diff --git a/build.gradle b/build.gradle
index a6a7882eeee6db3cc34887d5b8cce3fe267905d5..7bfebcfe84f3d6f53a6ceb997eb0108610135e31 100644
--- a/build.gradle
+++ b/build.gradle
@@ -3,7 +3,7 @@ apply plugin: 'application'
sourceCompatibility = 1.8
-mainClassName = 'org.jastadd.ros2rag.compiler.Compiler'
+mainClassName = 'org.jastadd.ragconnect.compiler.Compiler'
repositories {
jcenter()
@@ -17,12 +17,32 @@ buildscript {
}
dependencies {
+ implementation project(':relast.preprocessor')
implementation group: 'com.github.spullara.mustache.java', name: 'compiler', version: '0.9.6'
implementation group: 'org.apache.logging.log4j', name: 'log4j-jul', version: '2.11.2'
runtime group: 'org.jastadd', name: 'jastadd', version: '2.3.4'
api group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
}
+def versionFile = 'src/main/resources/ragConnectVersion.properties'
+def oldProps = new Properties()
+
+try {
+ file(versionFile).withInputStream { stream -> oldProps.load(stream) }
+ version = oldProps['version']
+} catch (e) {
+ // this happens, if either the properties file is not present, or cannot be read from
+ throw new GradleException("File ${versionFile} not found or unreadable. Aborting.", e)
+}
+
+task newVersion() {
+ doFirst {
+ def props = new Properties()
+ props['version'] = value
+ props.store(file(versionFile).newWriter(), null)
+ }
+}
+
sourceSets {
main {
java.srcDir "src/gen/java"
@@ -37,7 +57,7 @@ test {
jar {
manifest {
- attributes "Main-Class": 'org.jastadd.ros2rag.compiler.Compiler'
+ attributes "Main-Class": 'org.jastadd.ragconnect.compiler.Compiler'
}
from {
@@ -51,47 +71,47 @@ task relast(type: JavaExec) {
doFirst {
delete "src/gen/jastadd/*.ast"
- delete "src/gen/jastadd/Ros2Rag.jadd"
- delete "src/gen/jastadd/Ros2RagRefResolver.jadd"
- delete "src/gen/jastadd/Ros2RagResolverStubs.jrag"
+ delete "src/gen/jastadd/RagConnect.jadd"
+ delete "src/gen/jastadd/RagConnectRefResolver.jadd"
+ delete "src/gen/jastadd/RagConnectResolverStubs.jrag"
mkdir "src/gen/jastadd/"
}
args = [
"../libs/relast.jar",
"../relast.preprocessor/src/main/jastadd/RelAst.relast",
- "./src/main/jastadd/Ros2Rag.relast",
+ "./src/main/jastadd/RagConnect.relast",
"./src/main/jastadd/MustacheNodes.relast",
"--listClass=java.util.ArrayList",
"--jastAddList=JastAddList",
"--useJastAddNames",
"--file",
"--resolverHelper",
- "--grammarName=./src/gen/jastadd/Ros2Rag"
+ "--grammarName=./src/gen/jastadd/RagConnect"
]
inputs.files file("../libs/relast.jar"),
file("../relast.preprocessor/src/main/jastadd/RelAST.relast"),
- file("./src/main/jastadd/Ros2Rag.relast")
+ file("./src/main/jastadd/RagConnect.relast")
file("./src/main/jastadd/MustacheNodes.relast")
- outputs.files file("./src/gen/jastadd/Ros2Rag.ast"),
- file("./src/gen/jastadd/Ros2Rag.jadd"),
- file("./src/gen/jastadd/Ros2RagRefResolver.jadd"),
- file('./src/gen/jastadd/Ros2RagResolverStubs.jrag')
+ outputs.files file("./src/gen/jastadd/RagConnect.ast"),
+ file("./src/gen/jastadd/RagConnect.jadd"),
+ file("./src/gen/jastadd/RagConnectRefResolver.jadd"),
+ file('./src/gen/jastadd/RagConnectResolverStubs.jrag')
}
jastadd {
configureModuleBuild()
modules {
//noinspection GroovyAssignabilityCheck
- module("Ros2Rag") {
+ module("RagConnect") {
java {
basedir ".."
include "relast.preprocessor/main/**/*.java"
include "relast.preprocessor/gen/**/*.java"
- include "ros2rag.base/src/main/**/*.java"
- include "ros2rag.base/src/gen/**/*.java"
+ include "ragconnect.base/src/main/**/*.java"
+ include "ragconnect.base/src/gen/**/*.java"
}
jastadd {
@@ -99,23 +119,23 @@ jastadd {
include "relast.preprocessor/src/main/jastadd/**/*.ast"
include "relast.preprocessor/src/main/jastadd/**/*.jadd"
include "relast.preprocessor/src/main/jastadd/**/*.jrag"
- include "ros2rag.base/src/main/jastadd/**/*.ast"
- include "ros2rag.base/src/main/jastadd/**/*.jadd"
- include "ros2rag.base/src/main/jastadd/**/*.jrag"
- include "ros2rag.base/src/gen/jastadd/**/*.ast"
- include "ros2rag.base/src/gen/jastadd/**/*.jadd"
- include "ros2rag.base/src/gen/jastadd/**/*.jrag"
+ include "ragconnect.base/src/main/jastadd/**/*.ast"
+ include "ragconnect.base/src/main/jastadd/**/*.jadd"
+ include "ragconnect.base/src/main/jastadd/**/*.jrag"
+ include "ragconnect.base/src/gen/jastadd/**/*.ast"
+ include "ragconnect.base/src/gen/jastadd/**/*.jadd"
+ include "ragconnect.base/src/gen/jastadd/**/*.jrag"
}
scanner {
basedir ".."
