From a33d69953d82e9cc1fdc12d7b6f03a6470ff633e Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Fri, 7 May 2021 22:05:33 +0200
Subject: [PATCH] Harmonize Main classes
---
.../st/ros3rag/common/SharedMainParts.java | 147 ++++++++++++++++++
.../src/main/resources/jastadd/types.jadd | 4 +
.../src/main/jastadd/WorldModelA.jadd | 27 +---
.../de/tudresden/inf/st/placeA/MainA.java | 133 +++++-----------
.../src/main/jastadd/WorldModelB.jadd | 2 +
.../de/tudresden/inf/st/placeB/MainB.java | 125 +++++----------
6 files changed, 234 insertions(+), 204 deletions(-)
create mode 100644 ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
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
new file mode 100644
index 0000000..da23711
--- /dev/null
+++ b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
@@ -0,0 +1,147 @@
+package de.tudresden.inf.st.ros3rag.common;
+
+import de.tudresden.inf.st.ceti.Scene;
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+
+import java.io.IOException;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Path;
+import java.util.LinkedHashMap;
+import java.util.Map;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+import java.util.function.Consumer;
+
+/**
+ * Shared parts of both main classes.
+ *
+ * @author rschoene - Initial contribution
+ */
+public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHandlerWrapper<MqttHandler>,
+ WorldModel extends SharedMainParts.WorldModelWrapper> {
+ protected final Logger logger = LogManager.getLogger(this.getClass());
+
+ private final String TOPIC_MODEL;
+ private final String TOPIC_STATUS;
+ private final String TOPIC_REWIND;
+ private final String TOPIC_EXIT;
+ private final String TOPIC_SCENE_INIT;
+
+ protected MqttHandler mainHandler;
+ protected WorldModel model;
+ protected Configuration config;
+ protected final String cellName;
+ protected final Path pathToConfig;
+
+ public SharedMainParts(String cellName, Path pathToConfig) {
+ this.cellName = cellName;
+ this.pathToConfig = pathToConfig;
+
+ this.TOPIC_MODEL = cellName + "/model";
+ this.TOPIC_STATUS = cellName + "/status";
+ this.TOPIC_REWIND = cellName + "/rewind";
+ this.TOPIC_EXIT = cellName + "/exit";
+
+ this.TOPIC_SCENE_INIT = cellName + "/scene/init";
+ }
+
+ protected abstract MqttHandler createMqttHandler();
+
+ private Map<String, String> channelDescriptions() {
+ return new LinkedHashMap<>() {{
+ put(TOPIC_MODEL, "Print current model (detailed if message starts with 'detail");
+ put(TOPIC_REWIND, "Rewind app to start");
+ put(TOPIC_EXIT, "Exit app");
+ }};
+ }
+
+ public void run() throws Exception {
+ config = Util.parseConfig(pathToConfig.toFile());
+
+ /// Prepare main handler
+ mainHandler = createMqttHandler().dontSendWelcomeMessage();
+ mainHandler.setHost(config.mqttHost);
+ mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
+ CountDownLatch exitCondition = new CountDownLatch(1);
+ mainHandler.newConnection(TOPIC_EXIT, bytes -> exitCondition.countDown());
+ mainHandler.newConnection(TOPIC_MODEL, bytes -> logStatus(new String(bytes)));
+ mainHandler.newConnection(TOPIC_REWIND, bytes ->
+ {
+ try {
+ rewind("rewind");
+ } catch (Exception e) {
+ logger.catching(e);
+ }
+ }
+ );
+
+ createSpecificMainHandlerConnections();
+
+ logger.info("Supported commands: {}", channelDescriptions());
+
+ rewind("Start");
+
+ Runtime.getRuntime().addShutdownHook(new Thread(this::close));
+
+ exitCondition.await();
+ }
+
+ protected abstract void createSpecificMainHandlerConnections();
+
