more logging, fix b:otherScene

ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java

@@ -68,7 +68,12 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
     mainHandler.setHost(config.mqttHost);
     mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
     CountDownLatch exitCondition = new CountDownLatch(1);
-    mainHandler.newConnection(TOPIC_EXIT, bytes -> exitCondition.countDown());
+    mainHandler.newConnection(TOPIC_EXIT, bytes -> {
+      logger.info("Got exit command");
+      exitCondition.countDown();
+      logger.debug("exit latch count = {}, start latch count= {}",
+          exitCondition.getCount(), startCondition.getCount());
+    });
     mainHandler.newConnection(TOPIC_MODEL, bytes -> logStatus(new String(bytes)));
     mainHandler.newConnection(TOPIC_REWIND, bytes ->
         {
@@ -115,6 +120,7 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
   }
 
   private void reactToCoordinatorCommand(String command) {
+    logger.debug("Got coordinator command {} for {}", command, cellName);
     switch (command) {
       case "rewind":
         try {
@@ -127,7 +133,7 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
         startCondition.countDown();
         break;
       default:
-        System.err.println("Unknown coordinator command: " + command);
+        logger.warn("Unknown coordinator command {} for {}", command, cellName);
     }
   }
 
@@ -135,29 +141,35 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
 
   private void rewind(String statusMessage) throws Exception {
     if (model != null) {
+      logger.debug("Closing previous connections for {}", cellName);
       model.ragconnectCloseConnections();
     }
+    logger.debug("Creating world model for {}", cellName);
     model = createWorldModel();
 
+    logger.debug("Reading scene for {}", cellName);
     Scene scene = readSceneAndRobots();
 
-    /// Setup model connection
+    logger.debug("Setup model connection for {}", cellName);
     model.ragconnectCheckIncremental();
     model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
 
     if (config.useCoordinator()) {
+      logger.debug("Awaiting start signal from coordinator for {}", cellName);
       startCondition = new CountDownLatch(1);
       mainHandler.publish(joinTopics(config.coordinatorMqttTopicPrefix, TOPIC_SUFFIX_COORDINATOR_STATUS),
           "up".getBytes(StandardCharsets.UTF_8));
       startCondition.await();
     }
 
+    logger.debug("Connecting endpoints for {}", cellName);
     connectEndpoints();
 
     logStatus(statusMessage);
 
     mainHandler.publish(TOPIC_SCENE_INIT, scene.toByteArray());
     if (config.useCoordinator()) {
+      logger.debug("Publishing ready for {}", cellName);
       mainHandler.publish(joinTopics(config.coordinatorMqttTopicPrefix, TOPIC_SUFFIX_COORDINATOR_STATUS),
           "ready".getBytes(StandardCharsets.UTF_8));
     }

ros3rag.common/src/main/resources/tasks.gradle

@@ -23,6 +23,7 @@ task ragConnect(type: JavaExec) {
             new File(project.ext.sharedJastAddDir, 'types.connect'),
             '--logReads',
             '--logWrites',
+//            '--logIncremental',
 //            '--verbose',
             '--rootNode=' + project.ext.ragConnectRootNode,
             '--List=JastAddList',

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.connectOtherScene(mqttUri(TOPIC_OTHER_SCENE_UPDATE_FROM_PLACE_A, config), 0);
     model.connectNextOperation(mqttUri(TOPIC_COMMAND, config), false);
   }
 
@@ -93,7 +93,9 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
 
   @Override
   protected WorldModelB createWorldModel() {
-    return new WorldModelB();
+    WorldModelB result = new WorldModelB();
+    result.addOtherScene(new LogicalScene());
+    return result;
   }
 
   @Override

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

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