- include "ros2rag.base/src/main/jastadd/scanner/Header.flex", [-5]
+ include "ragconnect.base/src/main/jastadd/scanner/Header.flex", [-5]
include "relast.preprocessor/src/main/jastadd/scanner/Preamble.flex", [-4]
include "relast.preprocessor/src/main/jastadd/scanner/Macros.flex", [-3]
- include "ros2rag.base/src/main/jastadd/scanner/Macros.flex", [-3]
+ include "ragconnect.base/src/main/jastadd/scanner/Macros.flex", [-3]
include "relast.preprocessor/src/main/jastadd/scanner/RulesPreamble.flex", [-2]
- include "ros2rag.base/src/main/jastadd/scanner/MappingContent.flex", [-1]
- include "ros2rag.base/src/main/jastadd/scanner/Keywords.flex"
+ include "ragconnect.base/src/main/jastadd/scanner/MappingContent.flex", [-1]
+ include "ragconnect.base/src/main/jastadd/scanner/Keywords.flex"
include "relast.preprocessor/src/main/jastadd/scanner/Keywords.flex"
include "relast.preprocessor/src/main/jastadd/scanner/Symbols.flex", [1]
include "relast.preprocessor/src/main/jastadd/scanner/RulesPostamble.flex", [2]
@@ -123,8 +143,8 @@ jastadd {
parser {
basedir ".."
- include "ros2rag.base/src/main/jastadd/parser/Preamble.parser"
- include "ros2rag.base/src/main/jastadd/parser/Ros2Rag.parser"
+ include "ragconnect.base/src/main/jastadd/parser/Preamble.parser"
+ include "ragconnect.base/src/main/jastadd/parser/RagConnect.parser"
include "relast.preprocessor/src/main/jastadd/parser/RelAst.parser"
}
}
@@ -141,18 +161,18 @@ jastadd {
}
- module = "Ros2Rag"
+ module = "RagConnect"
- astPackage = 'org.jastadd.ros2rag.ast'
+ astPackage = 'org.jastadd.ragconnect.ast'
- parser.name = 'Ros2RagParser'
+ parser.name = 'RagConnectParser'
genDir = 'src/gen/java'
buildInfoDir = 'src/gen-res'
- scanner.genDir = "src/gen/java/org/jastadd/ros2rag/scanner"
- parser.genDir = "src/gen/java/org/jastadd/ros2rag/parser"
+ scanner.genDir = "src/gen/java/org/jastadd/ragconnect/scanner"
+ parser.genDir = "src/gen/java/org/jastadd/ragconnect/parser"
jastaddOptions = ["--lineColumnNumbers", "--List=JastAddList", "--safeLazy", "--visitCheck=true", "--rewrite=cnta", "--cache=all"]
}
diff --git a/src/main/jastadd/Analysis.jrag b/src/main/jastadd/Analysis.jrag
index 228a3479df5be9d24998479bc3b48bd1626775aa..623a3f0ad8c0457d8d0606bf70dea0adfea89ea4 100644
--- a/src/main/jastadd/Analysis.jrag
+++ b/src/main/jastadd/Analysis.jrag
@@ -1,10 +1,10 @@
aspect Analysis {
- // --- lookupTokenUpdateDefinition ---
- inh TokenUpdateDefinition TokenUpdateDefinition.lookupTokenUpdateDefinition(TokenComponent token);
- eq Ros2Rag.getUpdateDefinition().lookupTokenUpdateDefinition(TokenComponent token) {
- for (UpdateDefinition def : getUpdateDefinitionList()) {
- if (def.isTokenUpdateDefinition() && def.asTokenUpdateDefinition().getToken().equals(token)) {
- return def.asTokenUpdateDefinition();
+ // --- lookupTokenEndpointDefinition ---
+ inh TokenEndpointDefinition TokenEndpointDefinition.lookupTokenEndpointDefinition(TokenComponent token);
+ eq RagConnect.getEndpointDefinition().lookupTokenEndpointDefinition(TokenComponent token) {
+ for (EndpointDefinition def : getEndpointDefinitionList()) {
+ if (def.isTokenEndpointDefinition() && def.asTokenEndpointDefinition().getToken().equals(token)) {
+ return def.asTokenEndpointDefinition();
}
}
return null;
@@ -12,7 +12,7 @@ aspect Analysis {
// --- lookupDependencyDefinition ---
inh DependencyDefinition DependencyDefinition.lookupDependencyDefinition(TypeDecl source, String id);
- eq Ros2Rag.getDependencyDefinition().lookupDependencyDefinition(TypeDecl source, String id) {
+ eq RagConnect.getDependencyDefinition().lookupDependencyDefinition(TypeDecl source, String id) {
for (DependencyDefinition def : getDependencyDefinitionList()) {
if (def.getID().equals(id) && def.getSource().containingTypeDecl().equals(source)) {
return def;
@@ -22,6 +22,6 @@ aspect Analysis {
}
// --- isAlreadyDefined ---
- syn boolean TokenUpdateDefinition.isAlreadyDefined() = lookupTokenUpdateDefinition(getToken()) != this;
+ syn boolean TokenEndpointDefinition.isAlreadyDefined() = lookupTokenEndpointDefinition(getToken()) != this;
syn boolean DependencyDefinition.isAlreadyDefined() = lookupDependencyDefinition(getSource().containingTypeDecl(), getID()) != this;
}
diff --git a/src/main/jastadd/Errors.jrag b/src/main/jastadd/Errors.jrag
index ef223a4081e169273555140a35a9f8b47876109d..bfee2545d4bee28223b04ce931ccd6a6429cf13f 100644
--- a/src/main/jastadd/Errors.jrag
+++ b/src/main/jastadd/Errors.jrag
@@ -3,50 +3,50 @@ import java.util.TreeSet;
import java.util.LinkedList;
aspect Errors {
- coll Set<ErrorMessage> Ros2Rag.errors()
+ coll Set<ErrorMessage> RagConnect.errors()
[new TreeSet<ErrorMessage>()]
- root Ros2Rag;
+ root RagConnect;
- ReadFromMqttDefinition contributes error("Read definition already defined for " + getToken().getName())
+ ReceiveFromMqttDefinition contributes error("Receive definition already defined for " + getToken().getName())
when isAlreadyDefined()
- to Ros2Rag.errors();
+ to RagConnect.errors();
- ReadFromMqttDefinition contributes error("Reading target token must not be an NTA token!")
