From ee8b94514a544dcd48ef9fa086d06b7abc769846 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Thu, 21 Apr 2022 17:16:06 +0200
Subject: [PATCH] working on use cases
- changes to protobuf not verified
- many changes are experimental still
---
.../st/ros3rag/common/SharedMainParts.java | 4 +--
.../src/main/proto/cgv_connector.proto | 20 ++++++++---
.../src/main/resources/jastadd/types.relast | 9 +++++
.../src/main/jastadd/WorldModelB.connect | 4 +--
.../src/main/jastadd/WorldModelB.jadd | 27 +++++++++++----
.../src/main/jastadd/WorldModelB.relast | 15 ++++++--
ros3rag.scaling.a/.gitignore | 5 +++
ros3rag.scaling.a/build.gradle | 33 ++++++++++++++++++
.../src/main/jastadd/ScalingModelA.connect | 1 +
.../src/main/jastadd/ScalingModelA.jadd | 18 ++++++++++
.../src/main/jastadd/ScalingModelA.relast | 4 +++
ros3rag.scaling.a/src/main/jastadd/shared | 1 +
.../st/scaling/a/ConfigurationScalingA.java | 24 +++++++++++++
.../inf/st/scaling/a/MainScalingA.java | 12 +++++++
.../src/main/resources/config-scaling-a.yml | 5 +++
.../src/main/resources/config-scene-a.json | 24 +++++++++++++
.../src/main/resources/log4j2.xml | 13 +++++++
ros3rag.scaling.b/.gitignore | 5 +++
ros3rag.scaling.b/build.gradle | 34 +++++++++++++++++++
ros3rag.scaling.b/src/main/jastadd/fromPlaceB | 1 +
.../st/scaling/b/ConfigurationScalingB.java | 29 ++++++++++++++++
.../inf/st/scaling/b/MainScalingB.java | 12 +++++++
settings.gradle | 3 ++
23 files changed, 286 insertions(+), 17 deletions(-)
create mode 100644 ros3rag.scaling.a/.gitignore
create mode 100644 ros3rag.scaling.a/build.gradle
create mode 100644 ros3rag.scaling.a/src/main/jastadd/ScalingModelA.connect
create mode 100644 ros3rag.scaling.a/src/main/jastadd/ScalingModelA.jadd
create mode 100644 ros3rag.scaling.a/src/main/jastadd/ScalingModelA.relast
create mode 120000 ros3rag.scaling.a/src/main/jastadd/shared
create mode 100644 ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/ConfigurationScalingA.java
create mode 100644 ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/MainScalingA.java
create mode 100644 ros3rag.scaling.a/src/main/resources/config-scaling-a.yml
create mode 100644 ros3rag.scaling.a/src/main/resources/config-scene-a.json
create mode 100644 ros3rag.scaling.a/src/main/resources/log4j2.xml
create mode 100644 ros3rag.scaling.b/.gitignore
create mode 100644 ros3rag.scaling.b/build.gradle
create mode 120000 ros3rag.scaling.b/src/main/jastadd/fromPlaceB
create mode 100644 ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/ConfigurationScalingB.java
create mode 100644 ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/MainScalingB.java
diff --git a/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
index b1127e1..2f443ae 100644
--- a/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
+++ b/ros3rag.common/src/main/java/de/tudresden/inf/st/ros3rag/common/SharedMainParts.java
@@ -54,7 +54,7 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
private Map<String, String> channelDescriptions() {
return new LinkedHashMap<>() {{
- put(TOPIC_MODEL, "Print current model (detailed if message starts with 'detail");
+ put(TOPIC_MODEL, "Print current model (detailed if message starts with 'detail')");
put(TOPIC_REWIND, "Rewind app to start");
put(TOPIC_EXIT, "Exit app");
}};
@@ -186,7 +186,7 @@ public abstract class SharedMainParts<MqttHandler extends SharedMainParts.MqttHa
private void logStatus(String message) {
logger.info(message);
String content = getModelInfos(model, message.equals("Start") || message.startsWith("detail"));
- logger.info("WorldModelB\n{}", content);
+ logger.info("WorldModel\n{}", content);
if (mainHandler != null) {
mainHandler.publish(TOPIC_STATUS, content.getBytes(StandardCharsets.UTF_8));
}
diff --git a/ros3rag.common/src/main/proto/cgv_connector.proto b/ros3rag.common/src/main/proto/cgv_connector.proto
index ca2f8c4..1488917 100644
--- a/ros3rag.common/src/main/proto/cgv_connector.proto
+++ b/ros3rag.common/src/main/proto/cgv_connector.proto
@@ -54,6 +54,7 @@ message Scene {
}
// the selection is done by the CGV framework and sent to ROS
+// FIXME can be removed
message Selection {
string id = 1; // the id corresponds to an id of an Object in a Scene
}
@@ -61,11 +62,22 @@ message Selection {
// vvv from rs vvv.
