continue setting up

- copy part of starter code to place-a
- disable place-b for now
- add missing relast jar
- upgrade to ragconnect 0.3.0 (subtrees)
- disable dumpAst (can not fetch package)

.gitlab-ci.yml

@@ -5,7 +5,7 @@ stages:
   - build
 
 build:
-  image: openjdk:8
+  image: openjdk:11
   stage: build
   script:
     - ./gradlew assemble

buildSrc/src/main/groovy/ros3rag.java-ragconnect-conventions.gradle

@@ -12,9 +12,9 @@ dependencies {
   api group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
   grammar2umlClasspath group: 'de.tudresden.inf.st', name: 'grammar2uml', version: '0.1.1'
 
-  ragconnectClasspath group: 'de.tudresden.inf.st', name: 'ragconnect', version: '0.2.5'
+  ragconnectClasspath group: 'de.tudresden.inf.st', name: 'ragconnect', version: '0.3.0'
 //  ragconnectClasspath fileTree(include: ['ragconnect-0.2.5.jar'], dir: '../libs')
 
-  implementation 'de.tudresden.inf.st:dumpAstWithPlantuml:0.3.5'
+//  implementation group: 'de.tudresden.inf.st', name: 'dumpAstWithPlantuml', version: '0.3.5'
 //  implementation fileTree(include: ['dumpAstWithPlantuml-0.3.5.jar'], dir: '../libs')
 }

exit.sh

+#!/usr/bin/env bash
+mosquitto_pub -t exit -m "1"

place.sh

+#!/usr/bin/env bash
+letter=$(echo $1 | tr a-z A-Z)
+module="ros3rag.place${letter}"
+shift
+./gradlew :${module}:installDist && \
+	./${module}/build/install/${module}/bin/${module} $@

ros3rag.common/src/main/proto/proto_cgv_connector.proto

+// cgv_connector.proto
+// this file contains the messages that are exchanged between the cgv framework and the st ROS interface
+
+syntax = "proto3";
+
+message Object {
+
+    // Position is object-center related
+    message Position {
+        float x = 1; // in m
+        float y = 2; // in m
+        float z = 3; // height in m
+    }
+
+    // 3D description of the object
+    message Size {
+        float length = 1; // in m
+        float width = 2;  // in m
+        float height = 3; // in m
+    }
+    message Orientation {
+        float x = 1; // normalized quaternion
+        float y = 2;
+        float z = 3;
+        float w = 4;
+    }
+    message Color {
+        float r = 1; // 0..1
+        float g = 2; // 0..1
+        float b = 3; // 0..1
+    }
+    enum Type {
+        UNKNOWN = 0;
+        BOX = 1;
+        BIN = 2;
+        ARM = 3;
+    }
+
+    string id = 1;
+    Type type = 2;
+    Position pos = 3;
+    Size size = 4;
+    Orientation orientation = 5;
+    Color color = 6;
+}
+
+// the scene is stored within the ROS side and sent to the CGV framework
+message Scene {
+    repeated Object objects = 1;
+}
+
+// the selection is done by the CGV framework and sent to ROS
+message Selection {
+    string id = 1; // the id corresponds to an id of an Object in a Scene
+}
\ No newline at end of file

ros3rag.placeA/build.gradle

 buildscript {
-    repositories.mavenLocal()
     repositories.mavenCentral()
     dependencies {
         classpath group: 'org.jastadd', name: 'jastaddgradle', version: '1.13.3'
@@ -13,6 +12,10 @@ plugins {
 
 mainClassName = 'de.tudresden.inf.st.placeA.MainA'
 
+dependencies {
+    implementation project(':ros3rag.common')
+}
+
 ext.sharedJastAddDir = 'src/main/jastadd/shared'
 ext.ragConnectInputGrammar = 'src/main/jastadd/WorldModel.relast'
 ext.ragConnectInputConnect = 'src/main/jastadd/WorldModel.connect'

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

-WorldModel ::= RobotArm Bin* MovableObject* ;
+WorldModel ::= RobotArm Scene ;
 
 RobotArm ::= Link* EndEffector ;
 
 Link ::= <Name:String> CurrentPosition:Coordinate ;
 
 EndEffector : Link;
-
-Bin ::= <Name:String> CurrentPosition:Coordinate ;
-
-MovableObject ::= <Name:String> CurrentPosition:Coordinate ;

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.Coordinate;
+import de.tudresden.inf.st.placeA.ast.MqttHandler;
+import de.tudresden.inf.st.placeA.ast.WorldModel;
+import de.tudresden.inf.st.ros3rag.common.DataConfiguration;
+import de.tudresden.inf.st.ros3rag.common.Util;
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
 
