Add extra demo version with ROS networking (implemented by OMNeT++)

jdeeco-ros/test/cz/cuni/mff/d3s/jdeeco/ros/leaderfollowerdemo/RobotLeaderFollowerDemo.java

@@ -7,10 +7,10 @@
 import cz.cuni.mff.d3s.deeco.runtime.DEECoException;
 import cz.cuni.mff.d3s.deeco.runtime.DEECoNode;
 import cz.cuni.mff.d3s.jdeeco.network.Network;
-import cz.cuni.mff.d3s.jdeeco.network.device.SimpleBroadcastDevice;
 import cz.cuni.mff.d3s.jdeeco.network.l2.strategy.KnowledgeInsertingStrategy;
 import cz.cuni.mff.d3s.jdeeco.position.PositionPlugin;
 import cz.cuni.mff.d3s.jdeeco.publishing.DefaultKnowledgePublisher;
+import cz.cuni.mff.d3s.jdeeco.ros.BeeClick;
 import cz.cuni.mff.d3s.jdeeco.ros.Positioning;
 import cz.cuni.mff.d3s.jdeeco.ros.sim.ROSSimulation;
 
@@ -38,7 +38,8 @@ public void testTravel() throws AnnotationProcessorException, InterruptedExcepti
 		realm.addPlugin(Network.class);
 		realm.addPlugin(DefaultKnowledgePublisher.class);
 		realm.addPlugin(KnowledgeInsertingStrategy.class);
-		realm.addPlugin(new SimpleBroadcastDevice(0, 0, 100000, SimpleBroadcastDevice.DEFAULT_MTU));
+		//realm.addPlugin(new SimpleBroadcastDevice(0, 0, 100000, SimpleBroadcastDevice.DEFAULT_MTU));
+		realm.addPlugin(BeeClick.class);
 
 		Positioning robot0Pos = new Positioning();
 		DEECoNode robot0 = realm.createNode(0, robot0Pos, rosSim.createROSServices("red"), new PositionPlugin(12, 12));
@@ -51,7 +52,7 @@ public void testTravel() throws AnnotationProcessorException, InterruptedExcepti
 		robot1.deployEnsemble(LeaderFollowerEnsemble.class);
 
 		// Simulate for specified time
-		realm.start(30_000);
+		realm.start(3000_000);
 
 		System.out.println("!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#");
 		System.out.println("!@!#!@!#@!@#!@#!@# As we cannot make ROS exit nicely we are now going to terminate the whole JVM !@#!@#!@#!@#!@#!@#");

jdeeco-ros/test/cz/cuni/mff/d3s/jdeeco/ros/leaderfollowerdemo/RobotLeaderFollowerDemoFakeNetwork.java

@@ -0,0 +1,61 @@
+package cz.cuni.mff.d3s.jdeeco.ros.leaderfollowerdemo;
+
+import java.io.IOException;
+
+import cz.cuni.mff.d3s.deeco.annotations.processor.AnnotationProcessorException;
+import cz.cuni.mff.d3s.deeco.runners.DEECoSimulation;
+import cz.cuni.mff.d3s.deeco.runtime.DEECoException;
+import cz.cuni.mff.d3s.deeco.runtime.DEECoNode;
+import cz.cuni.mff.d3s.jdeeco.network.Network;
+import cz.cuni.mff.d3s.jdeeco.network.device.SimpleBroadcastDevice;
+import cz.cuni.mff.d3s.jdeeco.network.l2.strategy.KnowledgeInsertingStrategy;
+import cz.cuni.mff.d3s.jdeeco.position.PositionPlugin;
+import cz.cuni.mff.d3s.jdeeco.publishing.DefaultKnowledgePublisher;
+import cz.cuni.mff.d3s.jdeeco.ros.Positioning;
+import cz.cuni.mff.d3s.jdeeco.ros.sim.ROSSimulation;
+
+/**
+ * Example of vehicles traveling across the map
+ * 
+ * @author Vladimir Matena <matena@d3s.mff.cuni.cz>
+ *
+ */
+public class RobotLeaderFollowerDemoFakeNetwork {
+	public static void main(String[] args) throws AnnotationProcessorException, InterruptedException, DEECoException,
+			InstantiationException, IllegalAccessException, IOException {
+		new RobotLeaderFollowerDemoFakeNetwork().testTravel();
+	}
+
+	public void testTravel() throws AnnotationProcessorException, InterruptedException, DEECoException,
+			InstantiationException, IllegalAccessException, IOException {
+
+		ROSSimulation rosSim = new ROSSimulation("192.168.56.101", 11311, "192.168.56.1", "corridor", 0.02, 100);
+
+		// Create main application container
+		DEECoSimulation realm = new DEECoSimulation(rosSim.getTimer());
+
+		// Configure loop-back networking for all nodes
+		realm.addPlugin(Network.class);
+		realm.addPlugin(DefaultKnowledgePublisher.class);
+		realm.addPlugin(KnowledgeInsertingStrategy.class);
+		realm.addPlugin(new SimpleBroadcastDevice(0, 0, 100000, SimpleBroadcastDevice.DEFAULT_MTU));
+
+		Positioning robot0Pos = new Positioning();
+		DEECoNode robot0 = realm.createNode(0, robot0Pos, rosSim.createROSServices("red"), new PositionPlugin(12, 12));
+		robot0.deployComponent(new LeaderRobot("robot_0", robot0Pos, rosSim.getTimer()));
+		robot0.deployEnsemble(LeaderFollowerEnsemble.class);
+
+		Positioning robot1Pos = new Positioning();
+		DEECoNode robot1 = realm.createNode(1, robot1Pos, rosSim.createROSServices("blue"), new PositionPlugin(26, 12));
+		robot1.deployComponent(new FollowerRobot("robot_1", robot1Pos, rosSim.getTimer()));
+		robot1.deployEnsemble(LeaderFollowerEnsemble.class);
+
+		// Simulate for specified time
+		realm.start(3000_000);
+
+		System.out.println("!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#");
+		System.out.println("!@!#!@!#@!@#!@#!@# As we cannot make ROS exit nicely we are now going to terminate the whole JVM !@#!@#!@#!@#!@#!@#");
+		System.out.println("!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#!@#!@#!#!@!#!@!#@!@#");
+		System.exit(0);
+	}
+}