diff --git a/ros3rag.placeB/src/main/jastadd/BFS/BFS.jrag b/ros3rag.placeB/src/main/jastadd/BFS/BFS.jrag
index 13efe23f74e1706da1bb866893d30492661cb285..d59de4fa0aa754a46085e640eff698831da30728 100644
--- a/ros3rag.placeB/src/main/jastadd/BFS/BFS.jrag
+++ b/ros3rag.placeB/src/main/jastadd/BFS/BFS.jrag
@@ -1,6 +1,7 @@
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>"); }
diff --git a/ros3rag.placeB/src/main/jastadd/RobotReachabilityToBFS.jrag b/ros3rag.placeB/src/main/jastadd/RobotReachabilityToBFS.jrag
index 7dd4ee10fbe6bad66d3a5dc7542af09e486a374e..7515b509b746b6af4c807371b59cbdbef151c405 100644
--- a/ros3rag.placeB/src/main/jastadd/RobotReachabilityToBFS.jrag
+++ b/ros3rag.placeB/src/main/jastadd/RobotReachabilityToBFS.jrag
@@ -1,4 +1,5 @@
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();
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
index 3da080fb1a8643e37b1244231e7a5e92ca29d257..374830424811e961e9a541705e7e21da49bf1ba3 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
@@ -1,6 +1,7 @@
// --- 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 ---
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
index 3c43e9ba77dfae3daf1622b93cf93abac913a651..f8631c36bdf5bf550bffb0d486b0fcfd1c3a842a 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
@@ -1,15 +1,81 @@
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();
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
index 3263e7ff0b6d8b9de31237299829ed48abce0292..d474353f51d2f96183a30ed438208fab5c1bbc8d 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
@@ -1,4 +1,5 @@
-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 ;
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 930b0480187c00b0228164e97e392af1ceca118a..0c193b3e77021dd6d6bcff534443a1d197d269d3 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
@@ -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);
}
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 aef39306bb03ae1f7ff15d8682b6c3535c112e03..b8023e726595aff10197fecbb8d07bc1850b3e5e 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
@@ -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);
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 b837ab3c1a4572d2a7a88ee249e73fc71049498a..b68cd908f8c48d62adcff4e0569a59ffc68cb9c2 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
@@ -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");
}
diff --git a/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestComputeOperations.java b/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestComputeOperations.java
index 26681503def3124be05fe7d15a25c61451c3426a..fe53722780e481e0c6c086de7e4c4374205cea1d 100644
--- a/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestComputeOperations.java
+++ b/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;
+ }
}
diff --git a/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestDifference.java b/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestDifference.java
index 5c98b039d1c8d973a8e89297cfb75ad2c3e78139..fb2ffaae2f255e8e5ffd7cc5210d365e5864743b 100644
--- a/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestDifference.java
+++ b/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"));
}
}
diff --git a/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestMultiScenes.java b/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestMultiScenes.java
new file mode 100644
index 0000000000000000000000000000000000000000..dc1080a5f69832879c19ba4ad849c729fdcf9776
--- /dev/null
+++ b/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestMultiScenes.java
@@ -0,0 +1,142 @@
+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");
+ }
+}
diff --git a/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestUtils.java b/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestUtils.java
index 699e3e32c54c18234ef562fb4dc526e2f70b3474..6e5f8fe77601bf88ef82f6f3ef0764c60e932e7c 100644
--- a/ros3rag.placeB/src/test/java/de/tudresden/inf/st/placeB/TestUtils.java
+++ b/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());
}
}