towards impl used in paper

cloc/.gitignore

@@ -4,3 +4,5 @@ acs.txt
 cfcs.txt
 trainbenchmark.file
 trainbenchmark.lang
+cats.txt
+ignored.txt

cloc/cloc-def-connect.txt

+Connect
+    filter call_regexp_common Java
+    extension connect
+    extension ragconnect
+    3rd_gen_scale 10

cloc/run-cloc.sh

@@ -20,14 +20,14 @@ done
 echo "Running cloc with new definitions"
 #  --ignored=bad-files.txt
 CLOC_CMD="cloc --exclude-lang=JSON --read-lang-def=my_definitions.txt --exclude-list-file=.clocignore --quiet"
-$CLOC_CMD --report-file=common-result.txt ../ros3rag.common/src/main/resources/jastadd ../ros3rag.common/src/main/java 2>>cloc-errors.log
-$CLOC_CMD --report-file=placeA-result.txt ../ros3rag.placeA/src/main/ja* 2>>cloc-errors.log
-$CLOC_CMD --report-file=placeB-result.txt ../ros3rag.placeB/src/main/ja* 2>>cloc-errors.log
+$CLOC_CMD --report-file=common-01-input-result.txt ../ros3rag.common/src/main/resources/jastadd ../ros3rag.common/src/main/proto ../ros3rag.common/src/main/java 2>>cloc-errors.log
+$CLOC_CMD --report-file=placeA-01-input-result.txt ../ros3rag.placeA/src/main/ja* 2>>cloc-errors.log
+$CLOC_CMD --report-file=placeB-01-input-result.txt --categorized=cats.txt --ignored=ignored.txt ../ros3rag.placeB/src/main/ja* 2>>cloc-errors.log
 
 # $CLOC_CMD --report-file=base-gen-result.txt ../ros3rag.base/src/gen 2>>cloc-errors.log
-$CLOC_CMD --report-file=placeA-gen-result.txt ../ros3rag.placeA/src/gen 2>>cloc-errors.log
-$CLOC_CMD --report-file=placeB-gen-result.txt ../ros3rag.placeB/src/gen 2>>cloc-errors.log
-$CLOC_CMD --report-file=common-gen-result.txt ../ros3rag.common/build/generated/source/proto/main/java/de 2>>cloc-errors.log
+$CLOC_CMD --report-file=placeA-02-gen-result.txt ../ros3rag.placeA/src/gen 2>>cloc-errors.log
+$CLOC_CMD --report-file=placeB-02-gen-result.txt ../ros3rag.placeB/src/gen 2>>cloc-errors.log
+$CLOC_CMD --report-file=common-02-gen-result.txt ../ros3rag.common/build/generated/source/proto/main/java/de 2>>cloc-errors.log
 
 
 # CFC_CMD='grep -o 'if'\|'for'\|'return''

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

@@ -60,7 +60,10 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
     /// Prepare main handler
     mainHandler = createMqttHandler().dontSendWelcomeMessage();
     mainHandler.setHost(config.mqttHost);
-    mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
+    if (!mainHandler.waitUntilReady(2, TimeUnit.SECONDS)) {
+      logger.fatal("Could not connect to mqtt handler. Exiting");
+      return;
+    }
     CountDownLatch exitCondition = new CountDownLatch(1);
     mainHandler.newConnection(TOPIC_EXIT, bytes -> {
       logger.info("Got exit command");

ros3rag.common/src/main/proto/config.proto

-syntax = "proto3";
-
-package config;
-
-message RobotConfig {
-  double speed = 1;
-}
\ No newline at end of file

ros3rag.common/src/main/proto/robot_state.proto

-syntax = "proto3";
-
-package robot;
-
-message RobotState {
-
-  message Position {
-    double x = 1;
-    double y = 2;
-    double z = 3;
-  }
-
-  message Orientation {
-    double x = 1;
-    double y = 2;
-    double z = 3;
-    double w = 4;
-  }
-
-  message LinearTwist {
-    double x = 1;
-    double y = 2;
-    double z = 3;
-  }
-
-  message AngularTwist {
-    double x = 1;
-    double y = 2;
-    double z = 3;
-  }
-
-  string name = 1;
-  Position position = 2;
-  Orientation orientation = 3;
-  LinearTwist linear_twist = 4;
-  AngularTwist angular_twist = 5;
-}
\ No newline at end of file

