Merge pull request #3 from sjdayday/master

generalize from Morse to Mover, and use released artifacts, not snapshots.  Supports the functions in this paper:  http://arxiv.org/abs/1607.06875
Tagged as "paper"

analyzer.sh

@@ -2,6 +2,6 @@
 #sh starter.sh &
 export ECG_FED=FED1
 export JYTHONPATH=../ecg_framework_code/build/compling.core.jar:../ecg_framework_code/src/main/nluas/language
-jython -J-Xmx3g -m analyzer ../ecg_grammars/compRobots.prefs 
+jython -J-Xmx5g -m analyzer ../ecg_grammars/compRobots.prefs 
 #jython -m analyzer ../ecg_grammars/compRobots.prefs 
 #python3 src/main/robots/robots_ui.py AgentUI 

src/main/robots/queue_solver.py

@@ -43,6 +43,7 @@ def __init__(self, commandQ, solver, simulator):
 ##        print('SolverCommandProcessor init complete')
 
     def checkAndRunCommand(self):
+        #print('queue_solver.checkAndRunCommand') 
         if not self.commandQ.empty():
             if (self.next_command_priority() < self.last_command_priority()) or self.command_done or self.other_command_done or (self.continue_dequeue and self.suspended_command_completed):
                 command = self.commandQ.get()
@@ -122,6 +123,7 @@ def set_continue_expected(self, expected):
 
 
     def propertyChange(self,javaObject):
+        #print('queue_solver.propertyChange: ',javaObject.getPropertyName())
         if javaObject.getPropertyName() == 'state updated':  
             #print('SolverCommandProcessor propertyChange, about to check and run command')
             self.checkAndRunCommand()

src/main/robots/xnet_worker.py

@@ -41,7 +41,6 @@ def build_xnet(self, xnet):
 
     def add_command_processor_as_listener(self, listener):
         # listen to all state changes; used to get control to check for new commands
-##        print('in simulator.addCommandProcessorAsListener')
         self.command_processor_listener = listener
         if not self.xnet == None:
             self.xnet.listenAllStateChanges(self.command_processor_listener)
@@ -114,4 +113,4 @@ def start(self):
         self.started = True
 
