From 07accb5ea4e43cd12b9ed52d22ebd423a659200c Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Wed, 8 Jul 2020 11:28:49 +0200
Subject: [PATCH] Update goal, fixed bug in mappings and MqttHandler.
- Base: inserted DefaultMappings did not account for existing other mappings, but always use type of token
- Base: MqttHandler was not able to have multiple newConnections for the same topic
- Goal: Changed way how last update is handled (now packed into currentStep)
- Goal: Added StartStep
- Goal: Changed wait to be in milliseconds
---
src/main/jastadd/backend/Mappings.jrag | 10 ++++--
src/main/resources/MqttHandler.jadd | 43 ++++++++++++++------------
src/main/resources/mqtt.mustache | 3 +-
3 files changed, 33 insertions(+), 23 deletions(-)
diff --git a/src/main/jastadd/backend/Mappings.jrag b/src/main/jastadd/backend/Mappings.jrag
index fd40385..600ce92 100644
--- a/src/main/jastadd/backend/Mappings.jrag
+++ b/src/main/jastadd/backend/Mappings.jrag
@@ -111,7 +111,7 @@ aspect Mappings {
// or if no mappings are specified.
// then prepend the suitable default mapping
java.util.List<MappingDefinition> result;
- if (getMappingList().size() == 0 || !getMappingList().get(0).getFromType().isByteArray()) {
+ if (getMappingList().isEmpty() || !getMappingList().get(0).getFromType().isByteArray()) {
result = new java.util.ArrayList();
result.add(suitableDefaultMapping());
result.addAll(getMappingList());
@@ -161,7 +161,9 @@ aspect Mappings {
// --- suitableDefaultMapping ---
syn DefaultMappingDefinition UpdateDefinition.suitableDefaultMapping();
eq ReadFromMqttDefinition.suitableDefaultMapping() {
- String typeName = getToken().getJavaTypeUse().getName();
+ String typeName = getMappingList().isEmpty() ?
+ getToken().getJavaTypeUse().getName() :
+ getMappingList().get(0).getFromType().prettyPrint();
switch(typeName) {
case "int":
case "Integer": return ros2rag().defaultBytesToIntMapping();
@@ -180,7 +182,9 @@ aspect Mappings {
}
}
eq WriteToMqttDefinition.suitableDefaultMapping() {
- String typeName = getToken().getJavaTypeUse().getName();
+ String typeName = getMappingList().isEmpty() ?
+ getToken().getJavaTypeUse().getName() :
+ getMappingList().get(getMappingList().size() - 1).getFromType().prettyPrint();
switch(typeName) {
case "int":
case "Integer": return ros2rag().defaultIntToBytesMapping();
diff --git a/src/main/resources/MqttHandler.jadd b/src/main/resources/MqttHandler.jadd
index 4700527..c3e98dc 100644
--- a/src/main/resources/MqttHandler.jadd
+++ b/src/main/resources/MqttHandler.jadd
@@ -21,7 +21,7 @@ public class MqttHandler {
private boolean sendWelcomeMessage = true;
private org.fusesource.mqtt.client.QoS qos;
/** Dispatch knowledge */
- private final java.util.Map<String, java.util.function.Consumer<byte[]>> callbacks;
+ private final java.util.Map<String, java.util.List<java.util.function.Consumer<byte[]>>> callbacks;
public MqttHandler() {
this("Ros2Rag");
@@ -81,13 +81,15 @@ public class MqttHandler {
@Override
public void onPublish(org.fusesource.hawtbuf.UTF8Buffer topic, org.fusesource.hawtbuf.Buffer body, org.fusesource.mqtt.client.Callback<org.fusesource.mqtt.client.Callback<Void>> ack) {
String topicString = topic.toString();
- java.util.function.Consumer<byte[]> callback = callbacks.get(topicString);
- if (callback == null) {
+ java.util.List<java.util.function.Consumer<byte[]>> callbackList = callbacks.get(topicString);
+ if (callbackList == null || callbackList.isEmpty()) {
logger.debug("Got a message, but no callback to call. Forgot to unsubscribe?");
} else {
byte[] message = body.toByteArray();
// System.out.println("message = " + Arrays.toString(message));
- callback.accept(message);
+ for (java.util.function.Consumer<byte[]> callback : callbackList) {
+ callback.accept(message);
+ }
}
ack.onSuccess(null); // always acknowledge message
}
@@ -163,27 +165,30 @@ public class MqttHandler {
public void newConnection(String topic, java.util.function.Consumer<byte[]> callback) {
if (!ready) {
- // TODO should maybe be something more kind than throwing an exception here
+ // should maybe be something more kind than throwing an exception here
throw new IllegalStateException("Updater not ready");
}
// register callback
- callbacks.put(topic, callback);
+ if (callbacks.get(topic) == null) {
+ callbacks.put(topic, new java.util.ArrayList<>());
- // subscribe at broker
- org.fusesource.mqtt.client.Topic[] topicArray = { new org.fusesource.mqtt.client.Topic(topic, this.qos) };
- connection.getDispatchQueue().execute(() -> {
- connection.subscribe(topicArray, new org.fusesource.mqtt.client.Callback<byte[]>() {
- @Override
- public void onSuccess(byte[] qoses) {
- logger.debug("Subscribed to {}, qoses: {}", topic, qoses);
- }
+ // subscribe at broker
+ org.fusesource.mqtt.client.Topic[] topicArray = { new org.fusesource.mqtt.client.Topic(topic, this.qos) };
+ connection.getDispatchQueue().execute(() -> {
+ connection.subscribe(topicArray, new org.fusesource.mqtt.client.Callback<byte[]>() {
+ @Override
+ public void onSuccess(byte[] qoses) {
+ logger.debug("Subscribed to {}, qoses: {}", topic, qoses);
+ }
- @Override
- public void onFailure(Throwable cause) {
- logger.error("Could not subscribe to {}", topic, cause);
- }
+ @Override
+ public void onFailure(Throwable cause) {
+ logger.error("Could not subscribe to {}", topic, cause);
+ }
+ });
});
- });
+ }
+ callbacks.get(topic).add(callback);
}
/**
diff --git a/src/main/resources/mqtt.mustache b/src/main/resources/mqtt.mustache
index fb2b173..d65ca94 100644
--- a/src/main/resources/mqtt.mustache
+++ b/src/main/resources/mqtt.mustache
@@ -1,5 +1,6 @@
aspect MQTT {
- private MqttHandler {{rootNodeName}}.{{mqttHandlerField}} = new MqttHandler();
+ private String {{rootNodeName}}.MqttName() { return "Ros2Rag"; }
+ private MqttHandler {{rootNodeName}}.{{mqttHandlerField}} = new MqttHandler(MqttName());
public void {{rootNodeName}}.{{mqttSetHostMethod}}(String host) throws java.io.IOException {
{{mqttHandlerField}}.setHost(host);
}
--
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