ros3rag.common/src/main/proto/trajectory.proto

-syntax = "proto3";
-
-package plan;
-
-message Trajectory {
-
-  message Position {
-    double x = 1;
-    double y = 2;
-    double z = 3;
-  }
-
-  message Orientation {
-    double x = 1;
-    double y = 2;
-    double z = 3;
-    double w = 4;
-  }
-
-  enum PlanningMode {
-    FLUID = 0;
-    CARTESIAN = 1;
-  }
-
-  message Pose {
-    Position position = 1;
-    Orientation orientation = 2;
-    PlanningMode mode = 3;
-  }
-
-  repeated Pose pose = 1;
-  bool loop = 2;
-}

ros3rag.common/src/main/resources/jastadd/types.connect

@@ -62,17 +62,3 @@ ConvertScene maps de.tudresden.inf.st.ceti.Scene pbScene to Scene {:
   }
   return result;
 :}
-
-ParseReachability maps byte[] bytes to de.tudresden.inf.st.ceti.Reachability {:
-  return de.tudresden.inf.st.ceti.Reachability.parseFrom(bytes);
-:}
-
-ConvertReachability maps de.tudresden.inf.st.ceti.Reachability r to CanReachObjectOfInterestWrapper {:
-  var result = new CanReachObjectOfInterestWrapper();
-  for (var objReach : r.getObjectsList()) {
-    if (objReach.getReachable()) {
-      result.addCanReachObjectOfInterest(new CanReachObjectOfInterest().setObjectName(objReach.getIdObject()));
-    }
-  }
-  return result;
-:}

ros3rag.common/src/main/resources/jastadd/types.jadd

@@ -165,14 +165,6 @@ aspect Navigation {
   syn LogicalMovableObject LogicalObjectOfInterest.asLogicalMovableObject() = null;
   eq LogicalMovableObject.asLogicalMovableObject() = this;
 
-  // --- isCollaborationZone ---
-  syn boolean DropOffLocation.isCollaborationZone() = false;
-  eq CollaborationZone.isCollaborationZone() = true;
-
-  // --- asCollaborationZone ---
-  syn CollaborationZone DropOffLocation.asCollaborationZone() = null;
-  eq CollaborationZone.asCollaborationZone() = this;
-
   inh Scene DropOffLocation.containingScene();
   inh Scene MovableObject.containingScene();
   inh Scene LogicalMovableObject.containingScene();

ros3rag.common/src/main/resources/jastadd/types.relast

@@ -5,26 +5,23 @@ Orientation ::= <X:double> <Y:double> <Z:double> <W:double> ;
 // Regions cannot be contained in scene, but must be retrieved via attribute
 Scene ::= DropOffLocation* MovableObject* RobotObject* /LogicalScene/ ;
 
-CanReachObjectOfInterestWrapper ::= CanReachObjectOfInterest* ;
 ObjectOfInterest ::= <Name:String> Position Size Orientation ;
 
 DropOffLocation : ObjectOfInterest ;
 MovableObject : ObjectOfInterest ;
 RobotObject : ObjectOfInterest ::= <Active:boolean> ;
 
-CanReachObjectOfInterest ::= <ObjectName:String> ;
-
 LogicalScene ::= LogicalRegion* LogicalMovableObject* ;
 LogicalObjectOfInterest ::= <Name:String> ;
 LogicalRegion : LogicalObjectOfInterest ;
 LogicalMovableObject : LogicalObjectOfInterest ::= <NameOfMyLocation> ;
 rel LogicalRegion.ContainedObject* <-> LogicalMovableObject.LocatedAt* ;
 