 /**
  * TODO: Add description.
@@ -8,7 +19,54 @@ import de.tudresden.inf.st.placeA.ast.Coordinate;
  * @author rschoene - Initial contribution
  */
 public class MainA {
-  public static void main(String[] args) {
+
+  private static final Logger logger = LogManager.getLogger(MainA.class);
+  private MqttHandler mainHandler;
+  private WorldModel model;
+
+  private void run(String[] args) throws IOException, InterruptedException {
     System.out.println("This is place A with " + Coordinate.of(1, 2, 3) + "!");
+    File configFile = new File(args.length == 0 ? "../ros3rag.common/config.yaml" : args[0]);
+
+    // --- No configuration below this line ---
+
+    DataConfiguration.ActualConfiguration config = Util.parseConfig(configFile);
+
+    model = new WorldModel();
+
+    logStatus("Start");
+    CountDownLatch exitCondition = new CountDownLatch(1);
+
+    logger.info("To print the current model states, send a message to the topic 'model'.");
+    logger.info("To exit the system cleanly, send a message to the topic 'exit', or use Ctrl+C.");
+
+    mainHandler = new MqttHandler("mainHandler").dontSendWelcomeMessage();
+    Util.setMqttHost(mainHandler::setHost, config);
+    mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
+    mainHandler.newConnection("exit", bytes -> exitCondition.countDown());
+    mainHandler.newConnection("model", bytes -> logStatus(new String(bytes)));
+
+//    sendInitialDataConfig(mainHandler, config.topics.dataConfig);
+
+    Runtime.getRuntime().addShutdownHook(new Thread(this::close));
+
+    exitCondition.await();
+
+    this.close();
+  }
+
+  private void logStatus(String prefix) {
+    logger.info(prefix);
+    // more information to be added later
+  }
+
+  private void close() {
+    logger.info("Exiting ...");
+    mainHandler.close();
+    model.ragconnectCloseConnections();
+  }
+
+  public static void main(String[] args) throws IOException, InterruptedException {
+    new MainA().run(args);
   }
 }

ros3rag.placeA/src/main/resources/log4j2.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<Configuration status="INFO">
+    <Appenders>
+        <Console name="Console" target="SYSTEM_OUT">
+            <PatternLayout pattern="%d{HH:mm:ss.SSS} [%t] %-5level %logger{1.} - %msg%n"/>
+        </Console>
+    </Appenders>
+    <Loggers>
+        <Root level="debug">
+            <AppenderRef ref="Console"/>
+        </Root>
+    </Loggers>
+</Configuration>

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

+WorldModel ::= RobotArm* MyScene:Scene OtherScene:Scene ;
+
+Scene ::= Bin* MovableObject* ;
+
+RobotArm ::= Link* EndEffector ;
+
+Link ::= <Name:String> CurrentPosition:Coordinate ;
+
+EndEffector : Link;
+
+Bin ::= <Name:String> CurrentPosition:Coordinate ;
+
+MovableObject ::= <Name:String> CurrentPosition:Coordinate ;

ros3rag.placeB/src/main/resources/log4j2.xml

+<?xml version="1.0" encoding="UTF-8"?>
+<Configuration status="INFO">
+    <Appenders>
+        <Console name="Console" target="SYSTEM_OUT">
+            <PatternLayout pattern="%d{HH:mm:ss.SSS} [%t] %-5level %logger{1.} - %msg%n"/>
+        </Console>
+    </Appenders>
+    <Loggers>
+        <Root level="debug">
+            <AppenderRef ref="Console"/>
+        </Root>
+    </Loggers>
+</Configuration>

settings.gradle

 rootProject.name = 'ros3rag'
 
 include 'ros3rag.placeA'
-include 'ros3rag.placeB'
+//include 'ros3rag.placeB'
 include 'ros3rag.common'
 
 // include 'ros3rag.senderstub'

shared.place/jastadd/types.relast

 Coordinate ::= <X:int> <Y:int> <Z:int> ;
+
+Scene ::= DropOffLocation* MovableObject* ;
+DropOffLocation ::= <Name:String> CurrentPosition:Coordinate ;
+MovableObject ::= <Name:String> CurrentPosition:Coordinate ;

shared.place/tasks.gradle

@@ -24,7 +24,7 @@ task ragConnect(type: JavaExec) {
             project.ext.ragConnectInputConnect,
             '--logReads',
             '--logWrites',
-            '--verbose',
+//            '--verbose',
             '--rootNode=' + project.ext.ragConnectRootNode,
             '--incremental=param,debug',
             "--tracing=cache,flush"