+ ReceiveFromMqttDefinition contributes error("Receiving target token must not be an NTA token!")
when getToken().getNTA()
- to Ros2Rag.errors();
+ to RagConnect.errors();
// if first mapping is null, then suitableDefaultMapping() == null
- ReadFromMqttDefinition contributes error("No suitable default mapping found for type " +
+ ReceiveFromMqttDefinition contributes error("No suitable default mapping found for type " +
((getMappingList().isEmpty())
? getToken().getJavaTypeUse().prettyPrint()
: getMappingList().get(0).getFromType().prettyPrint()))
when effectiveMappings().get(0) == null
- to Ros2Rag.errors();
+ to RagConnect.errors();
- ReadFromMqttDefinition contributes error("to-type of last mapping must be type of the Token!")
+ ReceiveFromMqttDefinition contributes error("to-type of last mapping must be type of the Token!")
when getToken().getJavaTypeUse().prettyPrint().equals(
effectiveMappings().get(effectiveMappings().size() - 1))
- to Ros2Rag.errors();
+ to RagConnect.errors();
- WriteToMqttDefinition contributes error("Writing target token must be an NTA token!")
+ SendToMqttDefinition contributes error("Sending target token must be an NTA token!")
when !getToken().getNTA()
- to Ros2Rag.errors();
+ to RagConnect.errors();
- WriteToMqttDefinition contributes error("Write definition already defined for " + getToken().getName())
+ SendToMqttDefinition contributes error("Send definition already defined for " + getToken().getName())
when isAlreadyDefined()
- to Ros2Rag.errors();
+ to RagConnect.errors();
DependencyDefinition contributes error("Dependency definition already defined for " + getSource().containingTypeDecl().getName() + " with name " + getID())
when isAlreadyDefined()
- to Ros2Rag.errors();
+ to RagConnect.errors();
DependencyDefinition contributes error("The name of a dependency definition must not be equal to a list-node on the source")
when isAlreadyDefinedAsList()
- to Ros2Rag.errors();
+ to RagConnect.errors();
- DependencyDefinition contributes error("There must be a write update definition targeting " + getSource().parentTypeypeAndName() + " for dependency definition " + getID())
- when targetUpdateDefinition() == null
- to Ros2Rag.errors();
+ DependencyDefinition contributes error("There must be a send update definition targeting " + getSource().parentTypeypeAndName() + " for dependency definition " + getID())
+ when targetEndpointDefinition() == null
+ to RagConnect.errors();
}
aspect ErrorHelpers {
diff --git a/src/main/jastadd/MustacheNodes.relast b/src/main/jastadd/MustacheNodes.relast
index 69d4280f9d9038c838e83767c6e72be9a8d6d5d8..ce85caba554d1f582079b299f457d7675ab12dfa 100644
--- a/src/main/jastadd/MustacheNodes.relast
+++ b/src/main/jastadd/MustacheNodes.relast
@@ -1,20 +1,20 @@
//TypeComponentMustache ;
//rel TypeComponentMustache.TypeComponent -> TypeComponent ;
-MRos2Rag ::= ReadDefinition:MReadDefinition* WriteDefinition:MWriteDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeComponent:MTypeComponent* TokenComponent:MTokenComponent*;
-abstract MUpdateDefinition ::= InnerMappingDefinition:MInnerMappingDefinition*;
-MReadDefinition : MUpdateDefinition;
-MWriteDefinition : MUpdateDefinition;
+MRagConnect ::= ReceiveDefinition:MReceiveDefinition* SendDefinition:MSendDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeComponent:MTypeComponent* TokenComponent:MTokenComponent*;
+abstract MEndpointDefinition ::= InnerMappingDefinition:MInnerMappingDefinition*;
+MReceiveDefinition : MEndpointDefinition;
+MSendDefinition : MEndpointDefinition;
MMappingDefinition;
MInnerMappingDefinition;
MDependencyDefinition;
MTypeComponent;
MTokenComponent;
-rel MRos2Rag.Ros2Rag -> Ros2Rag;
+rel MRagConnect.RagConnect -> RagConnect;
rel MInnerMappingDefinition.MappingDefinition -> MappingDefinition;
-rel MReadDefinition.ReadFromMqttDefinition -> ReadFromMqttDefinition;
-rel MWriteDefinition.WriteToMqttDefinition -> WriteToMqttDefinition;
+rel MReceiveDefinition.ReceiveFromMqttDefinition -> ReceiveFromMqttDefinition;
+rel MSendDefinition.SendToMqttDefinition -> SendToMqttDefinition;
rel MMappingDefinition.MappingDefinition -> MappingDefinition;
rel MDependencyDefinition.DependencyDefinition -> DependencyDefinition;
rel MTypeComponent.TypeComponent -> TypeComponent;
diff --git a/src/main/jastadd/NameResolution.jrag b/src/main/jastadd/NameResolution.jrag
index fc4485858d199f352c18fcd188914020666ef619..f282ba55983feeae814e12823ff31f1d6480b6a8 100644
--- a/src/main/jastadd/NameResolution.jrag
+++ b/src/main/jastadd/NameResolution.jrag
@@ -1,8 +1,8 @@
aspect NameResolution {
- refine RefResolverStubs eq UpdateDefinition.resolveMappingByToken(String id, int position) {
+ refine RefResolverStubs eq EndpointDefinition.resolveMappingByToken(String id, int position) {
// return a MappingDefinition
- for (MappingDefinition mappingDefinition : ros2rag().getMappingDefinitionList()) {
+ for (MappingDefinition mappingDefinition : ragconnect().getMappingDefinitionList()) {
if (mappingDefinition.getID().equals(id)) {
return mappingDefinition;
}
diff --git a/src/main/jastadd/Navigation.jrag b/src/main/jastadd/Navigation.jrag
index a4f21e6e8d79c549a63d54474792382457bf74fd..2314386eb9f74ecb5699d6fba91956e80f75fa63 100644
--- a/src/main/jastadd/Navigation.jrag
+++ b/src/main/jastadd/Navigation.jrag
@@ -1,68 +1,48 @@
aspect Navigation {
// --- program ---
- eq Ros2Rag.getChild().program() = getProgram();
- eq MRos2Rag.getChild().program() = getRos2Rag().program();
+ eq RagConnect.getChild().program() = getProgram();
+ eq MRagConnect.getChild().program() = getRagConnect().program();
- // --- ros2rag ---
- inh Ros2Rag ASTNode.ros2rag();
- eq Ros2Rag.getChild().ros2rag() = this;
- eq MRos2Rag.getChild().ros2rag() = getRos2Rag();
+ // --- ragconnect ---