-// TODO could lead to problems when including this information and sending it
+// could lead to problems when including this information and sending it
 //rel LogicalMovableObject.MyLocation? -> DropOffLocation ;
 
 Region ::= <Name:String> <LocationNames> ;
 //rel Region.Location* <-> DropOffLocation.ContainedInRegion* ;
 
-// TODO should this be only in site-B??
+// only used in site-B, but needed here for parsing the scene
 CollaborationZone : DropOffLocation ;

ros3rag.placeA/src/main/resources/config-a-placeworld.yaml

-mqttHost: "192.168.0.122"
+#mqttHost: "192.168.0.122"
+mqttHost: "localhost"
 filenameRegions: "src/main/resources/regions-a-placeworld.json"
 forA:
   filenameInitialScene: "src/main/resources/config-scene-a-placeworld.json"

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

@@ -6,6 +6,20 @@ receive Robot.CanReachObjectOfInterestWrapper using ParseReachability, ConvertRe
 receive Robot.OwnedCollaborationZoneNames using ConfigChangeCommandCheckForOwnedCollaborationZone ;
 receive Robot.OccupiedCollaborationZoneNames using CommandCheckForOccupiedCollaborationZone ;
 
+ParseReachability maps byte[] bytes to de.tudresden.inf.st.ceti.Reachability {:
+  return de.tudresden.inf.st.ceti.Reachability.parseFrom(bytes);
+:}
+
+ConvertReachability maps de.tudresden.inf.st.ceti.Reachability r to CanReachObjectOfInterestWrapper {:
+  var result = new CanReachObjectOfInterestWrapper();
+  for (var objReach : r.getObjectsList()) {
+    if (objReach.getReachable()) {
+      result.addCanReachObjectOfInterest(new CanReachObjectOfInterest().setObjectName(objReach.getIdObject()));
+    }
+  }
+  return result;
+:}
+
 // --- sending ---
 send WorldModelB.NextOperation using PrintOperation ;
 

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

@@ -335,6 +335,14 @@ aspect AttributeMappings {
 }
 
 aspect Navigation {
+  // --- isCollaborationZone ---
+  syn boolean DropOffLocation.isCollaborationZone() = false;
+  eq CollaborationZone.isCollaborationZone() = true;
+
+  // --- asCollaborationZone ---
+  syn CollaborationZone DropOffLocation.asCollaborationZone() = null;
+  eq CollaborationZone.asCollaborationZone() = this;
+
   //--- worldModelB ---
   inh WorldModelB ASTNode.worldModelB();
   eq WorldModelB.getChild().worldModelB() = this;

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

@@ -6,6 +6,9 @@ Robot ::= <Name:String> CanReachObjectOfInterestWrapper <OwnedCollaborationZoneN
 //rel Robot.OwnedCollaborationZone* <-> CollaborationZone.Owner? ;
 //rel Robot.OccupiedCollaborationZone? <-> CollaborationZone.Occupient? ;
 
+CanReachObjectOfInterestWrapper ::= CanReachObjectOfInterest* ;
+CanReachObjectOfInterest ::= <ObjectName:String> ;
+
 abstract Difference ;
 rel Difference.Object -> LogicalMovableObject ;
 DifferenceObjectAtWrongPlace : Difference ;

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

@@ -22,7 +22,6 @@ import static de.tudresden.inf.st.ros3rag.common.Util.mqttUri;
  * @author rschoene - Initial contribution
  */
 public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
-  private final String TOPIC_DEMO_MOVE_objectRed1_RED;
   private final String TOPIC_MODEL_SVG_PATH;
 
   private de.tudresden.inf.st.ceti.Scene demo_scene;
@@ -30,7 +29,6 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
   MainB(String configFile) {
     super("place-b", UtilB.pathToDirectoryOfPlaceB().resolve(configFile));
 
-    this.TOPIC_DEMO_MOVE_objectRed1_RED = cellName + "/demo/move/objectRed1/red";
     this.TOPIC_MODEL_SVG_PATH = cellName + "/model/svg/path";
   }
 