+ private void rewind(String statusMessage) throws Exception {
+ model = createWorldModel();
+
+ Scene scene = readSceneAndRobots();
+
+ /// Setup model connection
+ model.ragconnectCheckIncremental();
+ model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
+
+ connectEndpoints();
+
+ logStatus(statusMessage);
+
+ mainHandler.publish(TOPIC_SCENE_INIT, scene.toByteArray());
+ }
+
+ protected abstract Scene readSceneAndRobots() throws Exception;
+
+ protected abstract void connectEndpoints() throws IOException;
+
+ protected abstract WorldModel createWorldModel();
+
+ protected abstract String getModelInfos(WorldModel model, boolean detailed);
+
+ private void logStatus(String message) {
+ logger.info(message);
+ String content = getModelInfos(model, message.equals("Start") || message.startsWith("detail"));
+ logger.info("WorldModelB\n{}", content);
+ if (mainHandler != null) {
+ mainHandler.publish(TOPIC_STATUS, content.getBytes(StandardCharsets.UTF_8));
+ }
+ }
+
+ private void close() {
+ logger.info("Exiting ...");
+ mainHandler.close();
+ model.ragconnectCloseConnections();
+ }
+
+ public interface MqttHandlerWrapper<SELF> {
+ SELF dontSendWelcomeMessage();
+ boolean newConnection(String topic, Consumer<byte[]> callback);
+ void publish(String topic, byte[] payload);
+ void close();
+
+ SELF setHost(String host) throws java.io.IOException;
+
+ boolean waitUntilReady(long value, TimeUnit unit);
+ }
+
+ public interface WorldModelWrapper {
+ void ragconnectCheckIncremental();
+ void ragconnectSetupMqttWaitUntilReady(long value, TimeUnit unit);
+ void ragconnectCloseConnections();
+ }
+}
diff --git a/ros3rag.common/src/main/resources/jastadd/types.jadd b/ros3rag.common/src/main/resources/jastadd/types.jadd
index cc6d247..18ffe2a 100644
--- a/ros3rag.common/src/main/resources/jastadd/types.jadd
+++ b/ros3rag.common/src/main/resources/jastadd/types.jadd
@@ -237,3 +237,7 @@ aspect ConvenienceMethods {
return new Size(length, width, height);
}
}
+
+aspect Glue {
+ class MqttHandler implements de.tudresden.inf.st.ros3rag.common.SharedMainParts.MqttHandlerWrapper<MqttHandler> {}
+}
diff --git a/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd b/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd
index 3ad5cae..4d99a57 100644
--- a/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd
+++ b/ros3rag.placeA/src/main/jastadd/WorldModelA.jadd
@@ -1,8 +1,3 @@
-import java.util.List;
-import java.util.ArrayList;
-import java.util.Map;
-import java.util.HashMap;
-
aspect Resolving {
inh ObjectOfInterest Robot.resolveObjectOfInterest(String name);
eq WorldModelA.getRobot().resolveObjectOfInterest(String name) {
@@ -10,24 +5,6 @@ aspect Resolving {
}
}
-aspect Computation {
-// syn LogicalScene WorldModelA.getLogicalScene() {
-// LogicalScene result = new LogicalScene();
-// Map<MovableObject, LogicalMovableObject> objects = new HashMap<>();
-// for (DropOffLocation location : getScene().getDropOffLocationList()) {
-// var logicalLocation = new LogicalDropOffLocation();
-// logicalLocation.setName(location.getName());
-// for (MovableObject movableObject : getScene().getMovableObjectList()) {
-// if (movableObject.isLocatedAt(location)) {
-// LogicalMovableObject logicalMovableObject = objects.computeIfAbsent(movableObject, k -> {
-// var newLogicalMovableObject = new LogicalMovableObject();
-// newLogicalMovableObject.setName(k.getName());
-// return newLogicalMovableObject;
-// });
-// logicalLocation.addContainedObjects(logicalMovableObject);