+ inh RagConnect ASTNode.ragconnect();
+ eq RagConnect.getChild().ragconnect() = this;
+ eq MRagConnect.getChild().ragconnect() = getRagConnect();
- // --- containedFile (first equation should be in preprocessor) ---
- eq Program.getChild().containedFile() = null;
- eq Ros2Rag.getChild().containedFile() = null;
+ // --- containedFile
+ eq RagConnect.getChild().containedFile() = null;
- // --- isTypeComponent (should be in preprocessor) ---
- syn boolean Component.isTypeComponent() = false;
- eq TypeComponent.isTypeComponent() = true;
+ // --- containedFileName ---
+ eq RagConnect.getChild().containedFileName() = getFileName();
+ eq MRagConnect.getChild().containedFileName() = null;
- // --- asTypeComponent (should be in preprocessor) ---
- syn TypeComponent Component.asTypeComponent() = null;
- eq TypeComponent.asTypeComponent() = this;
+ // --- isTokenEndpointDefinition ---
+ syn boolean EndpointDefinition.isTokenEndpointDefinition() = false;
+ eq TokenEndpointDefinition.isTokenEndpointDefinition() = true;
- // --- isListComponent (should be in preprocessor) ---
- syn boolean Component.isListComponent() = false;
- eq ListComponent.isListComponent() = true;
+ // --- asTokenEndpointDefinition ---
+ syn TokenEndpointDefinition EndpointDefinition.asTokenEndpointDefinition() = null;
+ eq TokenEndpointDefinition.asTokenEndpointDefinition() = this;
- // --- asListComponent (should be in preprocessor) ---
- syn ListComponent Component.asListComponent() = null;
- eq ListComponent.asListComponent() = this;
+ // --- isSendToMqttDefinition ---
+ syn boolean EndpointDefinition.isSendToMqttDefinition() = false;
+ eq SendToMqttDefinition.isSendToMqttDefinition() = true;
- // --- containedFileName (should replace containedFile in preprocessor) ---
- inh String ASTNode.containedFileName();
- eq GrammarFile.getChild().containedFileName() = getFileName();
- eq Ros2Rag.getChild().containedFileName() = getFileName();
- eq Program.getChild().containedFileName() = null;
- eq MRos2Rag.getChild().containedFileName() = null;
+ // --- asSendToMqttDefinition ---
+ syn SendToMqttDefinition EndpointDefinition.asSendToMqttDefinition() = null;
+ eq SendToMqttDefinition.asSendToMqttDefinition() = this;
- // --- isTokenUpdateDefinition ---
- syn boolean UpdateDefinition.isTokenUpdateDefinition() = false;
- eq TokenUpdateDefinition.isTokenUpdateDefinition() = true;
+ // --- asReceiveFromMqttDefinition ---
+ syn ReceiveFromMqttDefinition EndpointDefinition.asReceiveFromMqttDefinition() = null;
+ eq ReceiveFromMqttDefinition.asReceiveFromMqttDefinition() = this;
- // --- asTokenUpdateDefinition ---
- syn TokenUpdateDefinition UpdateDefinition.asTokenUpdateDefinition() = null;
- eq TokenUpdateDefinition.asTokenUpdateDefinition() = this;
-
- // --- isWriteToMqttDefinition ---
- syn boolean UpdateDefinition.isWriteToMqttDefinition() = false;
- eq WriteToMqttDefinition.isWriteToMqttDefinition() = true;
-
- // --- asWriteToMqttDefinition ---
- syn WriteToMqttDefinition UpdateDefinition.asWriteToMqttDefinition() = null;
- eq WriteToMqttDefinition.asWriteToMqttDefinition() = this;
-
- // --- asReadFromMqttDefinition ---
- syn ReadFromMqttDefinition UpdateDefinition.asReadFromMqttDefinition() = null;
- eq ReadFromMqttDefinition.asReadFromMqttDefinition() = this;
-
- // --- targetUpdateDefinition ---
- syn WriteToMqttDefinition DependencyDefinition.targetUpdateDefinition() {
+ // --- targetEndpointDefinition ---
+ syn SendToMqttDefinition DependencyDefinition.targetEndpointDefinition() {
// resolve definition in here, as we do not need resolveMethod in any other place (yet)
- for (UpdateDefinition updateDefinition : ros2rag().getUpdateDefinitionList()) {
- if (updateDefinition.isWriteToMqttDefinition() &&
- updateDefinition.asWriteToMqttDefinition().getToken().equals(this.getTarget())) {
- return updateDefinition.asWriteToMqttDefinition();
+ for (EndpointDefinition endpointDefinition : ragconnect().getEndpointDefinitionList()) {
+ if (endpointDefinition.isSendToMqttDefinition() &&
+ endpointDefinition.asSendToMqttDefinition().getToken().equals(this.getTarget())) {
+ return endpointDefinition.asSendToMqttDefinition();
}
}
return null;
@@ -71,10 +51,4 @@ aspect Navigation {
// --- isDefaultMappingDefinition ---
syn boolean MappingDefinition.isDefaultMappingDefinition() = false;
eq DefaultMappingDefinition.isDefaultMappingDefinition() = true;
-
- // --- allTokenComponents ---
- coll java.util.Set<TokenComponent> Program.allTokenComponents() [new java.util.HashSet<>()] root Program;
- TokenComponent contributes this
- to Program.allTokenComponents()
- for program();
}
diff --git a/src/main/jastadd/Ros2Rag.relast b/src/main/jastadd/RagConnect.relast
similarity index 55%
rename from src/main/jastadd/Ros2Rag.relast
rename to src/main/jastadd/RagConnect.relast
index e1a84e8beac44fcbc23d09fc56ed536586bde4e8..d30116efae1a6735e88922e31f42f99911c6532a 100644
--- a/src/main/jastadd/Ros2Rag.relast
+++ b/src/main/jastadd/RagConnect.relast
@@ -1,14 +1,14 @@
-Ros2Rag ::= UpdateDefinition* DependencyDefinition* MappingDefinition* Program <FileName> ;
+RagConnect ::= EndpointDefinition* DependencyDefinition* MappingDefinition* Program <FileName> ;
-abstract UpdateDefinition ::= <AlwaysApply:boolean> ;
+abstract EndpointDefinition ::= <AlwaysApply:boolean> ;
-rel UpdateDefinition.Mapping* -> MappingDefinition;
+rel EndpointDefinition.Mapping* -> MappingDefinition;
-abstract TokenUpdateDefinition : UpdateDefinition;
-rel TokenUpdateDefinition.Token -> TokenComponent;
+abstract TokenEndpointDefinition : EndpointDefinition;
+rel TokenEndpointDefinition.Token -> TokenComponent;
-ReadFromMqttDefinition : TokenUpdateDefinition;
-WriteToMqttDefinition : TokenUpdateDefinition;
+ReceiveFromMqttDefinition : TokenEndpointDefinition;
