Added rexos-launch-ros script, HAL tester for detection EQ, and vario…

…us bugfixes

rexos-launch-ros.sh

@@ -0,0 +1,196 @@
+#!/usr/bin/env sh
+###################### VARS ######################
+launchedPrimaryInfrastructureWithSimulation=false
+keepWindowOpenAfterCommandEnds=true
+
+###################### END OF VARS ######################
+###################### FUNCTIONS ######################
+function getEquipletName() {
+	echo -n "Choose equipletName: "
+	read equipletName
+}
+function getPosition() {
+	echo -n "Choose positionX: "
+	read positionX
+	echo -n "Choose positionY: "
+	read positionY
+}
+
+function launchPrimaryInfrastructureWithSimulation() {
+	echo "Launching primary infrastructure with simulation"
+	if [ "$keepWindowOpenAfterCommandEnds" == true ]; then
+		gnome-terminal --title="Primary infrastructure" \
+			--tab -t "roscore" 	-e "bash -c \"roscore\";bash" \
+			--tab -t "gzclient" 	-e "bash -c \"rosrun gazebo_ros gzserver --verbose\";bash" \
+			--tab -t "roscore" 	-e "bash -c \"rosrun gazebo_ros gzclient --verbose\";bash"
+	else
+		gnome-terminal --title="Primary infrastructure" \
+			--tab -t "roscore" 	-e "bash -c \"roscore\"" \
+			--tab -t "gzserver" 	-e "bash -c \"rosrun gazebo_ros gzserver --verbose\"" \
+			--tab -t "gzclient" 	-e "bash -c \"rosrun gazebo_ros gzclient --verbose\""
+	fi
+	launchedPrimaryInfrastructureWithSimulation=true
+}
+
+function launchPrimaryInfrastructureWithoutSimulation() {
+	echo "Launching primary infrastructure without simulation"
+	if [ "$keepWindowOpenAfterCommandEnds" == true ]; then
+		gnome-terminal --title="Primary infrastructure" \
+			--tab -t "roscore" -e "bash -c \"roscore\";bash"
+	else
+		gnome-terminal --title="Primary infrastructure" \
+			--tab -t "roscore" -e "bash -c \"roscore\""
+	fi
+}
+
+function launchEquipletWithPrimaryNodes() {
+	echo "Launching equiplet with primary nodes"
+	getEquipletName
+	if [ "$keepWindowOpenAfterCommandEnds" == true ]; then
+		gnome-terminal --title="$equipletName" \
+			--tab -t "equiplet_node" 		-e "bash -c \"rosrun equiplet_node equiplet_node $equipletName\";bash" \
+			--tab -t "node_spawner_node" 	-e "bash -c \"rosrun node_spawner_node node_spawner_node $equipletName\";bash"
+	else
+		gnome-terminal --title="$equipletName" \
+			--tab -t "equiplet_node" 		-e "bash -c \"rosrun equiplet_node equiplet_node $equipletName\"" \
+			--tab -t "node_spawner_node" 	-e "bash -c \"rosrun node_spawner_node node_spawner_node $equipletName\""
+	fi
+}
+
+function launchEquipletWithoutPrimaryNodes() {
+	echo "Launching equiplet without primary nodes"
+	getEquipletName
+	if [ "$keepWindowOpenAfterCommandEnds" == true ]; then
+		gnome-terminal --title="$equipletName" \
+			--tab -e "bash -c \"rosrun equiplet_node equiplet_node $equipletName\";bash"
+	else
+		gnome-terminal --title="$equipletName" \
+			--tab -e "bash -c \"rosrun equiplet_node equiplet_node $equipletName\""
+	fi
+}
+
+function launchSimulatedEquipletWithoutPrimaryNodes() {
+	echo "Launching simulated equiplet with primary nodes"
+	getEquipletName
+	getPosition
+	if [ "$keepWindowOpenAfterCommandEnds" == true ]; then
+		gnome-terminal --title="$equipletName" \
+			--tab -t "equiplet_node" 		-e "bash -c \"rosrun equiplet_node equiplet_node --isSimulated $equipletName\";bash" \
+			--tab -t "node_spawner_node" 	-e "bash -c \"rosrun node_spawner_node node_spawner_node --isSimulated $equipletName\";bash" \
+			--tab -t "model_spawner_node" 	-e "bash -c \"rosrun model_spawner_node model_spawner_node --spawnEquipletModel -x $positionX -y $positionY $equipletName\";bash"
+	else
+		gnome-terminal --title="$equipletName" \
+			--tab -t "equiplet_node" 		-e "bash -c \"rosrun equiplet_node equiplet_node --isSimulated $equipletName\"" \
+			--tab -t "node_spawner_node" 	-e "bash -c \"rosrun node_spawner_node node_spawner_node --isSimulated $equipletName\"" \
+			--tab -t "model_spawner_node" 	-e "bash -c \"rosrun model_spawner_node model_spawner_node --spawnEquipletModel -x $positionX -y $positionY $equipletName\""
+	fi
+}
+
+function launchSimulatedEquipletWithPrimaryNodes() {
+	echo "Launching simulated equiplet without primary nodes"
+	getEquipletName
+	if [ "$keepWindowOpenAfterCommandEnds" == true ]; then
+		gnome-terminal --title="$equipletName" \