-// }
-// }
-// }
-// return result;
-// }
+aspect Glue {
+ class WorldModelA implements de.tudresden.inf.st.ros3rag.common.SharedMainParts.WorldModelWrapper {}
}
diff --git a/ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/MainA.java b/ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/MainA.java
index 6ecddba..a0249be 100644
--- a/ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/MainA.java
+++ b/ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/MainA.java
@@ -4,16 +4,10 @@ import de.tudresden.inf.st.placeA.ast.MqttHandler;
import de.tudresden.inf.st.placeA.ast.Robot;
import de.tudresden.inf.st.placeA.ast.Scene;
import de.tudresden.inf.st.placeA.ast.WorldModelA;
-import de.tudresden.inf.st.ros3rag.common.Configuration;
+import de.tudresden.inf.st.ros3rag.common.SharedMainParts;
import de.tudresden.inf.st.ros3rag.common.Util;
-import org.apache.logging.log4j.LogManager;
-import org.apache.logging.log4j.Logger;
-import java.nio.charset.StandardCharsets;
-import java.util.LinkedHashMap;
-import java.util.Map;
-import java.util.concurrent.CountDownLatch;
-import java.util.concurrent.TimeUnit;
+import java.io.IOException;
import static de.tudresden.inf.st.ros3rag.common.Util.mqttUri;
import static de.tudresden.inf.st.ros3rag.common.Util.readScene;
@@ -23,78 +17,39 @@ import static de.tudresden.inf.st.ros3rag.common.Util.readScene;
*
* @author rschoene - Initial contribution
*/
-public class MainA {
- private static final Logger logger = LogManager.getLogger(MainA.class);
+public class MainA extends SharedMainParts<MqttHandler, WorldModelA> {
+ private final String TOPIC_SCENE_UPDATE_FROM_ROS;
+ private final String TOPIC_SCENE_UPDATE_TO_PLACE_B;
- private final static String TOPIC_MODEL = "place-a/model";
- private final static String TOPIC_STATUS = "place-a/status";
- private final static String TOPIC_REWIND = "place-a/rewind";
- private final static String TOPIC_EXIT = "place-a/exit";
+ private final String TOPIC_DEMO_MOVE_objectRed1_BLUE;
+ private final String TOPIC_DEMO_MOVE_objectRed1_RED;
- private final static String TOPIC_SCENE_INIT = "place-a/scene/init";
- private final static String TOPIC_SCENE_UPDATE_FROM_ROS = "place-a/scene/update";
- private final static String TOPIC_SCENE_UPDATE_TO_PLACE_B = "place-a/logical/update";
+ MainA(String configFile) {
+ super("place-a", UtilA.pathToDirectoryOfPlaceA().resolve(configFile));
+ this.TOPIC_SCENE_UPDATE_FROM_ROS = cellName + "/scene/update";
+ this.TOPIC_SCENE_UPDATE_TO_PLACE_B = cellName + "/logical/update";
- private final static String TOPIC_DEMO_MOVE_objectRed1_BLUE = "place-a/demo/move/objectRed1/blue";
- private final static String TOPIC_DEMO_MOVE_objectRed1_RED = "place-a/demo/move/objectRed1/red";
-
- private MqttHandler mainHandler;
- private WorldModelA model;
- private Configuration config;
-
- private static final Map<String, String> channelDescriptions = new LinkedHashMap<>() {{
- put(TOPIC_MODEL, "Print current model (detailed if message starts with 'detail");
- put(TOPIC_REWIND, "Rewind app to start");
- put(TOPIC_EXIT, "Exit app");
- }};
-
- public static void main(String[] args) throws Exception {
- new MainA().run(args);
+ this.TOPIC_DEMO_MOVE_objectRed1_BLUE = cellName + "/demo/move/objectRed1/blue";
+ this.TOPIC_DEMO_MOVE_objectRed1_RED = cellName + "/demo/move/objectRed1/red";
}
- private void run(String[] args) throws Exception {
+ public static void main(String[] args) throws Exception {
