Update

pom.xml

@@ -4,7 +4,7 @@
 
   <groupId>montisim</groupId>
   <artifactId>rmi-model-server</artifactId>
-  <version>1.0.0</version>
+  <version>1.0.1</version>
   <packaging>jar</packaging>
 
   <name>rmi-model-server</name>

scripts/run.bat

-start rmiregistry  10101
+pushd %~dp0
+set AUTOPILOT_HOME=..\..\emam-model-showcase
+popd
+set JAVA_HOME=%AUTOPILOT_HOME%\jdk
+set MINGW_HOME=%AUTOPILOT_HOME%\mingw64
+set OCTAVE_HOME=%AUTOPILOT_HOME%\octave-4.2.1
+set AUTOPILOT_DLL_DIR=%AUTOPILOT_HOME%\dll
+set PATH=%AUTOPILOT_DLL_DIR%;%JAVA_HOME%\bin;%MINGW_HOME%\bin;%OCTAVE_HOME%\bin;%PATH%
 
-start java -classpath ./target/rmi-model-server.jar -Djava.rmi.server.codebase=./target/rmi-model-server-1.0.0.jar rwth.rmi.model.server.RMIServer &
\ No newline at end of file
+java "-Djava.library.path=%PATH%" "-Djava.rmi.server.codebase=file:\C:\Users\Administrator\MontiSim\RMIModelServer\target\rmi-model-server-1.0.0.jar" "-Djava.rmi.server.hostname=127.0.0.1" -cp ..\target\rmi-model-server-1.0.1.jar rwth.rmi.model.server.RMIServer
+pause
\ No newline at end of file

scripts/run.sh

-#run rmi registry on port 10101
-rmiregistry 10101 &
-#run rmi server
-java -cp ./target/rmi-model-server-1.0.0.jar -Djava.rmi.server.codebase=./target/rmi-model-server-1.0.0.jar -Djava.rmi.server.hostname=server.rmi -Djava.security.policy=server.policy rwth.rmi.model.server.RMIServer
+#run rmi server and registry
+java -cp ../target/rmi-model-server-1.0.0.jar -Djava.rmi.server.codebase=../target/rmi-model-server-1.0.1.jar -Djava.rmi.server.hostname=127.0.0.1 rwth.rmi.model.server.RMIServer

src/main/java/rwth/rmi/model/server/ModelManager.java

@@ -7,19 +7,23 @@ import java.util.Map;
 
 import rwth.rmi.model.server.interfaces.RMIManager;
 import rwth.rmi.model.server.interfaces.VehicleModel;
-import rwth.rmi.model.server.models.Autopilot;
+
+import simulator.integration.AutopilotAdapter;
+
+import java.io.Serializable;
 
 public class ModelManager implements RMIManager {
 
-	private int lastModelId = -1;
+	private int lastModelId = 0;
 	private Map<Integer, VehicleModel> models;
 	
 	//Served models
 	private VehicleModel[] supportedModels = new VehicleModel[] {
-		new Autopilot()
+		new AutopilotAdapter()
 	};
 	
 	public ModelManager() {
+		super();
 		this.models = new HashMap<Integer, VehicleModel>();
 	}
 	
@@ -32,7 +36,7 @@ public class ModelManager implements RMIManager {
 	 * @throws RemoteException
 	 * @throws AlreadyBoundException
 	 */
-	public int registerModel(String modelClass) throws RemoteException, AlreadyBoundException {
+	public Integer registerModel(String modelClass) throws RemoteException, AlreadyBoundException {
 		VehicleModel model = getCorrespondingModel(modelClass);
 		if(model == null) return -1;
 		
@@ -44,7 +48,7 @@ public class ModelManager implements RMIManager {
 
 	private VehicleModel getCorrespondingModel(String modelClass) {
 		for(VehicleModel model : this.supportedModels) {
-			if(model.getClass().getName() == modelClass) {
+			if(model.getClass().getSimpleName().contentEquals(modelClass)) {
 				return model;
 			}
 		}
@@ -52,12 +56,17 @@ public class ModelManager implements RMIManager {
 	}
 
 	@Override
-	public VehicleModel getModel(int modelId) throws RemoteException {
-		return this.models.get(modelId);
+	public HashMap<String, Serializable> executeModel(Integer modelId, HashMap<String, Serializable> inputs) throws RemoteException {
+		VehicleModel model = this.models.get(modelId);
+		if(model == null) {
+			return new HashMap<String, Serializable>(); //fallback to empty map
+		}
+		
+		return model.execute(inputs);
 	}
 	
 	@Override
-	public void removeModel(int modelId) throws RemoteException {
+	public void removeModel(Integer modelId) throws RemoteException {
 		System.out.println("Removed model: " + this.models.get(modelId).getClass().getName());
 		this.models.remove(modelId);
 	}

src/main/java/rwth/rmi/model/server/RMIServer.java

@@ -8,17 +8,19 @@ import java.rmi.server.UnicastRemoteObject;
 
 public class RMIServer {
 	
+	public final static String MODEL_MANAGER = "ModelManager";
+	
 	private final static int INIT_PORT = 10101;
 	
     public static void main(String[] args) {
     	ModelManager manager = new ModelManager();
     	try {
-	        Registry registry = LocateRegistry.getRegistry(INIT_PORT);
+	        Registry registry = LocateRegistry.createRegistry(INIT_PORT);
 	        System.out.println("RMIRegistry serving on port: " + INIT_PORT);
 	        
