Merge pull request #169 from kas-lab/mc_reasoner

Remove SuaveReasoner, adjust launchfiles, and runner

runner/runner.sh

@@ -3,7 +3,7 @@
 if [ $# -lt 1 ]; then
 	echo "usage: $0 gui adaptation_manager mission_type runs"
 	echo example:
-	echo "  "$0 "[true | false] [metacontrol | random | none] [time | distance] runs(integer)"
+	echo "  "$0 "[true | false] [metacontrol | random | none | bt] [time | distance] runs(integer)"
 	exit 1
 fi
 
@@ -30,7 +30,7 @@ else
     exit 1
 fi
 
-if [ "$2" == "metacontrol" ] || [ "$2" == "random" ] || [[ "$2" == "none" ]];
+if [ "$2" == "metacontrol" ] || [ "$2" == "random" ] || [[ "$2" == "none" ]] || [[ "$2" == "bt" ]];
 then
     MANAGER=$2
 else
@@ -106,18 +106,18 @@ run_missions(){
       xfce4-terminal --execute ./scripts/launch_sim.sh $GUI &
       sleep 30 #let it boot up
 
-      rm -f ~/suave_ws/mission.done
+      rm -f /tmp/mission.done
       xfce4-terminal --execute ./scripts/launch_mission.sh $MANAGER $MTYPE $FILENAME &
       sleep 30 #let it boot up
 
       echo "start waiting for mission to finish"
       start_time=$SECONDS
-      while [ ! -f ~/suave_ws/mission.done ]
+      while [ ! -f /tmp/mission.done ]
       do
-          if [ -f ~/suave_ws/mission.done ]
+          if [ -f /tmp/mission.done ]
           then
               echo "mission done"
-              rm ~/suave_ws/mission.done
+              rm /tmp/mission.done
               break;
           fi
           current_time=$SECONDS

runner/scripts/launch_mission.sh

@@ -5,14 +5,14 @@ source ~/suave_ws/install/setup.bash
 if [ $# -lt 1 ]; then
 	echo "usage: $0 adaptation_manager mission_type"
 	echo example:
-	echo "  "$0 "[metacontrol | random | none] [time | distance]"
+	echo "  "$0 "[metacontrol | random | none | bt] [time | distance]"
 	exit 1
 fi
 
 MANAGER=""
 MTYPE=""
 
-if [ "$1" == "metacontrol" ] || [ "$1" == "random" ] || [[ "$1" == "none" ]];
+if [ "$1" == "metacontrol" ] || [ "$1" == "random" ] || [[ "$1" == "none" ]] || [[ "$1" == "bt" ]];
 then
     MANAGER=$1
 else
@@ -33,4 +33,13 @@ else
     fi
 fi
 
-ros2 launch suave_missions mission.launch.py adaptation_manager:=$MANAGER mission_type:=$MTYPE result_filename:=$3
+FILE=$3
+MCFILE=${FILE}"_mc_reasoning_time"
+
+if [ "$MANAGER" == "metacontrol" ] || [ "$MANAGER" == "random" ] || [[ "$MANAGER" == "none" ]];
+then
+    ros2 launch suave_missions mission.launch.py adaptation_manager:=$MANAGER mission_type:=$MTYPE result_filename:=$FILE mc_reasoning_time_filename:=$MCFILE
+elif [ "$MANAGER" == "bt" ];
+then
+  ros2 launch suave_bt suave_bt.launch.py result_filename:=$3
+fi

suave.rosinstall

@@ -15,10 +15,6 @@ repositories:
     type: git
     url: https://github.com/remaro-network/remaro_worlds.git
     version: 2650f19
-  suave:
-    type: git
-    url: https://github.com/kas-lab/suave.git
-    version: main
   mc_mdl_tomasys:
     type: git
     url: https://github.com/meta-control/mc_mdl_tomasys.git

suave/launch/simulation.launch.py

@@ -34,7 +34,7 @@ def generate_launch_description():
     mavros_node = IncludeLaunchDescription(
         AnyLaunchDescriptionSource(mavros_launch_path),
         launch_arguments={
-            'fcu_url': 'udp://127.0.0.1:14551@14555',
+            'fcu_url': 'udp://0.0.0.0:14551@14555',
             'gcs_url': 'udp://@localhost:14550',
             'system_id': '255',
             'component_id': '240',