// Merged message to contain both pick and place in one
message MergedSelection {
- string idRobot = 1; // the id corresponds to and id of the robot Object that should execute this operation
- string idPick = 2; // the id corresponds to an id of the Object in a Scene to be picked
- string idPlace = 3; // the id corresponds to an id of the Object in a Scene where the picked object shall be placed
+ string idRobot = 1; // id of the robot that should execute this operation
+ string idPick = 2; // id of the object in the scene to be picked
+ string idPlace = 3; // id of the location the picked object shall be placed. TODO should be a position
}
+
+message ConfigChange {
+ string idCollaborationZone = 1; // id of collaboration zone to change
+ string idRobotNewOwner = 2; // id of robot that will become new owner
+}
+
+message Evacuate {
+ string idRobot = 1; // id of robot that need to move out of its currently defined collision objects
+}
+
// Reachability of objects, as reported by MoveIt
+// FIXME can be removed
message Reachability {
message ObjectReachability {
string idObject = 1; // the id of the object to reach
@@ -73,4 +85,4 @@ message Reachability {
}
string idRobot = 1; // the id of the robot arm
repeated ObjectReachability objects = 2; // all objects reachable
-}
\ No newline at end of file
+}
diff --git a/ros3rag.common/src/main/resources/jastadd/types.relast b/ros3rag.common/src/main/resources/jastadd/types.relast
index c99b527..8e2c8ba 100644
--- a/ros3rag.common/src/main/resources/jastadd/types.relast
+++ b/ros3rag.common/src/main/resources/jastadd/types.relast
@@ -19,3 +19,12 @@ LogicalDropOffLocation : LogicalObjectOfInterest ;
LogicalMovableObject : LogicalObjectOfInterest ;
rel LogicalDropOffLocation.ContainedObject* <-> LogicalMovableObject.LocatedAt? ;
// rs: assumption movable object can only be at one location at the same time, i.e., no overlapping locations
+
+// new as of 2022-04-21
+LocationMapping ::= LocationMappingPair* ;
+LocationMappingPair ;
+rel LocationMappingPair.Location -> LogicalDropOffLocation ;
+rel LocationMappingPair.Position* -> Position ; // TODO what is the target here? is it really Position?
+
+// should this be only in site-B??
