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Merge branch 'feature/ajan_demo'
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André Antakli committed Aug 8, 2024
2 parents 26be8cc + 3cda5ad commit b35d24b
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174 changes: 174 additions & 0 deletions ajanDemoService.js
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const express = require('express');
const fs = require('fs');
const http = require('http');
const WebSocket = require('ws');
const cors = require('cors');
const bodyParser = require('body-parser');

const app = express();
const port = 4203;

//initialize a simple http server
const server = http.createServer(app);
let running = null;

let response = [{"@id":"http://localhost:4203/ajan-demo-ns#Received"},{"@id":"http://localhost:4203/post","http://localhost:4203/ajan-demo-ns#message":[{"@id":"http://localhost:4203/ajan-demo-ns#Received"}]}];
let blocked = [{"@id":"http://localhost:4203/ajan-demo-ns#Blocked"},{"@id":"http://localhost:4203/post","http://localhost:4203/ajan-demo-ns#message":[{"@id":"http://localhost:4203/ajan-demo-ns#Blocked"}]}];
const wss = new WebSocket.Server({ server });

app.use(bodyParser.text({ type: 'text/plain', limit: '50mb' }));
app.use(bodyParser.text({ type: 'text/turtle', limit: '50mb' }));
app.use(bodyParser.text({ type: 'text/xml', limit: '50mb' }));
app.use(bodyParser.text({ type: 'application/json', limit: '50mb' }));
app.use(bodyParser.text({ type: 'application/ld+json', limit: '50mb' }));
app.use(bodyParser.text({ type: 'application/sparql-results+xml', limit: '50mb' }));
app.use(bodyParser.text({ type: 'application/trig', limit: '50mb' }));
app.use(bodyParser());
app.use(function (err, req, res, next) {
console.error(err.stack);
});

app.use(cors());

app.get('/', (req, res) => {
res.send('Hello World!');
});

app.get('/initScene', (req, res) => {
wss.clients.forEach(client => {
client.send('{ "init": "true" }');
});
res.set('Content-Type', 'application/ld+json');
res.send([{"@id":"http://www.ajan.de/ajan-ns#Scene","http://www.ajan.de/ajan-ns#init":[{"@value":true}]}]);
});

app.post('/pickUp', (req, res) => {
console.log(req.body);
let wssMessage = JSON.parse(req.body);
let action = createAction(wssMessage, "pickUp");
action.blockX = getActionSubject(wssMessage, "http://www.ajan.de/ajan-ns#Table");
action.asyncResponse = [{"@id": action.blockX,"http://www.ajan.de/behavior/strips-ns#is":[{"@id":"http://www.ajan.de/ajan-ns#Holding"}]},{"@id":"http://www.ajan.de/ajan-ns#Holding"}];
action.request = wssMessage;
let actionRequest = JSON.stringify(action);
wss.clients.forEach(client => {
client.send(actionRequest);
});
res.set('Content-Type', 'application/ld+json');
res.send(response);
});

app.post('/stack', (req, res) => {
console.log(req.body);
let wssMessage = JSON.parse(req.body);
let action = createAction(wssMessage, "stack");
action.blockX = getActionSubject(wssMessage, "http://www.ajan.de/ajan-ns#Holding");
action.blockY = getActionSubject(wssMessage, "http://www.ajan.de/ajan-ns#Clear");
action.asyncResponse = [{"@id":"http://www.ajan.de/ajan-ns#Arm","http://www.ajan.de/behavior/strips-ns#is":[{"@id":"http://www.ajan.de/ajan-ns#Empty"}]},{"@id": action.blockX,"http://www.ajan.de/ajan-ns#on":[{"@id": action.blockY}]},{"@id": action.blockY},{"@id":"http://www.ajan.de/ajan-ns#Clear"},{"@id":"http://www.ajan.de/ajan-ns#Empty"},{"@id": action.blockX,"http://www.ajan.de/behavior/strips-ns#is":[{"@id":"http://www.ajan.de/ajan-ns#Clear"}]}];
action.request = wssMessage;
let actionRequest = JSON.stringify(action);
wss.clients.forEach(client => {
client.send(actionRequest);
});
res.set('Content-Type', 'application/ld+json');
res.send(response);
});

app.post('/unStack', (req, res) => {
console.log(req.body);
let wssMessage = JSON.parse(req.body);
let action = createAction(wssMessage, "unStack");
action.blockX = getActionSubject(wssMessage, "http://www.ajan.de/ajan-ns#Clear");
action.blockY = getActionObject(wssMessage, "http://www.ajan.de/ajan-ns#on");
action.asyncResponse = [{"@id": action.blockX,"http://www.ajan.de/behavior/strips-ns#is":[{"@id":"http://www.ajan.de/ajan-ns#Holding"}]},{"@id": action.blockY,"http://www.ajan.de/behavior/strips-ns#is":[{"@id":"http://www.ajan.de/ajan-ns#Clear"}]},{"@id":"http://www.ajan.de/ajan-ns#Clear"},{"@id":"http://www.ajan.de/ajan-ns#Holding"}];
action.request = wssMessage;
let actionRequest = JSON.stringify(action);
wss.clients.forEach(client => {
client.send(actionRequest);
});
res.set('Content-Type', 'application/ld+json');
res.send(response);
});