+			--tab -t "equiplet_node" -e "bash -c \"rosrun equiplet_node equiplet_node --isSimulated $equipletName\";bash"
+	else
+		gnome-terminal --title="$equipletName" \
+			--tab -t "equiplet_node" -e "bash -c \"rosrun equiplet_node equiplet_node --isSimulated $equipletName\""
+	fi
+}
+
+function launchShadowEquipletWithPrimaryNodes() {
+	echo "Launching shadow equiplet with primary nodes"
+	getEquipletName
+	getPosition
+	if [ "$keepWindowOpenAfterCommandEnds" == true ]; then
+		gnome-terminal --title="$equipletName" \
+			--tab -t "equiplet_node" 		-e "bash -c \"rosrun equiplet_node equiplet_node --isShadow $equipletName\";bash" \
+			--tab -t "node_spawner_node" 	-e "bash -c \"rosrun node_spawner_node node_spawner_node --isShadow $equipletName\";bash" \
+			--tab -t "model_spawner_node" 	-e "bash -c \"rosrun model_spawner_node model_spawner_node --spawnEquipletModel -x $positionX -y $positionY $equipletName\";bash"
+	else
+		gnome-terminal --title="$equipletName" \
+			--tab -t "equiplet_node" 		-e "bash -c \"rosrun equiplet_node equiplet_node --isShadow $equipletName\"" \
+			--tab -t "node_spawner_node" 	-e "bash -c \"rosrun node_spawner_node node_spawner_node --isShadow $equipletName\"" \
+			--tab -t "model_spawner_node" 	-e "bash -c \"rosrun model_spawner_node model_spawner_node --spawnEquipletModel -x $positionX -y $positionY $equipletName\""
+	fi
+}
+
+function launchShadowEquipletWithoutPrimaryNodes() {
+	echo "Launching shadow equiplet without primary nodes"
+	getEquipletName
+	if [ "$keepWindowOpenAfterCommandEnds" == true ]; then
+		gnome-terminal --title="$equipletName" \
+			--tab -t "equiplet_node" -e "bash -c \"rosrun equiplet_node equiplet_node --isShadow $equipletName\";bash"
+	else
+		gnome-terminal --title="$equipletName" \
+			--tab -t "equiplet_node" -e "bash -c \"rosrun equiplet_node equiplet_node --isShadow $equipletName\""
+	fi
+}
+###################### END OF FUNCTIONS ######################
+
+
+###################### USER INTERFACE ######################
+echo "This script allows you to dynamically launch ROS components of REXOS";
+
+echo "Step 1: choose primary infrastructure:"
+echo "1: Launch primary infrastructure with simulation"
+echo "2: Launch primary infrastructure without simulation"
+echo "Q: Exit"
+echo ""
+echo -n "Choose option: "
+read chosenOption
+
+if [ "$chosenOption" == 1 ]; then
+	launchPrimaryInfrastructureWithSimulation
+elif [ "$chosenOption" == 2 ]; then
+	launchPrimaryInfrastructureWithoutSimulation
+elif [ "$chosenOption" == "Q" ] || [ "$chosenOption" == "q" ]; 
+then
+	echo "Exiting"
+	exit
+else 
+	echo "Invalid option"
+	exit
+fi
+
+exitRequested=false 
+
+while [ "$exitRequested" == false ];
+do
+	echo ""
+	echo ""
+	echo "Step 2: choose action:"
+	echo "1: Launch equiplet with primary nodes"
+	echo "2: Launch equiplet without primary nodes"
+if [ "$launchedPrimaryInfrastructureWithSimulation" == true ]; then
+	echo "3: Launch simulated equiplet with primary nodes"
+	echo "4: Launch simulated equiplet without primary nodes"
+	echo "5: Launch shadow equiplet with primary nodes"
+	echo "6: Launch shadow equiplet without primary nodes"
+	echo "7: Launch equiplet model and module models only"
+	echo "8: Launch part model"
+fi
+	echo "Q: Exit"
+	echo ""
+	echo -n "Choose option: "
+	read chosenOption
+
+	if [ "$chosenOption" == 1 ]; then
+		launchEquipletWithPrimaryNodes
+	elif [ "$chosenOption" == 2 ]; then
+		launchEquipletWithoutPrimaryNodes
+	elif [ "$chosenOption" == 3 ] && [ "$launchedPrimaryInfrastructureWithSimulation" == true ]; then
+		launchSimulatedEquipletWithoutPrimaryNodes
+	elif [ "$chosenOption" == 4 ] && [ "$launchedPrimaryInfrastructureWithSimulation" == true ]; then
+		launchSimulatedEquipletWithPrimaryNodes
+	elif [ "$chosenOption" == 5 ] && [ "$launchedPrimaryInfrastructureWithSimulation" == true ]; then
+		launchShadowEquipletWithPrimaryNodes
+	elif [ "$chosenOption" == 6 ] && [ "$launchedPrimaryInfrastructureWithSimulation" == true ]; then
+		launchShadowEquipletWithoutPrimaryNodes
+	elif [ "$chosenOption" == "Q" ] || [ "$chosenOption" == "q" ]; then
+		echo "Exiting"
+		exitRequested=true
+	else echo "Invalid option"
+	fi
+done
+###################### END OF USER INTERFACE ######################

