begin with read scene for place b

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

@@ -5,11 +5,13 @@ import com.fasterxml.jackson.databind.DeserializationFeature;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.dataformat.yaml.YAMLFactory;
 import com.fasterxml.jackson.dataformat.yaml.YAMLParser;
+import com.google.protobuf.util.JsonFormat;
 import de.tudresden.inf.st.ros3rag.common.DataConfiguration.ActualConfiguration;
 
 import java.io.File;
 import java.io.IOException;
 import java.net.URI;
+import java.nio.file.Files;
 import java.util.Map;
 import java.util.SortedMap;
 
@@ -66,6 +68,14 @@ public class Util {
     return result;
   }
 
+
+  public static de.tudresden.inf.st.ceti.Scene readScene(java.nio.file.Path path) throws java.io.IOException {
+    var jsonString = Files.readString(path);
+    var builder = de.tudresden.inf.st.ceti.Scene.newBuilder();
+    JsonFormat.parser().merge(jsonString, builder);
+    return builder.build();
+  }
+
   private static class HostAndPort {
     String host;
     int port;

ros3rag.placeA/src/main/java/de/tudresden/inf/st/placeA/SimpleMainA.java

@@ -13,6 +13,8 @@ import java.nio.file.Paths;
 import java.util.Scanner;
 import java.util.concurrent.TimeUnit;
 
+import static de.tudresden.inf.st.ros3rag.common.Util.readScene;
+
 /**
  * Testing features for placeA.
  *
@@ -62,22 +64,14 @@ public class SimpleMainA {
     model.getScene().connectLogicalScene("mqtt://localhost/logical/scene/update", true);
   }
 
-  private static de.tudresden.inf.st.ceti.Scene readScene(java.nio.file.Path path) throws java.io.IOException {
-    var jsonString = Files.readString(path);
-    var builder = de.tudresden.inf.st.ceti.Scene.newBuilder();
-    JsonFormat.parser().merge(jsonString, builder);
-    return builder.build();
-  }
-
   @SuppressWarnings("rawtypes")
-  static class ExposingASTNode extends ASTNode {
-    public static Scene _apply_ConvertScene(de.tudresden.inf.st.ceti.Scene pbScene) throws Exception {
+  private static Scene convert(de.tudresden.inf.st.ceti.Scene scene) throws Exception {
+    class ExposingASTNode extends ASTNode {
+      public Scene my_apply_ConvertScene(de.tudresden.inf.st.ceti.Scene pbScene) throws Exception {
         return ASTNode._apply_ConvertScene(pbScene);
       }
     }
-
-  private static Scene convert(de.tudresden.inf.st.ceti.Scene scene) throws Exception {
-    return ExposingASTNode._apply_ConvertScene(scene);
+    return new ExposingASTNode().my_apply_ConvertScene(scene);
   }
 
   @SuppressWarnings("unused")

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

 package de.tudresden.inf.st.placeB;
 
 import de.tudresden.inf.st.placeB.ast.*;
+import de.tudresden.inf.st.ros3rag.common.Util;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 
+import java.nio.file.Paths;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+
+import static de.tudresden.inf.st.ros3rag.common.Util.readScene;
+
 /**
  * Testing features for placeB.
  *
@@ -11,12 +18,78 @@ import org.apache.logging.log4j.Logger;
  */
 public class SimpleMainB {
   private static final Logger logger = LogManager.getLogger(SimpleMainB.class);
+  private MqttHandler mainHandler;
+  private WorldModelB model;
+
+  public static void main(String[] args) throws Exception {
+    new SimpleMainB().run(args);
+  }
+
+  private void run(String[] args) throws Exception {
+//    testBuildModelB();
+    testReceivingModelB();
+  }
+
+  private void testReceivingModelB() throws Exception {
+    final var path = Paths.get("..", "ros3rag.common", "src", "main", "resources", "config_scene.json");
+
+    model = new WorldModelB();
+
+    de.tudresden.inf.st.ceti.Scene scene = readScene(path);
+    Scene myScene = convert(scene);
+    model.setMyScene(myScene);
+
+    model.ragconnectCheckIncremental();
+    model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
+
+    model.connectOtherScene("mqtt://localhost/logical/scene/update");
+
+    logStatus("Start");
+    CountDownLatch exitCondition = new CountDownLatch(1);
+
+    logger.info("To print the current model states, send a message to the topic 'model'.");
+    logger.info("To exit the system cleanly, send a message to the topic 'exit', or use Ctrl+C.");
 
-  public static void main(String[] args) {
-    testBuildModelB();
+    mainHandler = new MqttHandler("mainHandler").dontSendWelcomeMessage();
+//    Util.setMqttHost(mainHandler::setHost, config);
+    mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
+    mainHandler.newConnection("exit", bytes -> exitCondition.countDown());
+    mainHandler.newConnection("model", bytes -> logStatus(new String(bytes)));
+
+//    sendInitialDataConfig(mainHandler, config.topics.dataConfig);
+
+    Runtime.getRuntime().addShutdownHook(new Thread(this::close));
+
+    exitCondition.await();
+
+    this.close();
+  }
+
+  private void logStatus(String message) {
+    logger.info(message);
+    // more information to be added later
+    printModelInfos(model);
+  }
+
+  private void close() {
+    logger.info("Exiting ...");
+    mainHandler.close();
+    model.ragconnectCloseConnections();
+  }
+
+
+  @SuppressWarnings("rawtypes")
+  private static Scene convert(de.tudresden.inf.st.ceti.Scene scene) throws Exception {
+    class ExposingASTNode extends ASTNode {
+      public Scene my_apply_ConvertScene(de.tudresden.inf.st.ceti.Scene pbScene) throws Exception {
+        return ASTNode._apply_ConvertScene(pbScene);
+      }
+    }
+    return new ExposingASTNode().my_apply_ConvertScene(scene);
   }
 
-  private static void testBuildModelB() {
+  @SuppressWarnings("unused")
+  private void testBuildModelB() {
     WorldModelB model = new WorldModelB();
 
     // robots