String configFile = args.length == 0 ? "src/main/resources/config-a.yaml" : args[0];
+ new MainA(configFile).run();
+ }
- // --- No configuration below this line ---
-
- config = Util.parseConfig(UtilA.pathToDirectoryOfPlaceA().resolve(configFile).toFile());
-
- /// Prepare main handler
- mainHandler = new MqttHandler("mainHandler").dontSendWelcomeMessage();
- mainHandler.setHost(config.mqttHost);
- CountDownLatch exitCondition = new CountDownLatch(1);
- mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
- mainHandler.newConnection(TOPIC_EXIT, bytes -> exitCondition.countDown());
- mainHandler.newConnection(TOPIC_MODEL, bytes -> logStatus(new String(bytes)));
- mainHandler.newConnection(TOPIC_REWIND, bytes ->
- {
- try {
- rewind("rewind");
- } catch (Exception e) {
- logger.catching(e);
- }
- }
- );
-
+ @Override
+ protected void createSpecificMainHandlerConnections() {
mainHandler.newConnection(TOPIC_DEMO_MOVE_objectRed1_BLUE, bytes ->
UtilA.updatePositionOfObjectToLocation(model.getScene(), "objectRed1", "binBlue")
);
mainHandler.newConnection(TOPIC_DEMO_MOVE_objectRed1_RED, bytes ->
- UtilA.updatePositionOfObjectToLocation(model.getScene(), "objectRed1", "binRed")
+ UtilA.updatePositionOfObjectToLocation(model.getScene(), "objectRed1", "binRed")
);
-
- logger.info("Supported commands: {}", channelDescriptions);
-
- rewind("Start");
-
- Runtime.getRuntime().addShutdownHook(new Thread(this::close));
-
- exitCondition.await();
}
- private void rewind(String statusMessage) throws Exception {
- model = new WorldModelA();
-
+ @Override
+ protected de.tudresden.inf.st.ceti.Scene readSceneAndRobots() throws Exception {
/// Reading scene and robot
de.tudresden.inf.st.ceti.Scene scene = readScene(
UtilA.pathToDirectoryOfPlaceA().resolve(config.filenameInitialScene)
@@ -103,40 +58,34 @@ public class MainA {
model.setScene(myScene);
// if multiple robots are specified, then error message will be displayed
- Util.extractRobotNames(scene).forEach(this::setRobot);
-
- /// Setup model connection
- model.ragconnectCheckIncremental();
- model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
+ Util.extractRobotNames(scene).forEach(name -> {
+ if (model.getRobot() != null) {
+ logger.error("Robot already set. Overriding with newly found name.");
+ }
+ model.setRobot(new Robot().setName(name));
+ });
+
+ return scene;
+ }
- /// Connect endpoints
+ @Override
+ protected void connectEndpoints() throws IOException {
model.connectScene(mqttUri(TOPIC_SCENE_UPDATE_FROM_ROS, config));
model.getScene().connectLogicalScene(mqttUri(TOPIC_SCENE_UPDATE_TO_PLACE_B, config), true);
-
- logStatus(statusMessage);
-
- mainHandler.publish(TOPIC_SCENE_INIT, scene.toByteArray());
}
- private void setRobot(String name) {
- if (model.getRobot() != null) {
- logger.error("Robot already set. Overriding with newly found name.");
- }
- model.setRobot(new Robot().setName(name));
+ @Override
+ protected MqttHandler createMqttHandler() {
+ return new MqttHandler("mainHandlerA");
}
- private void logStatus(String message) {
- logger.info(message);
- String content = UtilA.getModelInfos(model, message.equals("Start") || message.startsWith("detail"));
- logger.info("WorldModelA\n{}", content);
- if (mainHandler != null) {
- mainHandler.publish(TOPIC_STATUS, content.getBytes(StandardCharsets.UTF_8));
- }
+ @Override
+ protected WorldModelA createWorldModel() {
+ return new WorldModelA();
}
- private void close() {
- logger.info("Exiting ...");
- mainHandler.close();
- model.ragconnectCloseConnections();
+ @Override
