working on multiple scenes

- workaround as ragconnect can not handle receiving lists yet
- added merging algorithm
- added tests for merging algorithm
- added some doc-strings in aspects
- test only against name of logical objects (as they might be copies now)

ros3rag.placeB/src/main/jastadd/BFS/BFS.jrag

 import java.util.*;
 
 aspect BFS {
+  //--- BFS ---
   syn List<Edge> Vertex.BFS(Vertex goal) {
     Map<Vertex, Edge> pred = new HashMap<>();
     Queue<Vertex> Q = new LinkedList<>();
@@ -36,7 +37,9 @@ aspect BFS {
     return null;
   }
 
+  //--- reconstructFrom ---
   private List<Edge> Vertex.reconstructFrom(Vertex goal, Map<Vertex, Edge> pred) {
+    // used at the end of BFS to back-track path from goal to start
     List<Edge> result = new ArrayList<>();
     Vertex current = goal;
     while (!current.equals(this)) {
@@ -49,6 +52,7 @@ aspect BFS {
     return result;
   }
 
+  //--- prettyPrint ---
   public String Graph.prettyPrint() {
     StringJoiner sj = new StringJoiner("\n", "Graph {\n", "\n}");
     if (!hasVertex()) { sj.add("<no vertices>"); }

ros3rag.placeB/src/main/jastadd/RobotReachabilityToBFS.jrag

 aspect RobotReachabilityToBFS {
+  //--- toReachabilityGraph ---
   syn nta Graph WorldModelB.toReachabilityGraph() {
     Graph result = new Graph();
     if (!hasMyScene()) {
@@ -37,6 +38,7 @@ aspect RobotReachabilityToBFS {
     return result;
   }
 
+  //--- correspondingVertex ---
   syn Optional<Vertex> LogicalObjectOfInterest.correspondingVertex() {
     if (!worldModelB().hasMyScene()) {
       return Optional.empty();

ros3rag.placeB/src/main/jastadd/WorldModelB.connect

 // --- receiving ---
 receive tree WorldModelB.MyScene using ParseScene, ConvertScene ;
-receive tree WorldModelB.OtherScene ;
+receive tree WorldModelB.OtherScene1 ;
+receive tree WorldModelB.OtherScene2 ;
 receive tree Robot.CanReachObjectOfInterestWrapper using ParseReachability, ConvertReachability ;
 
 // --- sending ---

ros3rag.placeB/src/main/jastadd/WorldModelB.jadd

 aspect Computation {
+  //--- unspecifiedLocation ---
   syn nta LogicalDropOffLocation WorldModelB.unspecifiedLocation() = new LogicalDropOffLocation().setName("<unspecified>");
 