src/REXOS/HAL/dataTypes/GazeboModel.java

@@ -89,6 +89,10 @@ public GazeboModel(int id, int buildNumber, byte[] zipFile, String sdfFilename,
 	public static GazeboModel getGazeboModelForModuleIdentifier(ModuleTypeIdentifier moduleIdentifier, KnowledgeDBClient knowledgeDBClient) {
 		Row[] rows = knowledgeDBClient.executeSelectQuery(getGazeboModelForModuleType, moduleIdentifier.manufacturer, moduleIdentifier.typeNumber);
 
+		if(rows.length != 1) {
+			return null;
+		}
+
 		int id = (Integer) rows[0].get("id");
 		int buildNumber = (Integer) rows[0].get("buildNumber");
 		String sdfFilename = (String) rows[0].get("sdfFilename");

src/REXOS/HAL/dataTypes/JavaSoftware.java

@@ -126,6 +126,10 @@ public static JavaSoftware getJavaSoftwareForId(int id, KnowledgeDBClient knowle
 	public static JavaSoftware getJavaSoftwareForModuleIdentifier(ModuleTypeIdentifier moduleIdentifier, KnowledgeDBClient knowledgeDBClient) {
 		Row[] rows = knowledgeDBClient.executeSelectQuery(getJavaSoftwareForModuleType, moduleIdentifier.manufacturer, moduleIdentifier.typeNumber);
 
