use reachability connection instead of dummies

ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/MainB.java

@@ -29,8 +29,9 @@ public class MainB {
   private final static String TOPIC_EXIT = "place-b/exit";
 
   private final static String TOPIC_MY_SCENE_INIT = "place-b/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_COMMANDS = "place-b/commands";
+  private final static String TOPIC_COMMAND = "place-b/command";
 
   private final static String TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A = "place-a/logical/update";
 
@@ -69,7 +70,12 @@ public class MainB {
     );
     Scene myScene = UtilB.convert(scene);
     model.setMyScene(myScene);
-    Util.extractRobotNames(scene).forEach(name -> model.addRobot(UtilB.createRobot(name)));
+    for (String name : Util.extractRobotNames(scene)) {
+      Robot robot = UtilB.createRobot(name);
+      model.addRobot(robot);
+      // assumption: robots do not change during runtime, so we have stable connections
+      robot.connectCanReachObjectOfInterestWrapper(mqttUri(String.format(TOPIC_ROBOT_REACHABILITY, name), config));
+    }
 
     /// Set (dummy) reachability, if configured
     if (config.useReachability) {
@@ -91,7 +97,7 @@ public class MainB {
     /// Connect endpoints
     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_COMMANDS, config), false);
+    model.connectNextOperation(mqttUri(TOPIC_COMMAND, config), false);
 
     logStatus("Start");
 

ros3rag.placeB/src/main/resources/config-b.yaml

 mqttHost: "localhost"
 filenameInitialScene: "src/main/resources/config-scene-b.json"
-useReachability: true
+useReachability: false
 reachability:
   - idRobot: "arm1"
     filename: "src/main/resources/dummy-reachability-b-arm1.json"