From b5bb1c020168ac914bc9e665799f9a9f016f51a9 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Wed, 27 Apr 2022 20:21:23 +0200
Subject: [PATCH] more work to get relations converted to terminals
---
.../src/main/resources/jastadd/types.jadd | 22 ++++++++-
.../src/main/resources/jastadd/types.relast | 4 +-
.../src/main/jastadd/WorldModelB.connect | 20 +++++----
.../src/main/jastadd/WorldModelB.jadd | 45 ++++++++++++++++---
.../src/main/jastadd/WorldModelB.relast | 8 ++--
.../tudresden/inf/st/placeB/SimpleMainB.java | 2 +-
.../de/tudresden/inf/st/placeB/UtilB.java | 5 +--
7 files changed, 81 insertions(+), 25 deletions(-)
diff --git a/ros3rag.common/src/main/resources/jastadd/types.jadd b/ros3rag.common/src/main/resources/jastadd/types.jadd
index f31b6ab..a0290bf 100644
--- a/ros3rag.common/src/main/resources/jastadd/types.jadd
+++ b/ros3rag.common/src/main/resources/jastadd/types.jadd
@@ -103,7 +103,7 @@ aspect Computation {
logicalRegion.setName(region.getName());
result.addLogicalRegion(logicalRegion);
for (MovableObject movableObject : getMovableObjectList()) {
- for (DropOffLocation location : region.getLocationList()) {
+ for (DropOffLocation location : region.locationList()) {
if (movableObject.isLocatedAt(location)) {
LogicalMovableObject logicalObject = objects.get(movableObject);
logicalRegion.addContainedObject(logicalObject);
@@ -168,6 +168,26 @@ aspect Navigation {
// must be "implemented" in concrete world models, i.e., an equation must be defined
inh JastAddList<Region> Scene.regionList();
+
+ syn List<Region> DropOffLocation.containedInRegion() {
+ List<Region> result = new ArrayList<>();
+ for (Region region : containingScene().regionList()) {
+ List<String> locationNames = Arrays.asList(region.getLocationNames().split(","));
+ if (locationNames.contains(getName())) {
+ result.add(region);
+ }
+ }
+ return result;
+ }
+
+ protected static List<String> ASTNode.arrayAsList(String array) {
+ if (array == null || array.length() == 0) {
+ return new ArrayList<>();
+ }
+ return new ArrayList<>(Arrays.asList(array.split(",")));
+ }
+ syn List<String> Region.locationNamesAsList() = arrayAsList(getLocationNames()) ;
+ syn List<DropOffLocation> Region.locationList();
}
aspect Printing {
diff --git a/ros3rag.common/src/main/resources/jastadd/types.relast b/ros3rag.common/src/main/resources/jastadd/types.relast
index 0be3487..c31c1c3 100644
--- a/ros3rag.common/src/main/resources/jastadd/types.relast
+++ b/ros3rag.common/src/main/resources/jastadd/types.relast
@@ -23,8 +23,8 @@ rel LogicalRegion.ContainedObject* <-> LogicalMovableObject.LocatedAt* ;
// TODO could lead to problems when including this information and sending it
//rel LogicalMovableObject.MyLocation? -> DropOffLocation ;
-Region ::= <Name:String> ;
-rel Region.Location* <-> DropOffLocation.ContainedInRegion* ;
+Region ::= <Name:String> <LocationNames> ;
+//rel Region.Location* <-> DropOffLocation.ContainedInRegion* ;
// TODO should this be only in site-B??
