getLogicalMovableObjectList())
.extracting("LocatedAt").containsOnly((LogicalDropOffLocation) null);
.extracting("LocatedAtList").containsExactly(Collections.emptyList(), Collections.emptyList());
}
@ParameterizedTest(name = "twoScenesContains [scene1 = {argumentsWithNames}]")
@ValueSource(booleans = {true, false})
public void twoScenesContains1(boolean scene1) {
WorldModelB model = newModel();
TestUtils.addOtherLocations(model, "red", "blue");
TestUtils.addOtherRegions(model, "red", "blue");
TestUtils.addOtherObjects(model, "a", "b");
model.getOtherScene(1).addLogicalDropOffLocation(new LogicalDropOffLocation().setName("red"));
model.getOtherScene(1).addLogicalRegion(new LogicalRegion().setName("red"));
model.getOtherScene(1).addLogicalMovableObject(new LogicalMovableObject().setName("a"));
TestUtils.addContainedObjects(model.getOtherScene(scene1 ? 0 : 1),
"red", "a");
LogicalScene actual = model.mergedOtherScene();
assertThat(actual.getLogicalDropOffLocationList())
assertThat(actual.getLogicalRegionList())
.size().isEqualTo(2);
assertThat(actual.getLogicalDropOffLocationList())
.doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalDropOffLocationList())
.doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalDropOffLocationList())
assertThat(actual.getLogicalRegionList())
.doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalRegionList())
.doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalRegionList())
.extracting("Name").containsExactly("red", "blue");
LogicalDropOffLocation red = actual.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
LogicalRegion red = actual.resolveLogicalObjectOfInterest("red").asLogicalRegion();
assertThat(red.getContainedObjectList())
.extracting("Name").containsOnly("a");
......@@ -103,30 +104,30 @@ public class TestMultiScenes {
.doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalMovableObjectList())
.extracting("Name").containsOnly("a", "b");
LogicalMovableObject a = actual.resolveLogicalObjectOfInterest("a").asLogicalMovableObject();
assertThat(a.getLocatedAt())
.extracting("Name").isEqualTo("red");
assertThat(a.getLocatedAtList())
.extracting("Name").containsExactly("red");
}
@Test
public void twoScenesRedContainsATwice() {
WorldModelB model = newModel();
TestUtils.addOtherLocations(model, "red", "blue");
TestUtils.addOtherRegions(model, "red", "blue");
TestUtils.addOtherObjects(model, "a", "b");
TestUtils.addContainedObjects(model, "red", "a");
TestUtils.addOtherLocations(model.getOtherScene(1), "red");
TestUtils.addOtherRegions(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())
assertThat(actual.getLogicalRegionList())
.size().isEqualTo(2);
assertThat(actual.getLogicalDropOffLocationList())
.doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalDropOffLocationList())
.doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalDropOffLocationList())
assertThat(actual.getLogicalRegionList())
.doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalRegionList())
.doesNotContainAnyElementsOf(model.getOtherScene(1).getLogicalRegionList())
.extracting("Name").containsExactly("red", "blue");
LogicalDropOffLocation red = actual.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
LogicalRegion red = actual.resolveLogicalObjectOfInterest("red").asLogicalRegion();
assertThat(red.getContainedObjectList())
.extracting("Name").containsOnly("a");
......@@ -136,7 +137,7 @@ public class TestMultiScenes {
.doesNotContainAnyElementsOf(model.getOtherScene(0).getLogicalMovableObjectList())
.extracting("Name").containsOnly("a", "b");
LogicalMovableObject a = actual.resolveLogicalObjectOfInterest("a").asLogicalMovableObject();
assertThat(a.getLocatedAt())
.extracting("Name").isEqualTo("red");
assertThat(a.getLocatedAtList())
.extracting("Name").containsExactly("red");
}
}
ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestUtils.java
+ 13
− 11
View file @ 6356b146
......@@ -37,7 +37,7 @@ public class TestUtils {
model.getMyScene().addMovableObject(obj);
}
public static void addMyLocations(WorldModelB model, String... names) {