+  //--- getOtherSceneList ---
+  syn JastAddList<LogicalScene> WorldModelB.getOtherSceneList() {
+    JastAddList<LogicalScene> result = new JastAddList<>();
+    if (hasOtherScene1()) {
+      result.add(getOtherScene1());
+    }
+    if (hasOtherScene2()) {
+      result.add(getOtherScene2());
+    }
+    return result;
+  }
+
+  //--- mergedOtherScene ---
+  syn nta LogicalScene WorldModelB.mergedOtherScene() {
+    // return empty scene, if there are no other scenes (yet)
+    if (!hasOtherScene()) {
+      return new LogicalScene();
+    }
+    // return scene, if there is exactly one. (TODO: check if copy is needed here)
+    if (getNumOtherScene() == 1) {
+      return getOtherScene(0);
+    }
+    var result = new LogicalScene();
+    // use getOtherSceneList() and merge by name all locations, objects and relations into one new, unified scene
+    Map<String, LogicalDropOffLocation> mergedLocations = new HashMap<>();
+    Map<String, LogicalMovableObject> mergedObjects = new HashMap<>();
+    // first create all locations
+    for (LogicalScene scene : getOtherSceneList()) {
+      for (LogicalDropOffLocation loc : scene.getLogicalDropOffLocationList()) {
+        if (!mergedLocations.containsKey(loc.getName())) {
+          LogicalDropOffLocation copyOfLoc = new LogicalDropOffLocation();
+          copyOfLoc.setName(loc.getName());
+          mergedLocations.put(loc.getName(), copyOfLoc);
+          result.addLogicalDropOffLocation(copyOfLoc);
+        }
+      }
+    }
+    // then create all objects, and set LocatedAt relation (checking for possible conflicts)
+    for (LogicalScene scene : getOtherSceneList()) {
+      for (LogicalMovableObject obj : scene.getLogicalMovableObjectList()) {
+        if (mergedObjects.containsKey(obj.getName())) {
+          // object already known
+          LogicalMovableObject copyOfObj = mergedObjects.get(obj.getName());
+          if (obj.hasLocatedAt()) {
+            String locationName = obj.getLocatedAt().getName();
+            LogicalDropOffLocation copyOfLoc = mergedLocations.get(locationName);
+            if (copyOfObj.hasLocatedAt() && !obj.getLocatedAt().getName().equals(copyOfObj.getLocatedAt().getName())) {
+              System.err.println("Overriding located-at of " + obj.getName() + " while merging (" + locationName + "," + copyOfObj.getLocatedAt().getName() + ")");
+            }
+            copyOfObj.setLocatedAt(copyOfLoc);
+          }
+        } else {
+          LogicalMovableObject copyOfObj = new LogicalMovableObject();
+          copyOfObj.setName(obj.getName());
+          if (obj.hasLocatedAt()) {
+            copyOfObj.setLocatedAt(mergedLocations.get(obj.getLocatedAt().getName()));
+          }
+          mergedObjects.put(obj.getName(), copyOfObj);
+          result.addLogicalMovableObject(copyOfObj);
+        }
+      }
+    }
+    return result;
+  }
+
   //--- diffScenes ---
   syn nta JastAddList<Difference> WorldModelB.diffScenes() {
     var result = new JastAddList<Difference>();
     if (!hasMyScene() || !hasOtherScene()) {
-      // without both scenes, there are no differences
+      // without my and at least one other scene, there are no differences
       return result;
     }
     var myLogicalScene = getMyScene().getLogicalScene();
-    for (LogicalMovableObject otherObject : getOtherScene().getLogicalMovableObjectList()) {
+    for (LogicalMovableObject otherObject : mergedOtherScene().getLogicalMovableObjectList()) {
       LogicalObjectOfInterest myGenericObject = myLogicalScene.resolveLogicalObjectOfInterest(otherObject.getName());
       if (myGenericObject == null) {
         // new object, currently not handled
@@ -125,6 +191,7 @@ aspect Computation {
     return false;
   }
 
+  //--- reachableObjects ---
   syn List<LogicalObjectOfInterest> Robot.reachableObjects() {
     if (!worldModelB().hasMyScene()) {
       return Collections.emptyList();

ros3rag.placeB/src/main/jastadd/WorldModelB.relast

-WorldModelB ::= Robot* [MyScene:Scene] [OtherScene:LogicalScene] /NextOperation:Operation/ ;
+WorldModelB ::= Robot* [MyScene:Scene] [OtherScene1:LogicalScene] [OtherScene2:LogicalScene] /OtherScene:LogicalScene*/ /NextOperation:Operation/ ;
+// workaround with NTA OtherSceneList as receiving lists is not possible yet
 
 Robot ::= <Name:String> CanReachObjectOfInterestWrapper ;
 

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

@@ -82,7 +82,7 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
   @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.connectOtherScene1(mqttUri(TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A, config));
     model.connectNextOperation(mqttUri(TOPIC_COMMAND, config), false);
   }
 