+CollaborationZone : LogicalDropOffLocation ;
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
index 9e3097a..7949de6 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.connect
@@ -8,9 +8,9 @@ receive Robot.CanReachObjectOfInterestWrapper using ParseReachability, ConvertRe
send WorldModelB.NextOperation using PrintOperation ;
PrintOperation maps Operation op to byte[] {:
- var result = op.toMergedSelection();
+ byte[] result = op.toProtobufByteArray();
if (result == null) {
reject();
}
- return result.toByteArray();
+ return result;
:}
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
index 518e868..e88ebe7 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.jadd
@@ -203,23 +203,30 @@ aspect Computation {
//}
aspect AttributeMappings {
- //--- toMergedSelection ---
- syn de.tudresden.inf.st.ceti.MergedSelection Operation.toMergedSelection();
- eq ErrorOperation.toMergedSelection() {
+ //--- toProtobufByteArray ---
+ syn byte[] Operation.toProtobufByteArray() = null;
+ eq ErrorOperation.toProtobufByteArray() {
System.err.println(getErrorMessage());
return null;
}
- eq Pick.toMergedSelection() {
+ eq Pick.toProtobufByteArray() {
throw new RuntimeException("Separate Pick operation not supported yet!");
}
- eq Place.toMergedSelection() {
+ eq Place.toProtobufByteArray() {
throw new RuntimeException("Separate Place operation not supported yet!");
}
- eq PickAndPlace.toMergedSelection() = de.tudresden.inf.st.ceti.MergedSelection.newBuilder()
+ eq PickAndPlace.toProtobufByteArray() = de.tudresden.inf.st.ceti.MergedSelection.newBuilder()
.setIdRobot(getRobotToExecute().getName())
.setIdPick(getObjectToPick().getName())
.setIdPlace(getTargetLocation().getName())
- .build();
+ .build().toByteArray();
+ eq ConfigChange.toProtobufByteArray() = de.tudresden.inf.st.ceti.ConfigChange.newBuilder()
+ .setIdRobotNewOwner(getRobotToExecute().getName())
+ .setIdCollaborationZone(getCollaborationZone().getName())
+ .build().toByteArray();
+ eq Evacuate.toProtobufByteArray() = de.tudresden.inf.st.ceti.Evacuate.newBuilder()
+ .setIdRobot(getRobotToExecute().getName())
+ .build().toByteArray();
}
aspect Navigation {
@@ -263,6 +270,12 @@ aspect Printing {
eq ErrorOperation.prettyPrint() {
return "+Error: " + getErrorMessage() + "+";
}
+ eq ConfigChange.prettyPrint() {
+ return "+ConfigChange: " + getRobotToExecute().prettyPrint() + " owns " + getCollaborationZone().prettyPrint() + "+";
+ }
+ eq Evacuate.prettyPrint() {
+ return "+Evacuate: " + getRobotToExecute().prettyPrint() + "+";
+ }
}
aspect Resolving {
diff --git a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
index 8925831..2d26f86 100644
--- a/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
+++ b/ros3rag.placeB/src/main/jastadd/WorldModelB.relast
@@ -1,6 +1,8 @@
WorldModelB ::= Robot* [MyScene:Scene] OtherScene:LogicalScene* /NextOperation:Operation/ TestingOtherScene:LogicalScene* ;
-Robot ::= <Name:String> CanReachObjectOfInterestWrapper ;
+Robot ::= <Name:String> CanReachObjectOfInterestWrapper <Busy:boolean> ;
+rel Robot.OwnedCollaborationZone* <-> CollaborationZone.Owner? ;
+rel Robot.OccupiedCollaborationZone? <-> CollaborationZone.Occupient? ;
abstract Difference ;
rel Difference.Object -> LogicalMovableObject ;
@@ -14,10 +16,19 @@ rel DifferenceObjectMisplaced.PreviousLocation -> LogicalDropOffLocation ;
abstract Operation ;
rel Operation.RobotToExecute? -> Robot ;
ErrorOperation : Operation ::= <ErrorMessage:String> ;
+
Pick : Operation ;
-Place : Operation ;
rel Pick.ObjectToPick -> LogicalMovableObject ;
+
+Place : Operation ;
rel Place.TargetLocation -> LogicalDropOffLocation ;
+
PickAndPlace : Operation ;
rel PickAndPlace.ObjectToPick -> LogicalMovableObject ;
rel PickAndPlace.TargetLocation -> LogicalDropOffLocation ;
+
+ConfigChange : Operation ;
+rel ConfigChange.CollaborationZone -> LogicalDropOffLocation ;