+ protected String getModelInfos(WorldModelA worldModelA, boolean detailed) {
+ return UtilA.getModelInfos(model, detailed);
}
}
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
index 8443d34..bc1313f 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
@@ -182,6 +182,8 @@ aspect GlueForShared {
// uncache Difference.resolveLogicalObjectOfInterest
inh LogicalObjectOfInterest Difference.resolveLogicalObjectOfInterest(String name);
eq WorldModelB.diffScenes().resolveLogicalObjectOfInterest(String name) = getMyScene().getLogicalScene().resolveLogicalObjectOfInterest(name);
+
+ class WorldModelB implements de.tudresden.inf.st.ros3rag.common.SharedMainParts.WorldModelWrapper {}
}
aspect Printing {
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 201fa0e..930b048 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
@@ -3,18 +3,12 @@ package de.tudresden.inf.st.placeB;
import de.tudresden.inf.st.ceti.Reachability;
import de.tudresden.inf.st.placeB.ast.*;
import de.tudresden.inf.st.ros3rag.common.Configuration;
+import de.tudresden.inf.st.ros3rag.common.SharedMainParts;
import de.tudresden.inf.st.ros3rag.common.Util;
-import org.apache.logging.log4j.LogManager;
-import org.apache.logging.log4j.Logger;
import java.io.IOException;
-import java.nio.charset.StandardCharsets;
import java.nio.file.Path;
import java.nio.file.Paths;
-import java.util.LinkedHashMap;
-import java.util.Map;
-import java.util.concurrent.CountDownLatch;
-import java.util.concurrent.TimeUnit;
import static de.tudresden.inf.st.ros3rag.common.Util.mqttUri;
import static de.tudresden.inf.st.ros3rag.common.Util.readScene;
@@ -24,77 +18,38 @@ import static de.tudresden.inf.st.ros3rag.common.Util.readScene;
*
* @author rschoene - Initial contribution
*/
-public class MainB {
- private static final Logger logger = LogManager.getLogger(MainB.class);
-
- private final static String TOPIC_MODEL = "place-b/model";
- private final static String TOPIC_STATUS = "place-b/status";
- private final static String TOPIC_REWIND = "place-b/rewind";
- private final static String TOPIC_EXIT = "place-b/exit";
-
- private final static String TOPIC_MY_SCENE_INIT = "place-b/scene/init";
- private final static String TOPIC_ROBOT_REACHABILITY = "place-b/reachability/%s";
- private final static String TOPIC_MY_SCENE_UPDATE_FROM_ROS = "place-b/scene/update";
- private final static String TOPIC_COMMAND = "place-b/command";
-
- private final static String TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A = "place-a/logical/update";
-
- private final static String TOPIC_DEMO_MOVE_objectRed1_RED = "place-b/demo/move/objectRed1/red";
-
- private MqttHandler mainHandler;
- private WorldModelB model;
- private Configuration config;
-
- private static final Map<String, String> channelDescriptions = new LinkedHashMap<>() {{
- put(TOPIC_MODEL, "Print current model (detailed if message starts with 'detail");
- put(TOPIC_REWIND, "Rewind app to start");
- put(TOPIC_EXIT, "Exit app");
- }};
-
- public static void main(String[] args) throws Exception {
- new MainB().run(args);
+public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
+ private final String TOPIC_ROBOT_REACHABILITY;
+ private final String TOPIC_MY_SCENE_UPDATE_FROM_ROS;
+ private final String TOPIC_COMMAND;
+ private final String TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A;
+ private final String TOPIC_DEMO_MOVE_objectRed1_RED;
+
+ MainB(String configFile) {
+ super("place-b", UtilB.pathToDirectoryOfPlaceB().resolve(configFile));