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

@@ -188,7 +188,7 @@ public class SimpleMainB {
 
     /// Connect endpoints
     model.connectMyScene(mqttUri("TOPIC_MY_SCENE_UPDATE_FROM_ROS", config));
-    model.connectOtherScene(mqttUri("TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A", config));
+    model.connectOtherScene1(mqttUri("TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A", config));
     model.connectNextOperation(mqttUri("TOPIC_COMMANDS", config), false);
 
     System.out.println("before");
@@ -264,7 +264,7 @@ public class SimpleMainB {
     LogicalDropOffLocation otherGamma = new LogicalDropOffLocation().setName("placeGamma");
     otherGamma.addContainedObject(otherObj1);
     otherScene.addLogicalDropOffLocation(otherGamma);
-    model.setOtherScene(otherScene);
+    model.setOtherScene1(otherScene);
 
     // printing and testing
     printModelInfos(model);

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

@@ -117,7 +117,7 @@ public class UtilB {
     }
     sb.append("otherScene:");
     if (model.hasOtherScene()) {
-      sb.append("\n").append(model.getOtherScene().prettyPrint());
+      sb.append("\n").append(model.mergedOtherScene().prettyPrint());
     } else {
       sb.append(" (unset)\n");
     }

ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestComputeOperations.java

@@ -33,7 +33,7 @@ public class TestComputeOperations {
     LogicalMovableObject x = logicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
     LogicalDropOffLocation red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
     LogicalDropOffLocation green = logicalScene.resolveLogicalObjectOfInterest("green").asLogicalDropOffLocation();
-    DifferenceObjectAtWrongPlace diff = new DifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, green);
+    DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, green);
 
     List<Operation> operations = diff.computeOperations();
     assertThat(operations).isNotEmpty();
@@ -60,7 +60,7 @@ public class TestComputeOperations {
     LogicalDropOffLocation red = logicalScene.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
     LogicalDropOffLocation blue = logicalScene.resolveLogicalObjectOfInterest("blue").asLogicalDropOffLocation();
     Robot arm1 = model.findRobot("arm1").orElseThrow();
-    DifferenceObjectAtWrongPlace diff = new DifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, blue);
+    DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, blue);
 
     List<Operation> operations = diff.computeOperations();
     assertThat(operations).isNotEmpty();
@@ -90,7 +90,7 @@ public class TestComputeOperations {
     LogicalDropOffLocation green = logicalScene.resolveLogicalObjectOfInterest("green").asLogicalDropOffLocation();
     Robot arm1 = model.findRobot("arm1").orElseThrow();
     Robot arm2 = model.findRobot("arm2").orElseThrow();
-    DifferenceObjectAtWrongPlace diff = new DifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, green);
+    DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, green);
 
     List<Operation> operations = diff.computeOperations();
     assertThat(operations).isNotEmpty();
@@ -137,7 +137,7 @@ public class TestComputeOperations {
     Robot arm2 = model.findRobot("arm2").orElseThrow();
     Robot arm4 = model.findRobot("arm4").orElseThrow();
     Robot arm5 = model.findRobot("arm5").orElseThrow();
-    DifferenceObjectAtWrongPlace diff = new DifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, purple);
+    DifferenceObjectAtWrongPlace diff = createDifferenceObjectAtWrongPlace(x, emptyPreviousLocation ? null : red, purple);
 
     List<Operation> operations = diff.computeOperations();
     assertThat(operations).isNotEmpty();
@@ -164,4 +164,12 @@ public class TestComputeOperations {
     assertEquals(x, pickAndPlace3.getObjectToPick());
     assertEquals(purple, pickAndPlace3.getTargetLocation());
   }
+
+  private DifferenceObjectAtWrongPlace createDifferenceObjectAtWrongPlace(LogicalMovableObject x, LogicalDropOffLocation previousLocation, LogicalDropOffLocation newLocation) {
+    DifferenceObjectAtWrongPlace result = new DifferenceObjectAtWrongPlace();
+    result.setObject(x);
+    result.setPreviousLocation(previousLocation);
+    result.setNewLocation(newLocation);
+    return result;
+  }
 }

ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestDifference.java

@@ -31,17 +31,15 @@ public class TestDifference {
     LogicalMovableObject x = myLogicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
     assertFalse(x.hasLocatedAt());
 
-    LogicalDropOffLocation otherRed = model.getOtherScene().resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
-
     JastAddList<Difference> diffs = model.diffScenes();
     assertNotNull(diffs);
     assertEquals(1, diffs.getNumChild());
     Difference diff = diffs.getChild(0);
     assertThat(diff).isInstanceOf(DifferenceObjectAtWrongPlace.class);
     DifferenceObjectAtWrongPlace wrongPlace = (DifferenceObjectAtWrongPlace) diff;
-    assertEquals(x, wrongPlace.getObject());
+    assertEquals("x", wrongPlace.getObject().getName());
     assertNull(wrongPlace.getPreviousLocation());
-    assertEquals(otherRed, wrongPlace.getNewLocation());
+    assertEquals("red", wrongPlace.getNewLocation().getName());
   }
 
   @Test
@@ -58,9 +56,7 @@ public class TestDifference {
 
     LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
     LogicalMovableObject x = myLogicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
-    LogicalDropOffLocation blue = myLogicalScene.resolveLogicalObjectOfInterest("blue").asLogicalDropOffLocation();
-    assertEquals(blue, x.getLocatedAt());
-    LogicalDropOffLocation otherRed = model.getOtherScene().resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
+    assertEquals("blue", x.getLocatedAt().getName());
 
     JastAddList<Difference> diffs = model.diffScenes();
     assertNotNull(diffs);
@@ -68,9 +64,9 @@ public class TestDifference {
     Difference diff = diffs.getChild(0);
     assertThat(diff).isInstanceOf(DifferenceObjectAtWrongPlace.class);
     DifferenceObjectAtWrongPlace wrongPlace = (DifferenceObjectAtWrongPlace) diff;
-    assertEquals(x, wrongPlace.getObject());
-    assertEquals(blue, wrongPlace.getPreviousLocation());
-    assertEquals(otherRed, wrongPlace.getNewLocation());
+    assertEquals("x", wrongPlace.getObject().getName());
+    assertEquals("blue", wrongPlace.getPreviousLocation().getName());
+    assertEquals("red", wrongPlace.getNewLocation().getName());
   }
 
   @Test
@@ -86,8 +82,7 @@ public class TestDifference {
 
     LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
     LogicalMovableObject x = myLogicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
-    LogicalDropOffLocation red = myLogicalScene.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
-    assertEquals(red, x.getLocatedAt());
+    assertEquals("red", x.getLocatedAt().getName());
 
     JastAddList<Difference> diffs = model.diffScenes();
     assertNotNull(diffs);
@@ -95,8 +90,8 @@ public class TestDifference {
     Difference diff = diffs.getChild(0);
     assertThat(diff).isInstanceOf(DifferenceObjectMisplaced.class);
     DifferenceObjectMisplaced misplaced = (DifferenceObjectMisplaced) diff;
-    assertEquals(x, misplaced.getObject());
-    assertEquals(red, misplaced.getPreviousLocation());
+    assertEquals("x", misplaced.getObject().getName());
+    assertEquals("red", misplaced.getPreviousLocation().getName());
   }
 
   @Test
@@ -116,7 +111,7 @@ public class TestDifference {
 
     JastAddList<Difference> diffs = model.diffScenes();
     assertNotNull(diffs);
-    assertEquals(0, diffs.getNumChild());
+    assertThat(diffs).isEmpty();
   }
 
   @Test
@@ -133,12 +128,11 @@ public class TestDifference {
 
     LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
     LogicalMovableObject x = myLogicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
-    LogicalDropOffLocation red = myLogicalScene.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
-    assertEquals(red, x.getLocatedAt());
+    assertEquals("red", x.getLocatedAt().getName());
 