+SendToMqttDefinition : TokenEndpointDefinition;
DependencyDefinition ::= <ID>;
rel DependencyDefinition.Source <-> TokenComponent.DependencySourceDefinition*;
diff --git a/src/main/jastadd/backend/Generation.jadd b/src/main/jastadd/backend/Generation.jadd
index 9179b3d5ad520e4a3255a5b26c7ea86deaeef50b..067626ed42f12add896ca4eea7c65917309c0e2e 100644
--- a/src/main/jastadd/backend/Generation.jadd
+++ b/src/main/jastadd/backend/Generation.jadd
@@ -26,39 +26,40 @@ aspect GenerationUtils {
*/
aspect AttributesForMustache {
- // --- MRos2Rag ---
- eq MRos2Rag.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
- eq MRos2Rag.getChild().mqttHandlerField() = mqttHandlerField();
+ // --- MRagConnect ---
+ eq MRagConnect.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
+ eq MRagConnect.getChild().mqttHandlerField() = mqttHandlerField();
+ eq MRagConnect.getRootTypeComponent(int i).isFirst() = i == 0;
- syn String MRos2Rag.mqttHandlerAttribute() = getRos2Rag().mqttHandlerAttribute();
- syn String MRos2Rag.mqttHandlerField() = getRos2Rag().mqttHandlerField();
- syn String MRos2Rag.mqttSetHostMethod() = getRos2Rag().mqttSetHostMethod();
- syn String MRos2Rag.mqttWaitUntilReadyMethod() = getRos2Rag().mqttWaitUntilReadyMethod();
- syn String MRos2Rag.mqttCloseMethod() = getRos2Rag().mqttCloseMethod();
+ syn String MRagConnect.mqttHandlerAttribute() = getRagConnect().mqttHandlerAttribute();
+ syn String MRagConnect.mqttHandlerField() = getRagConnect().mqttHandlerField();
+ syn String MRagConnect.mqttSetHostMethod() = getRagConnect().mqttSetHostMethod();
+ syn String MRagConnect.mqttWaitUntilReadyMethod() = getRagConnect().mqttWaitUntilReadyMethod();
+ syn String MRagConnect.mqttCloseMethod() = getRagConnect().mqttCloseMethod();
- // --- MUpdateDefinition ---
- syn String MUpdateDefinition.preemptiveExpectedValue();
- syn String MUpdateDefinition.preemptiveReturn();
- syn TokenUpdateDefinition MUpdateDefinition.updateDef();
- syn String MUpdateDefinition.firstInputVarName();
+ // --- MEndpointDefinition ---
+ syn String MEndpointDefinition.preemptiveExpectedValue();
+ syn String MEndpointDefinition.preemptiveReturn();
+ syn TokenEndpointDefinition MEndpointDefinition.endpointDef();
+ syn String MEndpointDefinition.firstInputVarName();
- eq MUpdateDefinition.getInnerMappingDefinition(int i).isLast() = i == getNumInnerMappingDefinition() - 1;
- eq MUpdateDefinition.getInnerMappingDefinition().resultVarPrefix() = resultVarPrefix();
- eq MUpdateDefinition.getInnerMappingDefinition(int i).inputVarName() = i == 0 ? firstInputVarName() : resultVarPrefix() + getInnerMappingDefinition(i - 1).getMappingDefinition().methodName();
+ eq MEndpointDefinition.getInnerMappingDefinition(int i).isLast() = i == getNumInnerMappingDefinition() - 1;
+ eq MEndpointDefinition.getInnerMappingDefinition().resultVarPrefix() = resultVarPrefix();
+ eq MEndpointDefinition.getInnerMappingDefinition(int i).inputVarName() = i == 0 ? firstInputVarName() : resultVarPrefix() + getInnerMappingDefinition(i - 1).getMappingDefinition().methodName();
- inh String MUpdateDefinition.mqttHandlerAttribute();
+ inh String MEndpointDefinition.mqttHandlerAttribute();
- syn String MUpdateDefinition.connectMethod() = updateDef().connectMethod();
- syn TokenComponent MUpdateDefinition.token() = updateDef().getToken();
- syn boolean MUpdateDefinition.alwaysApply() = updateDef().getAlwaysApply();
- syn String MUpdateDefinition.resultVarPrefix() = "result"; // we do not need "_" here, because methodName begins with one
- syn String MUpdateDefinition.parentTypeName() = token().containingTypeDecl().getName();
- syn String MUpdateDefinition.tokenName() = token().getName();
- syn MInnerMappingDefinition MUpdateDefinition.lastDefinition() = getInnerMappingDefinition(getNumInnerMappingDefinition() - 1);
- syn String MUpdateDefinition.lastDefinitionToType() = lastDefinition().ToType();
- syn String MUpdateDefinition.lastDefinitionName() = lastDefinition().methodName();
- syn String MUpdateDefinition.lastResult() = resultVarPrefix() + lastDefinitionName();
- syn String MUpdateDefinition.condition() {
+ syn String MEndpointDefinition.connectMethod() = endpointDef().connectMethod();
+ syn TokenComponent MEndpointDefinition.token() = endpointDef().getToken();
+ syn boolean MEndpointDefinition.alwaysApply() = endpointDef().getAlwaysApply();
+ syn String MEndpointDefinition.resultVarPrefix() = "result"; // we do not need "_" here, because methodName begins with one
+ syn String MEndpointDefinition.parentTypeName() = token().containingTypeDecl().getName();
+ syn String MEndpointDefinition.tokenName() = token().getName();
+ syn MInnerMappingDefinition MEndpointDefinition.lastDefinition() = getInnerMappingDefinition(getNumInnerMappingDefinition() - 1);
+ syn String MEndpointDefinition.lastDefinitionToType() = lastDefinition().ToType();
+ syn String MEndpointDefinition.lastDefinitionName() = lastDefinition().methodName();
+ syn String MEndpointDefinition.lastResult() = resultVarPrefix() + lastDefinitionName();
+ syn String MEndpointDefinition.condition() {
if (lastDefinition().getMappingDefinition().getToType().isArray()) {
return "java.util.Arrays.equals(" + preemptiveExpectedValue() + ", " + lastResult() + ")";
}
@@ -78,23 +79,23 @@ aspect AttributesForMustache {
syn String MInnerMappingDefinition.methodName() = getMappingDefinition().methodName();
inh String MInnerMappingDefinition.inputVarName();
- // --- MReadDefinition ---
- eq MReadDefinition.preemptiveExpectedValue() = "get" + tokenName() + "()";
- eq MReadDefinition.preemptiveReturn() = "return;";
- eq MReadDefinition.updateDef() = getReadFromMqttDefinition();
- eq MReadDefinition.firstInputVarName() = "message";
+ // --- MReceiveDefinition ---
+ eq MReceiveDefinition.preemptiveExpectedValue() = "get" + tokenName() + "()";
