From 97511ad3dd9fe7fb8a4349d08811a3da150bae2f Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Thu, 13 May 2021 12:49:26 +0200
Subject: [PATCH] close connections on rewind, send first non-error-operation
---
.../inf/st/ros3rag/common/SharedMainParts.java | 3 +++
ros3rag.placeB/src/main/jastadd/WorldModelB.jadd | 10 +++++++++-
2 files changed, 12 insertions(+), 1 deletion(-)
diff --git a/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
index da23711..0f3a53e 100644
--- a/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
+++ b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
@@ -90,6 +90,9 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
protected abstract void createSpecificMainHandlerConnections();
private void rewind(String statusMessage) throws Exception {
+ if (model != null) {
+ model.ragconnectCloseConnections();
+ }
model = createWorldModel();
Scene scene = readSceneAndRobots();
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
index 54fc355..636fce9 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
@@ -136,7 +136,15 @@ aspect Computation {
//--- getNextOperation ---
syn Operation WorldModelB.getNextOperation() {
- return diffToOperations().getNumChild() > 0 ? diffToOperations().getChild(0) : new ErrorOperation("No operation computed!");
+ if (diffToOperations().getNumChild() == 0) {
+ return new ErrorOperation("No operation computed!");
+ }
+ for (Operation op : diffToOperations()) {
+ if (!op.isErrorOperation()) {
+ return op;
+ }
+ }
+ return new ErrorOperation("No executable operation found!");
}
//--- canReach ---
--
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