     def isStarted(self): 
-        return self.started 
+        return self.started 

src/main/robots/xschema/jvm.py

@@ -11,7 +11,7 @@ class PetriNetJVM:
     alreadyRunning = False
     def __init__(self):
         if not PetriNetJVM.alreadyRunning:
-            cp = '-Djava.class.path=$M2REPO/uk/ac/imperial/pipe-core/1.0.3-SNAPSHOT/pipe-core-1.0.3-SNAPSHOT.jar:$M2REPO/uk/ac/imperial/pipe-markov-chain/1.0.2-SNAPSHOT/pipe-markov-chain-1.0.2-SNAPSHOT.jar:$M2REPO/org/apache/logging/log4j/log4j-api/2.3/log4j-api-2.3.jar:$M2REPO/org/apache/logging/log4j/log4j-core/2.3/log4j-core-2.3.jar:$M2REPO/com/esotericsoftware/kryo/kryo/2.24.0/kryo-2.24.0.jar:$M2REPO/com/esotericsoftware/minlog/minlog/1.2/minlog-1.2.jar:$M2REPO/org/objenesis/objenesis/2.1/objenesis-2.1.jar:$M2REPO/org/codehaus/jackson/jackson-mapper-asl/1.9.13/jackson-mapper-asl-1.9.13.jar:$M2REPO/org/codehaus/jackson/jackson-core-asl/1.9.13/jackson-core-asl-1.9.13.jar:$M2REPO/commons-logging/commons-logging/1.1.3/commons-logging-1.1.3.jar:$M2REPO/commons-beanutils/commons-beanutils/1.8.3/commons-beanutils-1.8.3.jar:$M2REPO/commons-collections/commons-collections/3.0/commons-collections-3.0.jar:$M2REPO/commons-io/commons-io/1.3.2/commons-io-1.3.2.jar:$M2REPO/com/google/guava/guava/17.0/guava-17.0.jar:$M2REPO/de/twentyeleven/skysail/jgraphx-osgi/1.10.3.1/jgraphx-osgi-1.10.3.1.jar:$M2REPO/org/antlr/antlr4/4.2/antlr4-4.2.jar:$M2REPO/org/antlr/antlr4-runtime/4.2/antlr4-runtime-4.2.jar:$M2REPO/org/abego/treelayout/org.abego.treelayout.core/1.0.1/org.abego.treelayout.core-1.0.1.jar:$M2REPO/org/antlr/antlr4-annotations/4.2/antlr4-annotations-4.2.jar:$M2REPO/org/antlr/antlr-runtime/3.5/antlr-runtime-3.5.jar:$M2REPO/org/antlr/stringtemplate/3.2.1/stringtemplate-3.2.1.jar:$M2REPO/antlr/antlr/2.7.7/antlr-2.7.7.jar:$M2REPO/org/antlr/ST4/4.0.7/ST4-4.0.7.jar:$M2REPO/javax/json/javax.json-api/1.0/javax.json-api-1.0.jar:$M2REPO/org/glassfish/javax.json/1.0.4/javax.json-1.0.4.jar:$M2REPO/edu/berkeley/icsi/robot-xnet/1.0.1-SNAPSHOT/robot-xnet-1.0.1-SNAPSHOT.jar'
+            cp = '-Djava.class.path=$M2REPO/uk/ac/imperial/pipe-core/1.1.0/pipe-core-1.1.0.jar:$M2REPO/uk/ac/imperial/pipe-markov-chain/1.1.0/pipe-markov-chain-1.1.0.jar:$M2REPO/org/apache/logging/log4j/log4j-api/2.3/log4j-api-2.3.jar:$M2REPO/org/apache/logging/log4j/log4j-core/2.3/log4j-core-2.3.jar:$M2REPO/com/esotericsoftware/kryo/kryo/2.24.0/kryo-2.24.0.jar:$M2REPO/com/esotericsoftware/minlog/minlog/1.2/minlog-1.2.jar:$M2REPO/org/objenesis/objenesis/2.1/objenesis-2.1.jar:$M2REPO/org/codehaus/jackson/jackson-mapper-asl/1.9.13/jackson-mapper-asl-1.9.13.jar:$M2REPO/org/codehaus/jackson/jackson-core-asl/1.9.13/jackson-core-asl-1.9.13.jar:$M2REPO/commons-logging/commons-logging/1.1.3/commons-logging-1.1.3.jar:$M2REPO/commons-beanutils/commons-beanutils/1.8.3/commons-beanutils-1.8.3.jar:$M2REPO/commons-collections/commons-collections/3.0/commons-collections-3.0.jar:$M2REPO/commons-io/commons-io/1.3.2/commons-io-1.3.2.jar:$M2REPO/com/google/guava/guava/17.0/guava-17.0.jar:$M2REPO/de/twentyeleven/skysail/jgraphx-osgi/1.10.3.1/jgraphx-osgi-1.10.3.1.jar:$M2REPO/org/antlr/antlr4/4.2/antlr4-4.2.jar:$M2REPO/org/antlr/antlr4-runtime/4.2/antlr4-runtime-4.2.jar:$M2REPO/org/abego/treelayout/org.abego.treelayout.core/1.0.1/org.abego.treelayout.core-1.0.1.jar:$M2REPO/org/antlr/antlr4-annotations/4.2/antlr4-annotations-4.2.jar:$M2REPO/org/antlr/antlr-runtime/3.5/antlr-runtime-3.5.jar:$M2REPO/org/antlr/stringtemplate/3.2.1/stringtemplate-3.2.1.jar:$M2REPO/antlr/antlr/2.7.7/antlr-2.7.7.jar:$M2REPO/org/antlr/ST4/4.0.7/ST4-4.0.7.jar:$M2REPO/javax/json/javax.json-api/1.0/javax.json-api-1.0.jar:$M2REPO/org/glassfish/javax.json/1.0.4/javax.json-1.0.4.jar:$M2REPO/edu/berkeley/icsi/robot-xnet/1.0.1/robot-xnet-1.0.1.jar'
             expcp = os.path.expandvars(cp)
             log4jdir = '-Dlog4j.configurationFile=${PWD}/src/main/log4j2.xml'
             explog4jdir = os.path.expandvars(log4jdir)

src/main/robots/xschema/moveXnet.py

@@ -24,61 +24,61 @@ def setpos(self, pos):
         self.pos = Struct(**pos)
 
     def currentLocation(self, currentX, currentY):
-        self.morseChannel.updateCurrentLocation(currentX+0.0, currentY+0.0)
+        self.motionChannel.updateCurrentLocation(currentX+0.0, currentY+0.0)
 
     def targetLocation(self, targetX, targetY):
 ##        print('move x, y: ', targetX, targetY)
-        self.morseChannel.updateTargetLocation(targetX+0.0, targetY+0.0)
+        self.motionChannel.updateTargetLocation(targetX+0.0, targetY+0.0)
 
     def setSpeed(self, speed):
-        self.morseChannel.setSpeed(speed+0.0)
+        self.motionChannel.setSpeed(speed+0.0)
 
     def setTolerance(self, tolerance):
-        self.morseChannel.setTolerance(tolerance+0.0)
+        self.motionChannel.setTolerance(tolerance+0.0)
 
     def setCollide(self, collide):
-        self.morseChannel.setCollide(collide)
+        self.motionChannel.setCollide(collide)
 
-    def moveMorse(self, command): 
+    def moveMover(self, command): 
         motion = command['motion']
         #where = { 'x':['x'], 'y':['y'], 'z':0.0, 'collide':False, 'speed':2.0, 'tolerance':4}
         #print(self.printts(), 'where: ', motion)
         self.robot.motion.publish(motion)
         #TODO sleeping should be done in the xnet Wait timed transition, when it works  
         #self.robot._morse.sleep(0.1)
 
-    def suspendMorse(self, command):
-        #print('suspendMorse')
+    def suspendMover(self, command):
+        #print('suspendMover')
         self.robot.motion.stop()
 