+ eq MReceiveDefinition.preemptiveReturn() = "return;";
+ eq MReceiveDefinition.endpointDef() = getReceiveFromMqttDefinition();
+ eq MReceiveDefinition.firstInputVarName() = "message";
- // --- MWriteDefinition ---
- eq MWriteDefinition.preemptiveExpectedValue() = lastValue();
- eq MWriteDefinition.preemptiveReturn() = "return false;";
- eq MWriteDefinition.updateDef() = getWriteToMqttDefinition();
- eq MWriteDefinition.firstInputVarName() = "get" + tokenName() + "()";
+ // --- MSendDefinition ---
+ eq MSendDefinition.preemptiveExpectedValue() = lastValue();
+ eq MSendDefinition.preemptiveReturn() = "return false;";
+ eq MSendDefinition.endpointDef() = getSendToMqttDefinition();
+ eq MSendDefinition.firstInputVarName() = "get" + tokenName() + "()";
- syn String MWriteDefinition.writeTopic() = getWriteToMqttDefinition().writeTopic();
- syn String MWriteDefinition.lastValue() = getWriteToMqttDefinition().lastValue();
- syn String MWriteDefinition.updateMethod() = getWriteToMqttDefinition().updateMethod();
- syn String MWriteDefinition.writeMethod() = getWriteToMqttDefinition().writeMethod();
- syn String MWriteDefinition.tokenResetMethod() = getWriteToMqttDefinition().tokenResetMethod();
+ syn String MSendDefinition.sendTopic() = getSendToMqttDefinition().sendTopic();
+ syn String MSendDefinition.lastValue() = getSendToMqttDefinition().lastValue();
+ syn String MSendDefinition.updateMethod() = getSendToMqttDefinition().updateMethod();
+ syn String MSendDefinition.writeMethod() = getSendToMqttDefinition().writeMethod();
+ syn String MSendDefinition.tokenResetMethod() = getSendToMqttDefinition().tokenResetMethod();
// --- MMappingDefinition ---
syn String MMappingDefinition.toType() = getMappingDefinition().getToType().prettyPrint();
@@ -108,14 +109,15 @@ aspect AttributesForMustache {
syn String MDependencyDefinition.dependencyMethod() = getDependencyDefinition().dependencyMethod();
syn String MDependencyDefinition.sourceParentTypeName() = getDependencyDefinition().getSource().containingTypeDecl().getName();
syn String MDependencyDefinition.internalRelationPrefix() = getDependencyDefinition().internalRelationPrefix();
- syn nta MUpdateDefinition MDependencyDefinition.targetUpdateDefinition() {
- return getDependencyDefinition().targetUpdateDefinition().toMustache();
+ syn nta MEndpointDefinition MDependencyDefinition.targetEndpointDefinition() {
+ return getDependencyDefinition().targetEndpointDefinition().toMustache();
}
// --- MTypeComponent ---
syn String MTypeComponent.name() = getTypeComponent().getName();
inh String MTypeComponent.mqttHandlerAttribute();
inh String MTypeComponent.mqttHandlerField();
+ inh boolean MTypeComponent.isFirst();
// --- MTokenComponent ---
syn String MTokenComponent.parentTypeName() = getTokenComponent().containingTypeDecl().getName();
@@ -124,14 +126,14 @@ aspect AttributesForMustache {
syn String MTokenComponent.internalName() = getTokenComponent().internalName();
// --- toMustache ---
- syn lazy MRos2Rag Ros2Rag.toMustache() {
- MRos2Rag result = new MRos2Rag();
- result.setRos2Rag(this);
- for (UpdateDefinition def : getUpdateDefinitionList()) {
- if (def.isWriteToMqttDefinition()) {
- result.addWriteDefinition(def.asWriteToMqttDefinition().toMustache());
+ syn lazy MRagConnect RagConnect.toMustache() {
+ MRagConnect result = new MRagConnect();
+ result.setRagConnect(this);
+ for (EndpointDefinition def : getEndpointDefinitionList()) {
+ if (def.isSendToMqttDefinition()) {
+ result.addSendDefinition(def.asSendToMqttDefinition().toMustache());
} else {
- result.addReadDefinition(def.asReadFromMqttDefinition().toMustache());
+ result.addReceiveDefinition(def.asReceiveFromMqttDefinition().toMustache());
}
}
for (MappingDefinition def : allMappingDefinitions()) {
@@ -154,22 +156,22 @@ aspect AttributesForMustache {
}
//MInnerMappingDefinition.MappingDefinition -> MappingDefinition;
- protected void MUpdateDefinition.addInnerMappings() {
- for (MappingDefinition def : updateDef().effectiveMappings()) {
+ protected void MEndpointDefinition.addInnerMappings() {
+ for (MappingDefinition def : endpointDef().effectiveMappings()) {
MInnerMappingDefinition inner = new MInnerMappingDefinition();
inner.setMappingDefinition(def);
addInnerMappingDefinition(inner);
}
}
- syn lazy MReadDefinition ReadFromMqttDefinition.toMustache() {
- MReadDefinition result = new MReadDefinition();
- result.setReadFromMqttDefinition(this);
+ syn lazy MReceiveDefinition ReceiveFromMqttDefinition.toMustache() {
+ MReceiveDefinition result = new MReceiveDefinition();
+ result.setReceiveFromMqttDefinition(this);
result.addInnerMappings();
return result;
}
- syn lazy MWriteDefinition WriteToMqttDefinition.toMustache() {
- MWriteDefinition result = new MWriteDefinition();
- result.setWriteToMqttDefinition(this);
+ syn lazy MSendDefinition SendToMqttDefinition.toMustache() {
+ MSendDefinition result = new MSendDefinition();
+ result.setSendToMqttDefinition(this);
result.addInnerMappings();
return result;
}
@@ -203,12 +205,12 @@ aspect AspectGeneration {
syn String TokenComponent.internalName() = getDependencySourceDefinitionList().isEmpty() ? externalName() : "_internal_" + getName();
syn String TokenComponent.externalName() = getName();
- syn String TokenUpdateDefinition.connectMethod() = "connect" + getToken().getName();
- syn String WriteToMqttDefinition.writeTopic() = "_topic_" + getToken().getName();
- syn String WriteToMqttDefinition.lastValue() = "_lastValue" + getToken().getName();
- syn String WriteToMqttDefinition.updateMethod() = "_update_" + getToken().getName();
- syn String WriteToMqttDefinition.writeMethod() = "_writeLastValue_" + getToken().getName();
- syn String WriteToMqttDefinition.tokenResetMethod() = "get" + getToken().getName() + "_reset";