@@ -46,26 +44,32 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
 
   @Override
   protected void createSpecificMainHandlerConnections() {
-    mainHandler.newConnection(TOPIC_DEMO_MOVE_objectRed1_RED, bytes ->
-        UtilB.updatePositionOfObjectToLocation(model.getMyScene(), "objectRed1", "binRed")
-    );
-    mainHandler.newConnection("demo/initial_scene", bytes -> {
+    mainHandler.newConnection("place-b/demo", bytes -> {
+      switch (new String(bytes)) {
+        case "objectRed1/red":
+          UtilB.updatePositionOfObjectToLocation(model.getMyScene(), "objectRed1", "binRed");
+          break;
+        case "initial_scene":
           try {
             demo_scene = Util.readScene(UtilB.pathToDirectoryOfPlaceB().resolve("src/main/resources/config-scene-b-placeworld-manual.json"));
             mainHandler.publish(config.forB.topicsSceneUpdate.get(0), demo_scene.toByteArray());
           } catch (IOException e) {
             e.printStackTrace();
           }
-    });
-    mainHandler.newConnection("demo/arm1/active", bytes ->
-        updateAndPublishScene("arm1", robot -> robot.toBuilder().setActive(true).build()));
-    mainHandler.newConnection("demo/arm1/inactive", bytes ->
-        updateAndPublishScene("arm1", robot -> robot.toBuilder().setActive(false).build()));
-    mainHandler.newConnection("demo/arm2/active", bytes ->
-        updateAndPublishScene("arm2", robot -> robot.toBuilder().setActive(true).build()));
-    mainHandler.newConnection("demo/arm2/inactive", bytes ->
-        updateAndPublishScene("arm2", robot -> robot.toBuilder().setActive(false).build()));
-    mainHandler.newConnection("demo/big-blue/cz", bytes ->
+          break;
+        case "arm1/active":
+          updateAndPublishScene("arm1", robot -> robot.toBuilder().setActive(true).build());
+          break;
+        case "arm1/inactive":
+          updateAndPublishScene("arm1", robot -> robot.toBuilder().setActive(false).build());
+          break;
+        case "arm2/active":
+          updateAndPublishScene("arm2", robot -> robot.toBuilder().setActive(true).build());
+          break;
+        case "arm2/inactive":
+          updateAndPublishScene("arm2", robot -> robot.toBuilder().setActive(false).build());
+          break;
+        case "big-blue/cz":
           updateAndPublishScene("bigBlue", bigBlue -> {
             Object.Builder builder = bigBlue.toBuilder();
             builder.getPosBuilder()
@@ -73,9 +77,9 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
                 .setY(0.65)
                 .setZ(0.94);
             return builder.build();
-        })
-    );
-    mainHandler.newConnection("demo/big-blue/g1", bytes ->
+          });
+          break;
+        case "big-blue/g1":
           updateAndPublishScene("bigBlue", bigBlue -> {
             Object.Builder builder = bigBlue.toBuilder();
             builder.getPosBuilder()
@@ -83,12 +87,16 @@ public class MainB extends SharedMainParts<MqttHandler, WorldModelB> {
                 .setY(1.0)
                 .setZ(0.93);
             return builder.build();
-        })
-    );
+          });
+          break;
+        default:
+          logger.error("Unknown demo command {}", new String(bytes));
+      }
+    });
   }
 
   private void updateAndPublishScene(String objectName, Function<Object, Object> change) {
-    UtilB.updateObject(demo_scene, objectName, change);
+    demo_scene = UtilB.updateObject(demo_scene, objectName, change);
     mainHandler.publish(config.forB.topicsSceneUpdate.get(0), demo_scene.toByteArray());
   }
 

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

-mqttHost: "192.168.0.122"
+#mqttHost: "192.168.0.122"
+mqttHost: "localhost"
 filenameRegions: "src/main/resources/regions-b-placeworld.json"
 forB:
   topicsSceneUpdate: