From a6e56056f7ddca9291162614638c0e18a8f2a0d7 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Thu, 6 May 2021 16:41:35 +0200
Subject: [PATCH] use reachability connection instead of dummies
---
.../main/java/de/tudresden/inf/st/placeB/MainB.java | 12 +++++++++---
ros3rag.placeB/src/main/resources/config-b.yaml | 2 +-
2 files changed, 10 insertions(+), 4 deletions(-)
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 f41e113..5c7ae32 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
@@ -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");
diff --git a/ros3rag.placeB/src/main/resources/config-b.yaml b/ros3rag.placeB/src/main/resources/config-b.yaml
index 91aa941..e4f1aa8 100644
--- a/ros3rag.placeB/src/main/resources/config-b.yaml
+++ b/ros3rag.placeB/src/main/resources/config-b.yaml
@@ -1,6 +1,6 @@
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"
--
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