+ syn String TokenEndpointDefinition.connectMethod() = "connect" + getToken().getName();
+ syn String SendToMqttDefinition.sendTopic() = "_topic_" + getToken().getName();
+ syn String SendToMqttDefinition.lastValue() = "_lastValue" + getToken().getName();
+ syn String SendToMqttDefinition.updateMethod() = "_update_" + getToken().getName();
+ syn String SendToMqttDefinition.writeMethod() = "_writeLastValue_" + getToken().getName();
+ syn String SendToMqttDefinition.tokenResetMethod() = "get" + getToken().getName() + "_reset";
syn String MappingDefinition.methodName() = "_apply_" + getID();
syn String DependencyDefinition.dependencyMethod() = "add" +
Character.toUpperCase(getID().charAt(0)) +
@@ -216,29 +218,29 @@ aspect AspectGeneration {
syn String DependencyDefinition.internalRelationPrefix() = "_internal_" + getID();
syn String DependencyDefinition.internalTokenName() = getSource().internalName();
- syn String Ros2Rag.mqttHandlerAttribute() = "_mqttHandler";
- syn String Ros2Rag.mqttHandlerField() = "_mqttHandler";
+ syn String RagConnect.mqttHandlerAttribute() = "_mqttHandler";
+ syn String RagConnect.mqttHandlerField() = "_mqttHandler";
- syn String Ros2Rag.mqttSetHostMethod() = "MqttSetHost";
- syn String Ros2Rag.mqttWaitUntilReadyMethod() = "MqttWaitUntilReady";
- syn String Ros2Rag.mqttCloseMethod() = "MqttCloseConnections";
+ syn String RagConnect.mqttSetHostMethod() = "MqttSetHost";
+ syn String RagConnect.mqttWaitUntilReadyMethod() = "MqttWaitUntilReady";
+ syn String RagConnect.mqttCloseMethod() = "MqttCloseConnections";
// naming copy attributes
// --- mqttHandlerAttribute ---
- inh String UpdateDefinition.mqttHandlerAttribute();
+ inh String EndpointDefinition.mqttHandlerAttribute();
inh String MappingDefinition.mqttHandlerAttribute();
inh String DependencyDefinition.mqttHandlerAttribute();
- eq Ros2Rag.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
+ eq RagConnect.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
// --- rootNodeName ---
syn String ASTNode.rootNodeName() = rootNode.getName();
- public String Ros2Rag.generateAspect(String rootNodeName) {
+ public String RagConnect.generateAspect(String rootNodeName) {
rootNode = getProgram().resolveTypeDecl(rootNodeName);
return toMustache().generateAspect();
}
- public String MRos2Rag.generateAspect() {
+ public String MRagConnect.generateAspect() {
StringBuilder sb = new StringBuilder();
com.github.mustachejava.reflect.ReflectionObjectHandler roh = new com.github.mustachejava.reflect.ReflectionObjectHandler() {
@Override
@@ -257,14 +259,14 @@ aspect AspectGeneration {
};
com.github.mustachejava.DefaultMustacheFactory mf = new com.github.mustachejava.DefaultMustacheFactory();
mf.setObjectHandler(roh);
- com.github.mustachejava.Mustache m = mf.compile("ros2rag.mustache");
- m.execute(new java.io.PrintWriter(new org.jastadd.ros2rag.compiler.AppendableWriter(sb)), this);
+ com.github.mustachejava.Mustache m = mf.compile("ragconnect.mustache");
+ m.execute(new java.io.PrintWriter(new org.jastadd.ragconnect.compiler.AppendableWriter(sb)), this);
return sb.toString();
}
}
aspect RelationGeneration {
- syn java.util.List<Relation> Ros2Rag.additionalRelations() {
+ syn java.util.List<Relation> RagConnect.additionalRelations() {
java.util.List<Relation> result = new java.util.ArrayList<>();
for (DependencyDefinition dd : getDependencyDefinitionList()) {
result.add(dd.getRelationToCreate());
@@ -280,6 +282,7 @@ aspect RelationGeneration {
right.setType(getSource().containingTypeDecl());
result.setLeft(left);
result.setRight(right);
+ result.addComment(new WhitespaceComment("\n"));
return result;
}
}
diff --git a/src/main/jastadd/backend/Mappings.jrag b/src/main/jastadd/backend/Mappings.jrag
index 600ce92ee064f45fe0f41860dd3ab0bc5e334bd3..07cbf5b81a531638ac092635f915ed856a65df4c 100644
--- a/src/main/jastadd/backend/Mappings.jrag
+++ b/src/main/jastadd/backend/Mappings.jrag
@@ -1,6 +1,6 @@
aspect DefaultMappings {
- private DefaultMappingDefinition Ros2Rag.baseDefaultMappingDefinitionFromBytes(String typeName) {
+ private DefaultMappingDefinition RagConnect.baseDefaultMappingDefinitionFromBytes(String typeName) {
DefaultMappingDefinition result = new DefaultMappingDefinition();
result.setID("_DefaultBytesTo" + Character.toUpperCase(typeName.charAt(0)) + typeName.substring(1) + "Mapping");
result.setFromType(new JavaArrayMappingDefinitionType(new SimpleJavaTypeUse("byte")));
@@ -9,7 +9,7 @@ aspect DefaultMappings {
return result;
}
- private DefaultMappingDefinition Ros2Rag.baseDefaultMappingDefinitionToBytes(String typeName) {
+ private DefaultMappingDefinition RagConnect.baseDefaultMappingDefinitionToBytes(String typeName) {
DefaultMappingDefinition result = new DefaultMappingDefinition();
result.setID("_Default" + Character.toUpperCase(typeName.charAt(0)) + typeName.substring(1) + "ToBytesMapping");
result.setFromType(new JavaMappingDefinitionType(new SimpleJavaTypeUse(typeName)));
@@ -18,85 +18,85 @@ aspect DefaultMappings {