+// TODO should be: rel ConfigChange.CollaborationZone -> CollaborationZone ;
+
+Evacuate : Operation ;
diff --git a/ros3rag.scaling.a/.gitignore b/ros3rag.scaling.a/.gitignore
new file mode 100644
index 0000000..87b4cdd
--- /dev/null
+++ b/ros3rag.scaling.a/.gitignore
@@ -0,0 +1,5 @@
+build
+src/gen-res/
+src/gen/
+out/
+*.class
diff --git a/ros3rag.scaling.a/build.gradle b/ros3rag.scaling.a/build.gradle
new file mode 100644
index 0000000..b858870
--- /dev/null
+++ b/ros3rag.scaling.a/build.gradle
@@ -0,0 +1,33 @@
+buildscript {
+ repositories.mavenCentral()
+ dependencies {
+ classpath group: 'org.jastadd', name: 'jastaddgradle', version: "${jastadd_gradle_version}"
+ }
+}
+
+plugins {
+ id 'ros3rag.java-application-conventions'
+ id 'ros3rag.java-ragconnect-conventions'
+}
+
+mainClassName = 'de.tudresden.inf.st.scaling.a.MainScalingA'
+
+task simpleRun(type: JavaExec) {
+ group 'application'
+ classpath sourceSets.main.runtimeClasspath
+ main = "de.tudresden.inf.st.placeA.SimpleMainA"
+
+}
+
+dependencies {
+ implementation project(':ros3rag.common')
+}
+
+ext.sharedJastAddDir = 'src/main/jastadd/shared'
+ext.ragConnectInputGrammar = 'src/main/jastadd/ScalingModelA.relast'
+ext.ragConnectInputConnect = 'src/main/jastadd/ScalingModelA.connect'
+ext.ragConnectRootNode = 'CompleteWorld'
+ext.relastFiles = ["src/gen/jastadd/ScalingModelA.relast", "src/gen/jastadd/RagConnect.relast"]
+ext.jastaddAstPackage = 'de.tudresden.inf.st.scaling.a.ast'
+
+apply from: '../ros3rag.common/src/main/resources/tasks.gradle'
diff --git a/ros3rag.scaling.a/src/main/jastadd/ScalingModelA.connect b/ros3rag.scaling.a/src/main/jastadd/ScalingModelA.connect
new file mode 100644
index 0000000..5908eeb
--- /dev/null
+++ b/ros3rag.scaling.a/src/main/jastadd/ScalingModelA.connect
@@ -0,0 +1 @@
+send indexed CompleteWorld.View ;
diff --git a/ros3rag.scaling.a/src/main/jastadd/ScalingModelA.jadd b/ros3rag.scaling.a/src/main/jastadd/ScalingModelA.jadd
new file mode 100644
index 0000000..35fd74c
--- /dev/null
+++ b/ros3rag.scaling.a/src/main/jastadd/ScalingModelA.jadd
@@ -0,0 +1,18 @@
+aspect Computation {
+ syn JastAddList<LogicalScene> CompleteWorld.getViewList() {
+ JastAddList<LogicalScene> result = new JastAddList<>();
+ for (int i = 0, length = getNumberOfViews(); i < length; i++) {
+ LogicalScene view = new LogicalScene();
+
+ result.addChild(view);
+ }
+ return result;
+ }
+}
+
+aspect RagConnectFixes {
+ // FIXME (in ragconnect) when sending list NTAs, the reset method is wrong.
+ private void CompleteWorld.getView_reset() {
+ getViewList_reset();
+ }
+}
diff --git a/ros3rag.scaling.a/src/main/jastadd/ScalingModelA.relast b/ros3rag.scaling.a/src/main/jastadd/ScalingModelA.relast
new file mode 100644
index 0000000..939c122
--- /dev/null
+++ b/ros3rag.scaling.a/src/main/jastadd/ScalingModelA.relast
@@ -0,0 +1,4 @@
+//CompleteWorld ::= <NumberOfViews:int> <DistributionStrategy> /View:WorldModelA*/ ;
+//WorldModelA ::= [Scene] /LogicalScene/ ;
+
+CompleteWorld ::= LogicalScene <NumberOfViews:int> <DistributionStrategy> /View:LogicalScene*/ ;
diff --git a/ros3rag.scaling.a/src/main/jastadd/shared b/ros3rag.scaling.a/src/main/jastadd/shared
new file mode 120000
index 0000000..6a2416e
--- /dev/null
+++ b/ros3rag.scaling.a/src/main/jastadd/shared
@@ -0,0 +1 @@
+../../../../ros3rag.common/src/main/resources/jastadd
\ No newline at end of file
diff --git a/ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/ConfigurationScalingA.java b/ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/ConfigurationScalingA.java
new file mode 100644
index 0000000..6d27c44
--- /dev/null
+++ b/ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/ConfigurationScalingA.java
@@ -0,0 +1,24 @@
+package de.tudresden.inf.st.scaling.a;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+
+import java.util.List;
+
+/**
+ * New Data class for initial configuration.