-    def resumeMorse(self, command):
-        #print('resumeMorse')
+    def resumeMover(self, command):
+        #print('resumeMover')
         self.robot.motion.resume()
 
-    def restartMorse(self, command):
-        #print('restartMorse')
+    def restartMover(self, command):
+        #print('restartMover')
         #TODO 
         self.robot.motion.resume()
 
-    def updateMorsePosition(self, command):
-        #print('updateMorsePosition', self.pos.x, self.pos.y)
+    def updateMoverPosition(self, command):
+        #print('updateMoverPosition', self.pos.x, self.pos.y)
         self.currentLocation(self.pos.x, self.pos.y)
         #self.robot._morse.sleep(0.1)
         #TODO 
         #self.robot.motion.resume()
         if self.robot.motion.get_status() == 'Arrived':
            #print('arrived!')
-           self.morseChannel.setStatus(2)  
+           self.motionChannel.setStatus(2)  
            # 2 = arrived
 
-    def callMorse(self, commandJson): 
-##        print('in callMorse') 
+    def callMover(self, commandJson): 
+##        print('in callMover') 
         command = json.loads(commandJson)
         #self.queue.put(command)
         #print('command dict: ', command)
         #TODO:  validate
         methodName = command['command']
-        #print(self.printts(), ' callMorse: method to invoke: ',methodName)
+        #print(self.printts(), ' callMover: method to invoke: ',methodName)
         #print(self.__dict__) 
         self.commands[methodName](self,command)
         # yield to other threads 
@@ -97,21 +97,21 @@ def addCommand(self, command):
     def buildCommands(self):
         #print(self.__dict__) 
         self.commands = {}
-        self.addCommand('moveMorse')
-        self.addCommand('suspendMorse')
-        self.addCommand('resumeMorse')
-        self.addCommand('restartMorse')
-        self.addCommand('updateMorsePosition')
+        self.addCommand('moveMover')
+        self.addCommand('suspendMover')
+        self.addCommand('resumeMover')
+        self.addCommand('restartMover')
+        self.addCommand('updateMoverPosition')
         #print('commands: ',self.commands)
 
     def setup(self):
-        self.morseChannel = JClass('edu.berkeley.icsi.xnet.MorseChannel')()
-        proxy = JProxy('edu.berkeley.icsi.xnet.Morse', inst=self)
-        self.morseChannel.setMorse(proxy)
-        self.runner.setTransitionContext("Move", self.morseChannel);           
-        self.runner.setTransitionContext("SuspendT", self.morseChannel);           
-        self.runner.setTransitionContext("ResumeT", self.morseChannel);           
-        self.runner.setTransitionContext("RestartT", self.morseChannel);           
+        self.motionChannel = JClass('edu.berkeley.icsi.xnet.MotionChannel')()
+        proxy = JProxy('edu.berkeley.icsi.xnet.Mover', inst=self)
+        self.motionChannel.setMover(proxy)
+        self.runner.setTransitionContext("Move", self.motionChannel);           
+        self.runner.setTransitionContext("SuspendT", self.motionChannel);           
+        self.runner.setTransitionContext("ResumeT", self.motionChannel);           
+        self.runner.setTransitionContext("RestartT", self.motionChannel);           
 
         self.buildCommands()
 ##        print('MoveXnet setup complete')

src/main/robots/xschema/petrinet.py

@@ -19,6 +19,7 @@ def printts(self):
         return st
 
     def printState(self):
+        #print('in printState')
         stateList = []
         state = self.javaObject.getNewValue().state
         it = state.getPlaces().iterator()
@@ -34,6 +35,7 @@ def printState(self):
         #print(self.printts(), stateList)
 
     def propertyChange(self,javaObject):
+        #print('firing listener property change: ', javaObject.getPropertyName()) 
         if javaObject.getPropertyName() == 'state updated':  
             self.javaObject = javaObject
             self.printState()
@@ -78,19 +80,21 @@ def updateAttribute(self, value):
         #print(self.petrinet.__dict__)
 
     def propertyChange(self,javaObject):
+        #print('petrinet.propertyChange: ',javaObject.getPropertyName())
         #print(self.printts(), 'updated place ', end='')
         #print(self.placeId, end='')
         #print(': ', end='')
         #print(javaObject.getNewValue())
-        self.javaObject = javaObject
-        self.count = self.convertObjectToDigit()
-        # updateTargetField delegated to subclasses
-        self.updateTargetField()
-        if self.call_evaluator():
-            if self.evaluatorArgs is None:
-                self.evaluator()
-            else: 
-                self.evaluator(self.evaluatorArgs)
+        if javaObject.getPropertyName() == 'tokens':
+            self.javaObject = javaObject
+            self.count = self.convertObjectToDigit()
+            # updateTargetField delegated to subclasses
+            self.updateTargetField()
+            if self.call_evaluator():
+                if self.evaluatorArgs is None:
+                    self.evaluator()
+                else: 
+                    self.evaluator(self.evaluatorArgs)
 
     def getPlaceId(self):
         return self.placeId