+ this.TOPIC_ROBOT_REACHABILITY = cellName + "/reachability/%s";
+ this.TOPIC_MY_SCENE_UPDATE_FROM_ROS = cellName + "/scene/update";
+ this.TOPIC_COMMAND = cellName + "/command";
+
+ this.TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A = "place-a/logical/update";
+
+ this.TOPIC_DEMO_MOVE_objectRed1_RED = cellName + "/demo/move/objectRed1/red";
}
- private void run(String[] args) throws Exception {
+ public static void main(String[] args) throws Exception {
String configFile = args.length == 0 ? "src/main/resources/config-b.yaml" : args[0];
+ new MainB(configFile).run();
+ }
- // --- No configuration below this line ---
-
- config = Util.parseConfig(UtilB.pathToDirectoryOfPlaceB().resolve(configFile).toFile());
-
- /// Prepare main handler
- mainHandler = new MqttHandler("mainHandler").dontSendWelcomeMessage();
- mainHandler.setHost(config.mqttHost);
- mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
- CountDownLatch exitCondition = new CountDownLatch(1);
- mainHandler.newConnection(TOPIC_EXIT, bytes -> exitCondition.countDown());
- mainHandler.newConnection(TOPIC_MODEL, bytes -> logStatus(new String(bytes)));
- mainHandler.newConnection(TOPIC_REWIND, bytes ->
- {
- try {
- rewind("rewind");
- } catch (Exception e) {
- logger.catching(e);
- }
- }
- );
-
+ @Override
+ protected void createSpecificMainHandlerConnections() {
mainHandler.newConnection(TOPIC_DEMO_MOVE_objectRed1_RED, bytes ->
UtilB.updatePositionOfObjectToLocation(model.getMyScene(), "objectRed1", "binRed")
);
-
- logger.info("Supported commands: {}", channelDescriptions);
-
- rewind("Start");
-
- Runtime.getRuntime().addShutdownHook(new Thread(this::close));
-
- exitCondition.await();
}
- private void rewind(String statusMessage) throws Exception {
- model = new WorldModelB();
-
+ @Override
+ protected de.tudresden.inf.st.ceti.Scene readSceneAndRobots() throws Exception {
/// Reading scene and robots
de.tudresden.inf.st.ceti.Scene scene = readScene(
UtilB.pathToDirectoryOfPlaceB().resolve(config.filenameInitialScene)
@@ -121,33 +76,29 @@ public class MainB {
}
}
- /// Setup model connection
- model.ragconnectCheckIncremental();
- model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
+ return scene;
+ }
- /// Connect endpoints
+ @Override
+ protected void connectEndpoints() throws IOException {
model.connectMyScene(mqttUri(TOPIC_MY_SCENE_UPDATE_FROM_ROS, config));
model.connectOtherScene(mqttUri(TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A, config));
model.connectNextOperation(mqttUri(TOPIC_COMMAND, config), false);
+ }
- logStatus(statusMessage);
-
- mainHandler.publish(TOPIC_MY_SCENE_INIT, scene.toByteArray());
+ @Override
+ protected MqttHandler createMqttHandler() {
+ return new MqttHandler("mainHandlerB");
}
- private void logStatus(String message) {
- logger.info(message);
- String content = UtilB.getModelInfos(model, message.equals("Start") || message.startsWith("detail"));
- logger.info("WorldModelB\n{}", content);
- if (mainHandler != null) {
- mainHandler.publish(TOPIC_STATUS, content.getBytes(StandardCharsets.UTF_8));
- }
+ @Override
+ protected WorldModelB createWorldModel() {
+ return new WorldModelB();
}
- private void close() {
- logger.info("Exiting ...");
- mainHandler.close();
- model.ragconnectCloseConnections();
+ @Override
+ protected String getModelInfos(WorldModelB worldModelB, boolean detailed) {
+ return UtilB.getModelInfos(model, detailed);
}
}
--
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