CollaborationZone : DropOffLocation ;
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
index 6529e04..379efaa 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
@@ -3,7 +3,7 @@ receive WorldModelB.MyScene using ParseScene, ConvertScene ;
receive indexed WorldModelB.OtherScene ;
receive WorldModelB.TestingOtherScene ;
receive Robot.CanReachObjectOfInterestWrapper using ParseReachability, ConvertReachability ;
-receive Robot.DummyOwnedCollaborationZone using ConfigChangeCommandCheckForOwnedCollaborationZone ;
+receive Robot.OwnedCollaborationZoneNames using ConfigChangeCommandCheckForOwnedCollaborationZone ;
receive Robot.Busy using ConfigChangeCommandCheckForBusy ;
// --- sending ---
@@ -35,18 +35,20 @@ ConfigChangeCommandCheckForOwnedCollaborationZone maps byte[] bytes to String {:
DropOffLocation loc = obj.asDropOffLocation();
CollaborationZone cz = loc.asCollaborationZone();
Robot thisRobot = (Robot) this;
- if (thisRobot.getName().equals(cc.getIdRobotNewOwner()) && !thisRobot.getOwnedCollaborationZoneList().contains(cz)) {
+ List<String> collaborationZoneNames = thisRobot.ownedCollaborationZonesAsList();
+ boolean robotIsNewOwner = thisRobot.getName().equals(cc.getIdRobotNewOwner());
+ boolean collaborationZoneAlreadyOwned = collaborationZoneNames.contains(cc.getIdCollaborationZone());
+ if (robotIsNewOwner && !collaborationZoneAlreadyOwned) {
// config change is for this robot, add collaboration zone
- thisRobot.addOwnedCollaborationZone(cz);
- reject();
- }
- if (!thisRobot.getName().equals(cc.getIdRobotNewOwner()) && thisRobot.getOwnedCollaborationZoneList().contains(cz)) {
+ collaborationZoneNames.add(cc.getIdCollaborationZone());
+ } else if (!robotIsNewOwner && collaborationZoneAlreadyOwned) {
// config change is for another robot, remove collaboration zone
- thisRobot.removeOwnedCollaborationZone(cz);
+ collaborationZoneNames.remove(cc.getIdCollaborationZone());
+ } else {
+ // otherwise don't change
reject();
}
- // need return to make compiler happy
- return "";
+ return String.join(",", collaborationZoneNames);
:}
ConfigChangeCommandCheckForBusy maps byte[] bytes to boolean {:
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
index 6a66bfc..c96e250 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
@@ -138,7 +138,7 @@ aspect Computation {
try {
previousLocation.correspondingVertex();
} catch (NullPointerException e) {
- return error("Could not resolve WorldModelB");
+ return error("Could not resolve WorldModelB linked to previousLocation " + previousLocation.nameAndHash());
}
return previousLocation.correspondingVertex().map(previousVertex -> {
Region region = getNewRegion().realRegion();
@@ -146,10 +146,16 @@ aspect Computation {
return error("No region found for " + getNewRegion().nameAndHash());
}
// pick location from newRegion, that is free
- return region.getLocationList().stream()
+ return region.locationList().stream()
.filter(location -> location.getObjectLocatedHere() == null)
.findFirst()
.map(newLocation -> {
+ // (workaround) check if WorldModelB is not null ... could happen if scene has no parent
+ try {
+ newLocation.correspondingVertex();
+ } catch (NullPointerException e) {
+ return error("Could not resolve WorldModelB linked to newLocation " + newLocation.nameAndHash());
+ }
return newLocation.correspondingVertex().map(newVertex -> {
List<Edge> shortestPath = previousVertex.BFS(newVertex);
if (shortestPath == null || shortestPath.isEmpty()) {
@@ -170,10 +176,10 @@ aspect Computation {
*/
CollaborationZone cz = targetLocation.asCollaborationZone();
// order is important here, first add Evacuate, then ConfigChange
- if (cz.hasOccupient() && !cz.getOccupient().equals(executingRobot)) {
- result.add(Evacuate.of(cz.getOccupient(), cz));
+ if (cz.hasOccupient() && !cz.occupient().equals(executingRobot)) {
+ result.add(Evacuate.of(cz.occupient(), cz));
}
- if (!cz.hasOwner() || (cz.hasOwner() && !cz.getOwner().equals(executingRobot))) {
+ if (!cz.hasOwner() || (cz.hasOwner() && !cz.owner().equals(executingRobot))) {
result.add(ConfigChange.of(executingRobot, cz));
}
}
@@ -259,7 +265,7 @@ aspect Computation {