+ *
+ * @author rschoene - Initial contribution
+ */
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class ConfigurationScalingA {
+ public String mqttHost;
+ public String filenameInitialScene;
+ public String coordinatorMqttTopicPrefix;
+
+ public int numberOfViews;
+ public String distributionStrategy;
+
+ public boolean useCoordinator() {
+ return coordinatorMqttTopicPrefix != null;
+ }
+}
diff --git a/ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/MainScalingA.java b/ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/MainScalingA.java
new file mode 100644
index 0000000..3959d84
--- /dev/null
+++ b/ros3rag.scaling.a/src/main/java/de/tudresden/inf/st/scaling/a/MainScalingA.java
@@ -0,0 +1,12 @@
+package de.tudresden.inf.st.scaling.a;
+
+/**
+ * TODO: Add description.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class MainScalingA {
+ public static void main(String[] args) {
+ System.out.println("Hi A");
+ }
+}
diff --git a/ros3rag.scaling.a/src/main/resources/config-scaling-a.yml b/ros3rag.scaling.a/src/main/resources/config-scaling-a.yml
new file mode 100644
index 0000000..6d1ddfb
--- /dev/null
+++ b/ros3rag.scaling.a/src/main/resources/config-scaling-a.yml
@@ -0,0 +1,5 @@
+mqttHost: "localhost"
+filenameInitialScene: "src/main/resources/config-scene-a.json"
+coordinatorMqttTopicPrefix: "coordinating/rag-a"
+numberOfViews: 5
+distributionStrategy: "random"
diff --git a/ros3rag.scaling.a/src/main/resources/config-scene-a.json b/ros3rag.scaling.a/src/main/resources/config-scene-a.json
new file mode 100644
index 0000000..92b9ce4
--- /dev/null
+++ b/ros3rag.scaling.a/src/main/resources/config-scene-a.json
@@ -0,0 +1,24 @@
+{ "objects": [
+ { "id": "tablePillar1","pos": { "x": 0.77,"y": 0.77,"z": 0.325 },"size": { "length": 0.06,"width": 0.06,"height": 0.65 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } },
+ { "id": "tablePillar2","pos": { "x": -0.77,"y": -0.77,"z": 0.325 },"size": { "length": 0.06,"width": 0.06,"height": 0.65 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } },
+ { "id": "tablePillar3","pos": { "x": -0.77,"y": 0.77,"z": 0.325 },"size": { "length": 0.06,"width": 0.06,"height": 0.65 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } },
+ { "id": "tablePillar4","pos": { "x": 0.77,"y": -0.77,"z": 0.325 },"size": { "length": 0.06,"width": 0.06,"height": 0.65 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } },
+ { "id": "table","pos": { "z": 0.7 },"size": { "length": 1.6,"width": 1.6,"height": 0.1 },"orientation": { "w": 1 },"color": { "r": 255,"g": 222,"b": 173 } },
+ { "id": "binBlue","type": "DROP_OFF_LOCATION","pos": { "x": -0.34,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "b": 1 } },
+ { "id": "binRed","type": "DROP_OFF_LOCATION","pos": { "x": 0.06,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1 } },
+ { "id": "binGreen","type": "DROP_OFF_LOCATION","pos": { "x": 0.46,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "g": 1 } },
+ { "id": "binYellow","type": "DROP_OFF_LOCATION","pos": { "x": 1.46,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "g": 1 } },
+ { "id": "binPurple","type": "DROP_OFF_LOCATION","pos": { "x": 2.46,"y": 0.49,"z": 0.8325 },"size": { "length": 0.21,"width": 0.3,"height": 0.165 },"orientation": { "w": 1 },"color": { "r": 1, "b": 1 } },