app.post('/putDown', (req, res) => {
console.log(req.body);
let wssMessage = JSON.parse(req.body);
let action = createAction(wssMessage, "putDown");
action.blockX = getActionSubject(wssMessage, "http://www.ajan.de/ajan-ns#Holding");
action.asyncResponse = [{"@id":"http://www.ajan.de/ajan-ns#Arm","http://www.ajan.de/behavior/strips-ns#is":[{"@id":"http://www.ajan.de/ajan-ns#Empty"}]},{"@id": action.blockX,"http://www.ajan.de/behavior/strips-ns#is":[{"@id":"http://www.ajan.de/ajan-ns#Table"},{"@id":"http://www.ajan.de/ajan-ns#Clear"}]},{"@id":"http://www.ajan.de/ajan-ns#Clear"},{"@id":"http://www.ajan.de/ajan-ns#Empty"},{"@id":"http://www.ajan.de/ajan-ns#Table"}];
action.request = wssMessage;
let actionRequest = JSON.stringify(action);
wss.clients.forEach(client => {
client.send(actionRequest);
});
res.set('Content-Type', 'application/ld+json');
res.send(response);
});

wss.on('connection', function connection(ws) {
ws.on('message', function incoming(message) {
console.log('received: %s', message);
if (running == message) {
running = null;
console.log("done!");
}
});

ws.on("error", (err) => {
console.log("Caught flash policy server socket error: ");
console.log(err.stack);
running = null;
});

sendConnectMessage(ws);
});

server.listen(port, () => {
console.log(`Server started on port ${server.address().port} :)`);
});

function sendConnectMessage(ws) {
let wssMessage = {};
wssMessage.body = "You are now connected to the AJAN Demo Service (ajanDemoService.js)!";
ws.send(JSON.stringify(wssMessage));
}

function createAction(wssMessage, actionType) {
let action = { "action": actionType };
wssMessage.forEach((entry) => {
if(entry["http://www.ajan.de/actn#asyncRequestURI"] != null) {
console.log(entry["http://www.ajan.de/actn#asyncRequestURI"][0]["@id"]);
action.requestURI = entry["http://www.ajan.de/actn#asyncRequestURI"][0]["@id"];
}
});
return action;
}

function getActionSubject(wssMessage, parameter) {
let result = null;
wssMessage.forEach((entry) => {
if(entry["http://www.ajan.de/behavior/strips-ns#is"] != null) {
entry["http://www.ajan.de/behavior/strips-ns#is"].forEach((object) => {
if(object["@id"] == parameter) {
console.log(entry["@id"]);
result = entry["@id"];
}
});
}
});
return result;
}

function getActionObject(wssMessage, parameter) {
let result = null;
wssMessage.forEach((entry) => {
if(entry[parameter] != null) {
entry[parameter].forEach((object) => {
if(object["@id"] != null) {
console.log(object["@id"]);
result = object["@id"];
}
});
}
});
return result;
}
22 changes: 14 additions & 8 deletions app/components/agents/instance/agent-instance.js
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Original file line number Diff line number Diff line change
Expand Up @@ -39,12 +39,14 @@ export default Ember.Component.extend({
agentMessage: "<http://test/Test1> <http://test/test> <http://test/Test> .",
messageError: {},
wssConnection: false,
connectionError: false,
wssMessage: "",
btView: "",
debugReport: null,
selectedCapability: null,
selectedEndpoint: null,


prefixes: {
"http://www.w3.org/1999/02/22-rdf-syntax-ns#": "rdf:",
"http://www.w3.org/2000/01/rdf-schema#": "rdfs:",
Expand All @@ -61,6 +63,7 @@ export default Ember.Component.extend({
this._super(...arguments);
that = this;
this.get("activeInstance").actions = new Array();
this.actions.connect();
},

didReceiveAttrs() {
Expand Down Expand Up @@ -162,14 +165,14 @@ export default Ember.Component.extend({
},

connect() {
console.log("connect");
console.log("ws://" + document.location.hostname + ":4202");
var socket = that.get('websockets').socketFor("ws://" + document.location.hostname + ":4202");
console.log(socket);
socket.on('open', myOpenHandler, that);
socket.on('message', myMessageHandler, that);
socket.on('close', myCloseHandler, that);
that.set('socketRef', socket);
console.log("connect");
console.log("ws://" + document.location.hostname + ":4202");
var socket = that.get('websockets').socketFor("ws://" + document.location.hostname + ":4202");
console.log(socket);
socket.on('open', myOpenHandler, that);
socket.on('message', myMessageHandler, that);
socket.on('close', myCloseHandler, that);
that.set('socketRef', socket);
},

disconnect() {
Expand Down Expand Up @@ -245,6 +248,7 @@ function myOpenHandler(event) {
that.set("wssMessage", "");
emptyLogs();
setBTView(that);
that.set("connectionError", false);
}

function myMessageHandler(event) {
Expand Down Expand Up @@ -393,9 +397,11 @@ function createEditorMessage($textarea, result, report) {
}

function myCloseHandler(event) {
console.log(event);
console.log(`On close event has been called: ${event}`);
closeSocket();
setBTView(that);
that.set("connectionError", true);
}

function closeSocket() {
Expand Down
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