}
syn DropOffLocation Region.firstFreeDropOffLocation() {
- for (DropOffLocation location : getLocationList()) {
+ for (DropOffLocation location : locationList()) {
if (location.getObjectLocatedHere() == null) {
return location;
}
@@ -346,6 +352,33 @@ aspect Navigation {
//--- allMappings ---
// inh LocationMapping LogicalDropOffLocation.allMappings();
// eq WorldModelB.getChild().allMappings() = getLocationMapping();
+ syn boolean CollaborationZone.hasOccupient() = occupient() != null;
+ syn Robot CollaborationZone.occupient() {
+ for (Robot robot : worldModelB().getRobotList()) {
+ if (getName().equals(robot.getOccupiedCollaborationZoneName())) {
+ return robot;
+ }
+ }
+ return null;
+ }
+ syn boolean CollaborationZone.hasOwner() = owner() != null;
+ syn Robot CollaborationZone.owner() {
+ for (Robot robot : worldModelB().getRobotList()) {
+ List<String> collaborationZoneNames = Arrays.asList(robot.getOwnedCollaborationZoneNames().split(","));
+ if (collaborationZoneNames.contains(getName())) {
+ return robot;
+ }
+ }
+ return null;
+ }
+ syn List<String> Robot.ownedCollaborationZonesAsList() = arrayAsList(getOwnedCollaborationZoneNames());
+ eq Region.locationList() {
+ List<DropOffLocation> result = new ArrayList<>();
+ for (String locationName : locationNamesAsList()) {
+ result.add(worldModelB().getMyScene().resolveObjectOfInterest(locationName).asDropOffLocation());
+ }
+ return result;
+ }
}
aspect GlueForShared {
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
index 919d372..856d1b0 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
@@ -1,8 +1,10 @@
WorldModelB ::= Region* Robot* [MyScene:Scene] OtherScene:LogicalScene* /NextOperation:Operation/ TestingOtherScene:LogicalScene* ;
-Robot ::= <Name:String> CanReachObjectOfInterestWrapper <Busy:boolean> <DummyOwnedCollaborationZone> ;
-rel Robot.OwnedCollaborationZone* <-> CollaborationZone.Owner? ;
-rel Robot.OccupiedCollaborationZone? <-> CollaborationZone.Occupient? ;
+// FIXME inline CanReachObjectOfInterestWrapper
+Robot ::= <Name:String> CanReachObjectOfInterestWrapper <Busy:boolean> <OwnedCollaborationZoneNames> <OccupiedCollaborationZoneName> ;
+// relations into nodes received by RagConnect are not allowed
+//rel Robot.OwnedCollaborationZone* <-> CollaborationZone.Owner? ;
+//rel Robot.OccupiedCollaborationZone? <-> CollaborationZone.Occupient? ;
abstract Difference ;
rel Difference.Object -> LogicalMovableObject ;
diff --git a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java
index c65771d..5895d96 100644
--- a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java
+++ b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/SimpleMainB.java
@@ -113,7 +113,7 @@ public class SimpleMainB {
model.connectMyScene(Util.mqttUri(topicSceneUpdateB, config));
for (Robot robot : model.getRobotList()) {
robot.connectBusy(Util.mqttUri(topicCommand, config));
- robot.connectDummyOwnedCollaborationZone(Util.mqttUri(topicCommand, config));
+ robot.connectOwnedCollaborationZoneNames(Util.mqttUri(topicCommand, config));
}
model.connectNextOperation(Util.mqttUri(topicCommand, config), true);
diff --git a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/UtilB.java b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/UtilB.java
index 8de49d5..622b717 100644
--- a/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/UtilB.java
+++ b/ros3rag.placeB/src/main/java/de/tudresden/inf/st/placeB/UtilB.java
@@ -12,6 +12,7 @@ import org.apache.logging.log4j.Logger;
import java.io.IOException;
import java.nio.file.Files;
import java.nio.file.Path;
+import java.util.stream.Collectors;
/**
* Static utility methods used only for place B.
@@ -143,9 +144,7 @@ public class UtilB {
for (RegionDefinition def : config.regions) {
Region region = new Region();
region.setName(def.name);
- for (String position : def.positions) {
- region.addLocation(model.getMyScene().resolveObjectOfInterest(position).asDropOffLocation());
- }
+ region.setLocationNames(String.join(",", def.positions));
result.add(region);
}
model.setRegionList(result);
--
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