+ { "id": "objectRed1","type": "BOX","pos": { "x": 0.5,"y": -0.1,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } },
+ { "id": "objectRed2","type": "BOX","pos": { "x": 0.25,"y": -0.2,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "w": 1 },"color": { "r": 1 } },
+ { "id": "objectRed3","type": "BOX","pos": { "x": -0.4,"z": 0.819 },"size": { "length": 0.031,"width": 0.031,"height": 0.138 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1 } },
+ { "id": "objectGreen1","type": "BOX","pos": { "x": 0.45,"y": -0.3,"z": 0.8105 },"size": {"length":0.031,"width":0.062,"height":0.121},"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "g": 1 } },
+ { "id": "objectGreen2","type": "BOX","pos": { "x": -0.45,"y": -0.2,"z": 0.8105 },"size": {"length":0.031,"width":0.031,"height":0.138},"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "g": 1 } },
+ { "id": "objectGreen3","type": "BOX","pos": { "x": 0.1,"y": -0.3,"z": 0.819 },"size": {"length":0.031,"width":0.062,"height":0.121},"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "g": 1 } },
+ { "id": "objectBlue1","type": "BOX","pos": { "x": 0.25,"y": -0.4,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "b": 1 } },
+ { "id": "objectBlue2","type": "BOX","pos": { "x": -0.3,"y": -0.3,"z": 0.8105 },"size": { "length": 0.031,"width": 0.062,"height": 0.121 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "b": 1 } },
+ { "id": "objectBlue3","type": "BOX","pos": { "x": 0.4,"z": 0.819 },"size": { "length": 0.031,"width": 0.031,"height": 0.138 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "b": 1 } },
+ { "id": "objectYellow1","type": "BOX","pos": { "x": 0.4,"z": 0.819 },"size": { "length": 0.031,"width": 0.031,"height": 0.138 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1, "g": 1 } },
+ { "id": "objectPurple1","type": "BOX","pos": { "x": 0.3,"z": 0.819 },"size": { "length": 0.031,"width": 0.031,"height": 0.138 },"orientation": { "z": 0.382683,"w": 0.92388 },"color": { "r": 1, "b": 1 } },
+ { "id": "arm","type": "ARM","pos": { "z": 0.75 },"size": { },"orientation": { "w": 1 },"color": { "r": 1.00,"g": 1.00,"b": 1.00 } }
+] }
diff --git a/ros3rag.scaling.a/src/main/resources/log4j2.xml b/ros3rag.scaling.a/src/main/resources/log4j2.xml
new file mode 100644
index 0000000..98d9c02
--- /dev/null
+++ b/ros3rag.scaling.a/src/main/resources/log4j2.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Configuration status="INFO">
+ <Appenders>
+ <Console name="Console" target="SYSTEM_OUT">
+ <PatternLayout pattern="%d{HH:mm:ss.SSS} [%t] %-5level %logger{1.} - %msg%n"/>
+ </Console>
+ </Appenders>
+ <Loggers>
+ <Root level="debug">
+ <AppenderRef ref="Console"/>
+ </Root>
+ </Loggers>
+</Configuration>
diff --git a/ros3rag.scaling.b/.gitignore b/ros3rag.scaling.b/.gitignore
new file mode 100644
index 0000000..87b4cdd
--- /dev/null
+++ b/ros3rag.scaling.b/.gitignore
@@ -0,0 +1,5 @@
+build
+src/gen-res/
+src/gen/
+out/
+*.class
diff --git a/ros3rag.scaling.b/build.gradle b/ros3rag.scaling.b/build.gradle
new file mode 100644
index 0000000..27c72a4
--- /dev/null
+++ b/ros3rag.scaling.b/build.gradle
@@ -0,0 +1,34 @@
+buildscript {
+ repositories.mavenLocal()
+ repositories.mavenCentral()
+ dependencies {
+ classpath group: 'org.jastadd', name: 'jastaddgradle', version: "${jastadd_gradle_version}"
+ }
+}
+
+plugins {