+		if(rows.length != 1) {
+			return null;
+		}
+
 		int id = (Integer) rows[0].get("id");
 		int buildNumber = (Integer) rows[0].get("buildNumber");
 		String className = (String) rows[0].get("className");

src/REXOS/HAL/dataTypes/ModuleType.java

@@ -7,6 +7,7 @@
 import org.json.JSONException;
 import org.json.JSONObject;
 import org.json.JSONTokener;
+import org.omg.PortableInterceptor.INACTIVE;
 
 import util.log.LogLevel;
 import util.log.LogSection;
@@ -196,31 +197,46 @@ public void insertIntoDatabase(KnowledgeDBClient knowledgeDBClient) throws JSONE
 	 * @throws JSONException
 	 */
 	private void updateModuleType(KnowledgeDBClient knowledgeDBClient) {
-		JavaSoftware currentJavaSoftware = JavaSoftware.getJavaSoftwareForModuleIdentifier(moduleTypeIdentifier, knowledgeDBClient);
-		int newJavaBuildNumber = halSoftware.buildNumber;
-		int currentJavaBuildNumber = currentJavaSoftware.buildNumber;
-		if (newJavaBuildNumber > currentJavaBuildNumber) {
-			// update the halSoftware
-			Logger.log(LogSection.HAL_MODULE_FACTORY, LogLevel.INFORMATION, "Updating HAL software for module " + moduleTypeIdentifier);
-			halSoftware.updateDatabase(currentJavaSoftware, knowledgeDBClient);
+		if(halSoftware != null) {
+			JavaSoftware currentJavaSoftware = JavaSoftware.getJavaSoftwareForModuleIdentifier(moduleTypeIdentifier, knowledgeDBClient);
+			int currentJavaBuildNumber;
+			if(currentJavaSoftware == null) currentJavaBuildNumber = Integer.MIN_VALUE;
+			else currentJavaBuildNumber = currentJavaSoftware.buildNumber;
+
+			int newJavaBuildNumber = halSoftware.buildNumber;
+			if (newJavaBuildNumber > currentJavaBuildNumber) {
+				// update the halSoftware
+				Logger.log(LogSection.HAL_MODULE_FACTORY, LogLevel.INFORMATION, "Updating HAL software for module " + moduleTypeIdentifier);
+				halSoftware.updateDatabase(currentJavaSoftware, knowledgeDBClient);
+			}
 		}
-
-		RosSoftware currentRosSoftware = RosSoftware.getRosSoftwareForModuleIdentifier(moduleTypeIdentifier, knowledgeDBClient);
-		int newRosBuildNumber = rosSoftware.buildNumber;
-		int currentRosBuildNumber = currentRosSoftware.buildNumber;
-		if (newRosBuildNumber > currentRosBuildNumber) {
-			// update the rosSoftware
-			Logger.log(LogSection.HAL_MODULE_FACTORY, LogLevel.INFORMATION, "Updating ROS software for module " + moduleTypeIdentifier);
-			rosSoftware.updateDatabase(currentRosSoftware, knowledgeDBClient);
+
+		if(rosSoftware != null) {
+			RosSoftware currentRosSoftware = RosSoftware.getRosSoftwareForModuleIdentifier(moduleTypeIdentifier, knowledgeDBClient);
+			int currentRosBuildNumber;
+			if(currentRosSoftware == null) currentRosBuildNumber = Integer.MIN_VALUE;
+			else currentRosBuildNumber = currentRosSoftware.buildNumber;
+
+			int newRosBuildNumber = rosSoftware.buildNumber;
+			if (newRosBuildNumber > currentRosBuildNumber) {
+				// update the rosSoftware
+				Logger.log(LogSection.HAL_MODULE_FACTORY, LogLevel.INFORMATION, "Updating ROS software for module " + moduleTypeIdentifier);
+				rosSoftware.updateDatabase(currentRosSoftware, knowledgeDBClient);
+			}
 		}
 