public static void addMyLocationsAndRegions(WorldModelB model, String... names) {
for (String name : names) {
int index = model.getMyScene().getNumDropOffLocation();
addMyLocation(model, name, new Position(+index, +index, +index), new Orientation(), new Size(1, 1, 1));
......@@ -45,12 +45,14 @@ public class TestUtils {
}
public static void addMyLocation(WorldModelB model, String name, Position position, Orientation orientation, Size size) {
String locName = "P-" + name;
DropOffLocation obj = new DropOffLocation()
.setName(name)
.setName(locName)
.setPosition(position)
.setOrientation(orientation)
.setSize(size);
model.getMyScene().addDropOffLocation(obj);
model.addRegion(new Region().setName(name).setLocationNames(locName));
}
public static void addRobots(WorldModelB model, String... names) {
......@@ -79,24 +81,24 @@ public class TestUtils {
}
}
public static void addOtherLocations(WorldModelB model, String... names) {
addOtherLocations(model.getOtherScene(0), names);
public static void addOtherRegions(WorldModelB model, String... names) {
addOtherRegions(model.getOtherScene(0), names);
}
public static void addOtherLocations(LogicalScene scene, String... names) {
public static void addOtherRegions(LogicalScene scene, String... names) {
for (String name : names) {
scene.addLogicalDropOffLocation(new LogicalDropOffLocation().setName(name));
scene.addLogicalRegion(new LogicalRegion().setName(name));
}
}
public static void addContainedObjects(WorldModelB model, String locationName, String... objectNames) {
addContainedObjects(model.getOtherScene(0), locationName, objectNames);
public static void addContainedObjects(WorldModelB model, String regionName, String... objectNames) {
addContainedObjects(model.getOtherScene(0), regionName, objectNames);
}
public static void addContainedObjects(LogicalScene scene, String locationName, String... objectNames) {
LogicalDropOffLocation location = scene.resolveLogicalObjectOfInterest(locationName).asLogicalDropOffLocation();
public static void addContainedObjects(LogicalScene scene, String regionName, String... objectNames) {
LogicalRegion region = scene.resolveLogicalObjectOfInterest(regionName).asLogicalRegion();
for (String objectName : objectNames) {
location.addContainedObject(scene.resolveLogicalObjectOfInterest(objectName).asLogicalMovableObject());
region.addContainedObject(scene.resolveLogicalObjectOfInterest(objectName).asLogicalMovableObject());
}
}
......
ros3rag.scaling.a/src/main/jastadd/ScalingModelA.jadd
+ 13
− 0
View file @ 6356b146
......@@ -8,6 +8,19 @@ aspect Computation {
}
return result;
}
//--- completeWorld ---
inh CompleteWorld ASTNode.completeWorld();
eq CompleteWorld.getChild().completeWorld() = this;
eq CompleteWorld.getScene().regionList() = completeWorld().getRegionList();
eq Region.locationList() {
List<DropOffLocation> result = new ArrayList<>();
for (String locationName : locationNamesAsList()) {
result.add(completeWorld().getScene().resolveObjectOfInterest(locationName).asDropOffLocation());
}
return result;
}
}
aspect RagConnectFixes {
......
ros3rag.scaling.a/src/main/jastadd/ScalingModelA.relast
+ 1
− 1
View file @ 6356b146
//CompleteWorld ::= <NumberOfViews:int> <DistributionStrategy> /View:WorldModelA*/ ;
//WorldModelA ::= [Scene] /LogicalScene/ ;
CompleteWorld ::= LogicalScene <NumberOfViews:int> <DistributionStrategy> /View:LogicalScene*/ ;
CompleteWorld ::= Region* Scene LogicalScene <NumberOfViews:int> <DistributionStrategy> /View:LogicalScene*/ ;
ros3rag.scaling.b/build.gradle
+ 12
− 0
View file @ 6356b146
......@@ -32,3 +32,15 @@ ext.relastFiles = ["src/gen/jastadd/WorldModelB.relast", "src/main/jastadd/fromP
ext.jastaddAstPackage = 'de.tudresden.inf.st.scaling.b.ast'
apply from: '../ros3rag.common/src/main/resources/tasks.gradle'
ragConnect {
doLast {
exec {
executable "pwd"
}
exec {
executable "./monkey-patch-ragconnect.sh"
args = [ "src/gen/jastadd/RagConnect.jadd" ]
}
}
}
ros3rag.scaling.b/monkey-patch-ragconnect.sh 0 → 100755
+ 2
− 0
View file @ 6356b146
#!/usr/bin/env bash
sed -i 's/protected static/protected/' $1
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