 	        //bind the ModelManager to a stub, representing the remote object
-	        registry.bind(manager.getClass().getName(), UnicastRemoteObject.exportObject(manager, INIT_PORT + 1));
-	        System.out.println("RMIManager listening on port: " + (INIT_PORT + 1));
+	        registry.bind(MODEL_MANAGER, UnicastRemoteObject.exportObject(manager, 0));
+	        System.out.println("RMIManager listening");
     	} catch (RemoteException | AlreadyBoundException e) {
 			e.printStackTrace();
 		}

src/main/java/rwth/rmi/model/server/interfaces/RMIManager.java

@@ -4,12 +4,15 @@ import java.rmi.AlreadyBoundException;
 import java.rmi.Remote;
 import java.rmi.RemoteException;
 
+import java.io.Serializable;
+import java.util.HashMap;
+
 public interface RMIManager extends Remote {
 	
-	public int registerModel(String modelClass) throws RemoteException, AlreadyBoundException;
+	public Integer registerModel(String modelClass) throws RemoteException, AlreadyBoundException;
 	
-	public VehicleModel getModel(int modelId) throws RemoteException;
+	public HashMap<String, Serializable> executeModel(Integer modelId, HashMap<String, Serializable> inputs) throws RemoteException;
 
-	public void removeModel(int modelId) throws RemoteException;
+	public void removeModel(Integer modelId) throws RemoteException;
 
 }

src/main/java/rwth/rmi/model/server/interfaces/VehicleModel.java

@@ -2,10 +2,12 @@ package rwth.rmi.model.server.interfaces;
 
 import java.rmi.Remote;
 import java.rmi.RemoteException;
-import java.util.Map;
+import java.util.HashMap;
+
+import java.io.Serializable;
 
 public interface VehicleModel extends Remote {
 	
-	public Map<String, Object> execute(Map<String, Object> inputs) throws RemoteException;
+	public HashMap<String, Serializable> execute(HashMap<String, Serializable> inputs) throws RemoteException;
 
 }
\ No newline at end of file

src/main/java/rwth/rmi/model/server/models/Autopilot.java → src/main/java/simulator/integration/AutopilotAdapter.java

-package rwth.rmi.model.server.models;
+package simulator.integration;
 
-import java.lang.reflect.InvocationTargetException;
-import java.lang.reflect.Method;
 import java.rmi.RemoteException;
 import java.util.HashMap;
-import java.util.Map;
+
+import java.io.Serializable;
 
 import rwth.rmi.model.server.interfaces.VehicleModel;
 
 /**
  * JNI binding to a CPP class generated for the native model.
  */
-public class Autopilot implements VehicleModel {
+public class AutopilotAdapter implements VehicleModel {
 	
 	static {
         // make sure the corresponding DLL is on the classpath
         // when the java app with simulation is started
         System.loadLibrary("AutopilotAdapter");
     }
+	
+	public AutopilotAdapter() {
+		super();
+		initialize();
+	}
 
     private boolean isInitialized = false;
 
@@ -58,35 +62,43 @@ public class Autopilot implements VehicleModel {
      * @param inputs - a map denoting the methods to be executed and their params as a single object
      * @return a map containing the outputs of the model
      */
-	public Map<String, Object> execute(Map<String, Object> inputs) throws RemoteException {
+	public HashMap<String, Serializable> execute(HashMap<String, Serializable> inputs) throws RemoteException {
 		//set inputs
 		for(String key : inputs.keySet()) {
-			Method method = getMethod(key);
-			if(method != null) {
-				try {
-					method.invoke(this, inputs.get(key));
-				} catch (IllegalAccessException | IllegalArgumentException | InvocationTargetException e) {
-					System.err.println("Problem invoking method [" + key + "]: " + e);
-				}
+			if(key.contentEquals("timeIncrement")) {
+				set_timeIncrement((double) inputs.get(key));
+			}else if(key.contentEquals("currentVelocity")) {
+				set_currentVelocity((double)inputs.get(key));
+			}else if(key.contentEquals("x")) {
+				set_x((double)inputs.get(key));
+			}else if(key.contentEquals("y")) {
+				set_y((double)inputs.get(key));
+			}else if(key.contentEquals("compass")) {
+				set_compass((double)inputs.get(key));
+			}else if(key.contentEquals("currentEngine")) {
+				set_currentEngine((double)inputs.get(key));
+			}else if(key.contentEquals("currentSteering")) {
+				set_currentSteering((double)inputs.get(key));
+			}else if(key.contentEquals("currentBrakes")) {
+				set_currentBrakes((double)inputs.get(key));
+			}else if(key.contentEquals("trajectory_length")) {
+				set_trajectory_length((int)inputs.get(key));
+			}else if(key.contentEquals("trajectory_x")) {
+				set_trajectory_x((double[])inputs.get(key));
+			}else if(key.contentEquals("trajectory_y")) {
+				set_trajectory_y((double[])inputs.get(key));
 			}
 		}
 		
+		//execute model
+		execute();
+		
 		//fill in outputs
-		Map<String, Object> outputs = new HashMap<String, Object>();
+		HashMap<String, Serializable> outputs = new HashMap<String, Serializable>();
 		outputs.put("engine", get_engine());
 		outputs.put("steering", get_steering());
 		outputs.put("brakes", get_brakes());
 		
 		return outputs;	
 	}
-
-	private Method getMethod(String name) {
-		Method[] methods = this.getClass().getDeclaredMethods();
-		for(int i=0; i<methods.length; ++i)
-			//strip "get_" or "set_" prefixes before comparing method names to inputs
-			if(methods[i].getName().substring(0, 4) == name)
-				return methods[i];
-		
-		return null;
-	}
 }