suave_managing/suave_metacontrol/config/metacontrol_config.yaml

@@ -0,0 +1,5 @@
+/suave_reasoner:
+  ros__parameters:
+    reasoning_time_save: True
+    reasoning_time_file_path: '~/suave/results' #Path to save results
+    reasoning_period: 1.5

suave_managing/suave_metacontrol/launch/suave_metacontrol.launch.py

@@ -3,31 +3,78 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
-    pkg_suave_path = get_package_share_directory(
-        'suave')
+    tomasys_file = LaunchConfiguration('tomasys_file')
+    model_file = LaunchConfiguration('model_file')
+    reasoning_time_filename = LaunchConfiguration('reasoning_time_filename')
+
+    pkg_mc_mdl_tomasys_path = get_package_share_directory('mc_mdl_tomasys')
+    pkg_mros_ontology_path = get_package_share_directory('mros_ontology')
+
+    tomasys_files_array = [
+        os.path.join(pkg_mc_mdl_tomasys_path, 'owl', 'tomasys.owl'),
+        os.path.join(pkg_mros_ontology_path, 'owl', 'mros.owl')]
+
+    tomasys_file_arg = DeclareLaunchArgument(
+        'tomasys_file',
+        default_value=str(tomasys_files_array),
+        description='Path for the tomasys ontologies'
+    )
+
     pkg_suave_metacontrol_path = get_package_share_directory(
         'suave_metacontrol')
 
-    metacontrol_launch_path = os.path.join(
+    suave_ontology_path = os.path.join(
         pkg_suave_metacontrol_path,
-        'launch',
-        'metacontrol.launch.py')
+        'config',
+        'suave.owl')
+
+    model_file_arg = DeclareLaunchArgument(
+        'model_file',
+        default_value=suave_ontology_path,
+        description='Path for the application-specific ontology file')
 
-    metacontrol_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(metacontrol_launch_path))
+    reasoning_time_filename_arg = DeclareLaunchArgument(
+        'reasoning_time_filename',
+        default_value='metacontrol_reasoning_time',
+        description='File name for saving metacontrol reasoning time')
+
+    metacontrol_config = os.path.join(
+        pkg_suave_metacontrol_path,
+        'config',
+        'metacontrol_config.yaml')
+
+    mros_reasoner_node = Node(
+        package='mros2_reasoner',
+        executable='mros2_reasoner_node',
+        name='suave_reasoner',
+        output='screen',
+        parameters=[metacontrol_config, {
+            'tomasys_file': tomasys_file,
+            'model_file': model_file,
+            'reasoning_time_filename': reasoning_time_filename,
+        }],
+    )
 
-    mros2_system_modes_bridge_node = Node(
+    mros_system_modes_bridge_node = Node(
         package='mros2_reasoner',
         executable='mros2_system_modes_bridge',
     )
 
+    task_bridge_node = Node(
+        package='suave_metacontrol',
+        executable='task_bridge_metacontrol',
+    )
+
+    pkg_suave_path = get_package_share_directory(
+        'suave')
     suave_launch_path = os.path.join(
         pkg_suave_path,
         'launch',
@@ -39,14 +86,12 @@ def generate_launch_description():
             'task_bridge': 'False'}.items()
     )
 
-    task_bridge_node = Node(
-        package='suave_metacontrol',
-        executable='task_bridge_metacontrol',
-    )
-
     return LaunchDescription([
-        suave_launch,
-        metacontrol_launch,
-        mros2_system_modes_bridge_node,
+        tomasys_file_arg,
+        model_file_arg,
+        reasoning_time_filename_arg,
+        mros_reasoner_node,
+        mros_system_modes_bridge_node,
         task_bridge_node,
+        suave_launch,
     ])

suave_managing/suave_metacontrol/setup.py

@@ -26,9 +26,6 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'fake_managed_system = ' +
-                'suave_metacontrol.fake_managed_system:main',
-            'suave_reasoner = suave_metacontrol.suave_reasoner:main',
             'task_bridge_metacontrol = ' +
                 ' suave_metacontrol.task_bridge_metacontrol:main',
         ],