+ id 'ros3rag.java-application-conventions'
+ id 'ros3rag.java-ragconnect-conventions'
+}
+
+mainClassName = 'de.tudresden.inf.st.scaling.b.MainScalingB'
+
+task simpleRun(type: JavaExec) {
+ group 'application'
+ classpath sourceSets.main.runtimeClasspath
+ main = "de.tudresden.inf.st.placeB.SimpleMainB"
+}
+
+dependencies {
+ implementation project(':ros3rag.common')
+ testImplementation group: 'org.junit.jupiter', name: 'junit-jupiter-params', version: "${jupiter_version}"
+}
+
+ext.sharedJastAddDir = 'src/main/jastadd/fromPlaceB/shared'
+ext.ragConnectInputGrammar = 'src/main/jastadd/fromPlaceB/WorldModelB.relast'
+ext.ragConnectInputConnect = 'src/main/jastadd/fromPlaceB/WorldModelB.connect'
+ext.ragConnectRootNode = 'WorldModelB'
+ext.relastFiles = ["src/gen/jastadd/WorldModelB.relast", "src/main/jastadd/fromPlaceB/BFS/BFS.relast", "src/main/jastadd/fromPlaceB/RobotReachabilityToBFS.relast", "src/gen/jastadd/RagConnect.relast"]
+ext.jastaddAstPackage = 'de.tudresden.inf.st.scaling.b.ast'
+
+apply from: '../ros3rag.common/src/main/resources/tasks.gradle'
diff --git a/ros3rag.scaling.b/src/main/jastadd/fromPlaceB b/ros3rag.scaling.b/src/main/jastadd/fromPlaceB
new file mode 120000
index 0000000..1a094a0
--- /dev/null
+++ b/ros3rag.scaling.b/src/main/jastadd/fromPlaceB
@@ -0,0 +1 @@
+../../../../ros3rag.placeB/src/main/jastadd
\ No newline at end of file
diff --git a/ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/ConfigurationScalingB.java b/ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/ConfigurationScalingB.java
new file mode 100644
index 0000000..bdbd643
--- /dev/null
+++ b/ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/ConfigurationScalingB.java
@@ -0,0 +1,29 @@
+package de.tudresden.inf.st.scaling.b;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+
+import java.util.List;
+
+/**
+ * New Data class for initial configuration.
+ *
+ * @author rschoene - Initial contribution
+ */
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class ConfigurationScalingB {
+ public String mqttHost;
+ public String filenameInitialScene;
+ public boolean useReachability;
+ public String coordinatorMqttTopicPrefix;
+ public List<ReachabilityConfig> reachability;
+ public int numberOfRobots;
+
+ public static class ReachabilityConfig {
+ public String idRobot;
+ public String filename;
+ }
+
+ public boolean useCoordinator() {
+ return coordinatorMqttTopicPrefix != null;
+ }
+}
diff --git a/ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/MainScalingB.java b/ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/MainScalingB.java
new file mode 100644
index 0000000..c9c8f8c
--- /dev/null
+++ b/ros3rag.scaling.b/src/main/java/de/tudresden/inf/st/scaling/b/MainScalingB.java
@@ -0,0 +1,12 @@
+package de.tudresden.inf.st.scaling.b;
+
+/**
+ * TODO: Add description.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class MainScalingB {
+ public static void main(String[] args) {
+ System.out.println("Hi B");
+ }
+}
diff --git a/settings.gradle b/settings.gradle
index 19ff0e6..7f2471d 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -9,3 +9,6 @@ rootProject.name = 'ros3rag'
include 'ros3rag.placeA'
include 'ros3rag.placeB'
include 'ros3rag.common'
+
+include 'ros3rag.scaling.a'
+include 'ros3rag.scaling.b'
--
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