-		GazeboModel currentGazeboModel = GazeboModel.getGazeboModelForModuleIdentifier(moduleTypeIdentifier, knowledgeDBClient);
-		int newModelBuildNumber = gazeboModel.buildNumber;
-		int currentModelBuildNumber = currentGazeboModel.buildNumber;
-		if (newModelBuildNumber > currentModelBuildNumber) {
-			// update the gazeboModel
-			Logger.log(LogSection.HAL_MODULE_FACTORY, LogLevel.INFORMATION, "Updating Gazebo model for module " + moduleTypeIdentifier);
-			gazeboModel.updateGazeboModel(currentGazeboModel, knowledgeDBClient);
+		if(gazeboModel != null) {	
+			GazeboModel currentGazeboModel = GazeboModel.getGazeboModelForModuleIdentifier(moduleTypeIdentifier, knowledgeDBClient);
+			int currentModelBuildNumber;
+			if(currentGazeboModel == null) currentModelBuildNumber = Integer.MIN_VALUE;
+			else currentModelBuildNumber = currentGazeboModel.buildNumber;
+
+			int newModelBuildNumber = gazeboModel.buildNumber;
+			if (newModelBuildNumber > currentModelBuildNumber) {
+				// update the gazeboModel
+				Logger.log(LogSection.HAL_MODULE_FACTORY, LogLevel.INFORMATION, "Updating Gazebo model for module " + moduleTypeIdentifier);
+				gazeboModel.updateGazeboModel(currentGazeboModel, knowledgeDBClient);
+			}
 		}
 
 		for (SerializedCapability capability : capabilities) {

src/REXOS/HAL/dataTypes/RosSoftware.java

@@ -121,6 +121,10 @@ public static RosSoftware getRosSoftwareForId(int id, KnowledgeDBClient knowledg
 	public static RosSoftware getRosSoftwareForModuleIdentifier(ModuleTypeIdentifier moduleIdentifier, KnowledgeDBClient knowledgeDBClient) {
 		Row[] rows = knowledgeDBClient.executeSelectQuery(getRosSoftwareForModuleType, moduleIdentifier.manufacturer, moduleIdentifier.typeNumber);
 
+		if(rows.length != 1) {
+			return null;
+		}
+
 		int id = (Integer) rows[0].get("id");
 		int buildNumber = (Integer) rows[0].get("buildNumber");
 		String command = (String) rows[0].get("command");

src/REXOS/HAL/testerClasses/EquipletRecordLoader.java

@@ -15,9 +15,14 @@
 
 public class EquipletRecordLoader {
 
-	static String equipletName = "EQ2";
+	static String equipletName = "EQ3";
 
 	public static void main(String[] args) throws JSONException, IOException {
+		if(args.length >= 1) {
+			equipletName = args[0];
+		}
+		System.out.println("Inserting equiplet " + equipletName);
+
 		KnowledgeDBClient client = new KnowledgeDBClient();
 
 		JSONObject javaSoftwareJson = new JSONObject();

src/REXOS/HAL/testerClasses/HALTesterClass.java

@@ -25,7 +25,7 @@
 public class HALTesterClass implements HardwareAbstractionLayerListener {
 	HardwareAbstractionLayer hal;
 
-	static final String equipletName = "EQ3";
+	static String equipletName = "EQ3";
 	static final String baseDir = "generatedOutput/";
 
 	// dummy module A
@@ -120,6 +120,11 @@ public class HALTesterClass implements HardwareAbstractionLayerListener {
 	 * @throws Exception 
 	 */
 	public static void main(String[] args) throws Exception {
+		if(args.length >= 1) {
+			equipletName = args[0];
+		}
+		System.out.println("Inserting equiplet " + equipletName);
+
 		@SuppressWarnings("unused")
 		HALTesterClass htc = new HALTesterClass();
 		htc = null;