     JastAddList<Difference> diffs = model.diffScenes();
     assertNotNull(diffs);
-    assertEquals(0, diffs.getNumChild());
+    assertThat(diffs).isEmpty();
   }
 
   @Test
@@ -154,15 +148,13 @@ public class TestDifference {
     LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
     assertNull(myLogicalScene.resolveLogicalObjectOfInterest("x"));
 
-    LogicalMovableObject otherX = model.getOtherScene().resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
-
     JastAddList<Difference> diffs = model.diffScenes();
     assertNotNull(diffs);
     assertEquals(1, diffs.getNumChild());
     Difference diff = diffs.getChild(0);
     assertThat(diff).isInstanceOf(DifferenceNewObject.class);
     DifferenceNewObject diffNewObject = (DifferenceNewObject) diff;
-    assertEquals(otherX, diffNewObject.getObject());
+    assertEquals("x", diffNewObject.getObject().getName());
   }
 
   @Test
@@ -182,21 +174,17 @@ public class TestDifference {
     LogicalScene myLogicalScene = model.getMyScene().getLogicalScene();
     LogicalMovableObject x = myLogicalScene.resolveLogicalObjectOfInterest("x").asLogicalMovableObject();
     LogicalMovableObject y = myLogicalScene.resolveLogicalObjectOfInterest("y").asLogicalMovableObject();
-    LogicalDropOffLocation blue = myLogicalScene.resolveLogicalObjectOfInterest("blue").asLogicalDropOffLocation();
-    LogicalDropOffLocation green = myLogicalScene.resolveLogicalObjectOfInterest("green").asLogicalDropOffLocation();
-    assertEquals(blue, x.getLocatedAt());
-    assertEquals(green, y.getLocatedAt());
-
-    LogicalDropOffLocation otherRed = model.getOtherScene().resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
-
+    assertEquals("blue", x.getLocatedAt().getName());
+    assertEquals("green", y.getLocatedAt().getName());
 
     JastAddList<Difference> diffs = model.diffScenes();
     assertNotNull(diffs);
     assertEquals(2, diffs.getNumChild());
     assertThat(diffs).allMatch(d -> d instanceof DifferenceObjectAtWrongPlace);
+    //noinspection unchecked
     assertThat(diffs).map(diff -> (DifferenceObjectAtWrongPlace) diff)
-        .extracting("Object", "PreviousLocation", "NewLocation")
-        .containsOnly(tuple(x, blue, otherRed),
-            tuple(y, green, otherRed));
+        .extracting(d -> d.getObject().getName(), d -> d.getPreviousLocation().getName(), d -> d.getNewLocation().getName())
+        .containsOnly(tuple("x", "blue", "red"),
+            tuple("y", "green", "red"));
   }
 }

ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestMultiScenes.java

+package de.tudresden.inf.st.placeB;
+
+import de.tudresden.inf.st.placeB.ast.LogicalDropOffLocation;
+import de.tudresden.inf.st.placeB.ast.LogicalMovableObject;
+import de.tudresden.inf.st.placeB.ast.LogicalScene;
+import de.tudresden.inf.st.placeB.ast.WorldModelB;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.ValueSource;
+
+import java.util.Collections;
+
+import static de.tudresden.inf.st.placeB.TestUtils.newModel;
+import static org.assertj.core.api.Assertions.assertThat;
+
+/**
+ * Testing merging of multiple (other) scenes.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class TestMultiScenes {
+
+  @Test
+  public void noOtherScenes() {
+    WorldModelB model = newModel();
+
+    LogicalScene actual = model.mergedOtherScene();
+
+    assertThat(actual.getLogicalDropOffLocationList()).isEmpty();
+    assertThat(actual.getLogicalMovableObjectList()).isEmpty();
+  }
+
+  @ParameterizedTest(name = "twoScenesContains [scene1 = {argumentsWithNames}]")
+  @ValueSource(booleans = {true, false})
+  public void oneSceneNoContains(boolean scene1) {
+    WorldModelB model = newModel();
+    TestUtils.addOtherLocations(scene1 ? model.getOtherScene1() : model.getOtherScene2(), "red");
+    TestUtils.addOtherObjects(scene1 ? model.getOtherScene1() : model.getOtherScene2(), "a");
+
+    LogicalScene actual = model.mergedOtherScene();
+
+    assertThat(actual.getLogicalDropOffLocationList())
+        .extracting("Name").containsOnly("red");
+    assertThat(actual.getLogicalMovableObjectList())
+        .extracting("Name").containsOnly("a");
+  }
+
+  @Test
+  public void twoScenesNoContains() {
+    WorldModelB model = newModel();
+    TestUtils.addOtherLocations(model, "red");
+    TestUtils.addOtherObjects(model, "a");
+    TestUtils.addOtherLocations(model.getOtherScene2(), "blue");
+    TestUtils.addOtherObjects(model.getOtherScene2(), "b");
+
+    LogicalScene actual = model.mergedOtherScene();
+
+    assertThat(actual.getLogicalDropOffLocationList())
+        .size().isEqualTo(2);
+    assertThat(actual.getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene2().getLogicalDropOffLocationList())
+        .extracting("Name").containsOnly("red", "blue");
+    assertThat(actual.getLogicalDropOffLocationList())
+        .extracting("ContainedObjects").containsOnly(Collections.emptyList());
+
+    assertThat(actual.getLogicalMovableObjectList())
+        .size().isEqualTo(2);
+    assertThat(actual.getLogicalMovableObjectList())
+        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalMovableObjectList())
+        .doesNotContainAnyElementsOf(model.getOtherScene2().getLogicalMovableObjectList())
+        .extracting("Name").containsOnly("a", "b");
+    assertThat(actual.getLogicalMovableObjectList())
+        .extracting("LocatedAt").containsOnly((LogicalDropOffLocation) null);
+  }
+
+  @ParameterizedTest(name = "twoScenesContains [scene1 = {argumentsWithNames}]")
+  @ValueSource(booleans = {true, false})
+  public void twoScenesContains1(boolean scene1) {
+    WorldModelB model = newModel();
+    TestUtils.addOtherLocations(model, "red", "blue");
+    TestUtils.addOtherObjects(model, "a", "b");
+    model.getOtherScene2().addLogicalDropOffLocation(new LogicalDropOffLocation().setName("red"));
+    model.getOtherScene2().addLogicalMovableObject(new LogicalMovableObject().setName("a"));
+    TestUtils.addContainedObjects(scene1 ? model.getOtherScene1() : model.getOtherScene2(),
+        "red", "a");
+
+    LogicalScene actual = model.mergedOtherScene();
+
+    assertThat(actual.getLogicalDropOffLocationList())
+        .size().isEqualTo(2);
+    assertThat(actual.getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene2().getLogicalDropOffLocationList())
+        .extracting("Name").containsExactly("red", "blue");
+    LogicalDropOffLocation red = actual.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
+    assertThat(red.getContainedObjectList())
+        .extracting("Name").containsOnly("a");
+
+    assertThat(actual.getLogicalMovableObjectList())
+        .size().isEqualTo(2);
+    assertThat(actual.getLogicalMovableObjectList())
+        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalMovableObjectList())
+        .extracting("Name").containsOnly("a", "b");
+    LogicalMovableObject a = actual.resolveLogicalObjectOfInterest("a").asLogicalMovableObject();
+    assertThat(a.getLocatedAt())
+        .extracting("Name").isEqualTo("red");
+  }
+
+  @Test
+  public void twoScenesRedContainsATwice() {
+    WorldModelB model = newModel();
+    TestUtils.addOtherLocations(model, "red", "blue");
+    TestUtils.addOtherObjects(model, "a", "b");
+    TestUtils.addContainedObjects(model, "red", "a");
+
+    TestUtils.addOtherLocations(model.getOtherScene2(), "red");
+    TestUtils.addOtherObjects(model.getOtherScene2(), "a", "b");
+    TestUtils.addContainedObjects(model.getOtherScene2(), "red", "a");
+
+    LogicalScene actual = model.mergedOtherScene();
+
+    assertThat(actual.getLogicalDropOffLocationList())
+        .size().isEqualTo(2);
+    assertThat(actual.getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalDropOffLocationList())
+        .doesNotContainAnyElementsOf(model.getOtherScene2().getLogicalDropOffLocationList())
+        .extracting("Name").containsExactly("red", "blue");
+    LogicalDropOffLocation red = actual.resolveLogicalObjectOfInterest("red").asLogicalDropOffLocation();
+    assertThat(red.getContainedObjectList())
+        .extracting("Name").containsOnly("a");
+
+    assertThat(actual.getLogicalMovableObjectList())
+        .size().isEqualTo(2);
+    assertThat(actual.getLogicalMovableObjectList())
+        .doesNotContainAnyElementsOf(model.getOtherScene1().getLogicalMovableObjectList())
+        .extracting("Name").containsOnly("a", "b");
+    LogicalMovableObject a = actual.resolveLogicalObjectOfInterest("a").asLogicalMovableObject();
+    assertThat(a.getLocatedAt())
+        .extracting("Name").isEqualTo("red");
+  }
+}

ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestUtils.java

@@ -12,8 +12,8 @@ public class TestUtils {
     WorldModelB model = new WorldModelB();
     Scene scene = new Scene();
     model.setMyScene(scene);
-    LogicalScene otherScene = new LogicalScene();
-    model.setOtherScene(otherScene);
+    model.setOtherScene1(new LogicalScene());
+    model.setOtherScene2(new LogicalScene());
     return model;
   }
 
@@ -70,21 +70,33 @@ public class TestUtils {
   }
 
   public static void addOtherObjects(WorldModelB model, String... names) {
+    addOtherObjects(model.getOtherScene1(), names);
+  }
+
+  public static void addOtherObjects(LogicalScene scene, String... names) {
     for (String name : names) {
-      model.getOtherScene().addLogicalMovableObject(new LogicalMovableObject().setName(name));
+      scene.addLogicalMovableObject(new LogicalMovableObject().setName(name));
     }
   }
 
   public static void addOtherLocations(WorldModelB model, String... names) {
+    addOtherLocations(model.getOtherScene1(), names);
+  }
+
+  public static void addOtherLocations(LogicalScene scene, String... names) {
     for (String name : names) {
-      model.getOtherScene().addLogicalDropOffLocation(new LogicalDropOffLocation().setName(name));
+      scene.addLogicalDropOffLocation(new LogicalDropOffLocation().setName(name));
     }
   }
 
   public static void addContainedObjects(WorldModelB model, String locationName, String... objectNames) {
-    LogicalDropOffLocation location = model.getOtherScene().resolveLogicalObjectOfInterest(locationName).asLogicalDropOffLocation();
+    addContainedObjects(model.getOtherScene1(), locationName, objectNames);
+  }
+
+  public static void addContainedObjects(LogicalScene scene, String locationName, String... objectNames) {
+    LogicalDropOffLocation location = scene.resolveLogicalObjectOfInterest(locationName).asLogicalDropOffLocation();
     for (String objectName : objectNames) {
-      location.addContainedObject(model.getOtherScene().resolveLogicalObjectOfInterest(objectName).asLogicalMovableObject());
+      location.addContainedObject(scene.resolveLogicalObjectOfInterest(objectName).asLogicalMovableObject());
     }
   }