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToIntMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToIntMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("int");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getInt();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToShortMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToShortMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("short");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getShort();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToLongMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToLongMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("long");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getLong();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToFloatMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToFloatMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("float");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getFloat();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToDoubleMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToDoubleMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("double");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getDouble();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToCharMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToCharMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("char");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getChar();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToStringMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToStringMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("String");
result.setContent("return new String(bytes);");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultIntToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultIntToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("int");
result.setContent("return java.nio.ByteBuffer.allocate(4).putInt(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultShortToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultShortToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("short");
result.setContent("return java.nio.ByteBuffer.allocate(2).putShort(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultLongToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultLongToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("long");
result.setContent("return java.nio.ByteBuffer.allocate(8).putLong(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultFloatToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultFloatToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("float");
result.setContent("return java.nio.ByteBuffer.allocate(4).putFloat(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultDoubleToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultDoubleToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("double");
result.setContent("return java.nio.ByteBuffer.allocate(8).putDouble(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultCharToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultCharToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("char");
result.setContent("return java.nio.ByteBuffer.allocate(2).putChar(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultStringToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultStringToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("String");
result.setContent("return input.getBytes();");
return result;
@@ -105,8 +105,8 @@ aspect DefaultMappings {
aspect Mappings {
// --- effectiveMappings ---
- syn java.util.List<MappingDefinition> UpdateDefinition.effectiveMappings();
- eq ReadFromMqttDefinition.effectiveMappings() {
+ syn java.util.List<MappingDefinition> EndpointDefinition.effectiveMappings();
+ eq ReceiveFromMqttDefinition.effectiveMappings() {
// if there is a first mapping, check if its input type is byte[].
// or if no mappings are specified.
// then prepend the suitable default mapping
@@ -120,7 +120,7 @@ aspect Mappings {
}
return result;
}
- eq WriteToMqttDefinition.effectiveMappings() {
+ eq SendToMqttDefinition.effectiveMappings() {
// if there is a mapping, check if the output type of the last mapping is byte[].
// or if no mappings are specified.
// then append the suitable default mapping
@@ -159,46 +159,46 @@ aspect Mappings {
eq JavaArrayMappingDefinitionType.isArray() = true;
// --- suitableDefaultMapping ---
- syn DefaultMappingDefinition UpdateDefinition.suitableDefaultMapping();
- eq ReadFromMqttDefinition.suitableDefaultMapping() {
+ syn DefaultMappingDefinition EndpointDefinition.suitableDefaultMapping();
+ eq ReceiveFromMqttDefinition.suitableDefaultMapping() {
String typeName = getMappingList().isEmpty() ?
getToken().getJavaTypeUse().getName() :
getMappingList().get(0).getFromType().prettyPrint();
switch(typeName) {
case "int":
- case "Integer": return ros2rag().defaultBytesToIntMapping();
+ case "Integer": return ragconnect().defaultBytesToIntMapping();
case "short":
- case "Short": return ros2rag().defaultBytesToShortMapping();
+ case "Short": return ragconnect().defaultBytesToShortMapping();
case "long":
- case "Long": return ros2rag().defaultBytesToLongMapping();
+ case "Long": return ragconnect().defaultBytesToLongMapping();
case "float":
- case "Float": return ros2rag().defaultBytesToFloatMapping();
+ case "Float": return ragconnect().defaultBytesToFloatMapping();
case "double":
- case "Double": return ros2rag().defaultBytesToDoubleMapping();
+ case "Double": return ragconnect().defaultBytesToDoubleMapping();
case "char":
- case "Character": return ros2rag().defaultBytesToCharMapping();
- case "String": return ros2rag().defaultBytesToStringMapping();
+ case "Character": return ragconnect().defaultBytesToCharMapping();
+ case "String": return ragconnect().defaultBytesToStringMapping();
default: return null;
}
}
- eq WriteToMqttDefinition.suitableDefaultMapping() {
+ eq SendToMqttDefinition.suitableDefaultMapping() {
String typeName = getMappingList().isEmpty() ?
getToken().getJavaTypeUse().getName() :
getMappingList().get(getMappingList().size() - 1).getFromType().prettyPrint();
switch(typeName) {
case "int":
- case "Integer": return ros2rag().defaultIntToBytesMapping();
+ case "Integer": return ragconnect().defaultIntToBytesMapping();
case "short":
- case "Short": return ros2rag().defaultShortToBytesMapping();
+ case "Short": return ragconnect().defaultShortToBytesMapping();
case "long":
- case "Long": return ros2rag().defaultLongToBytesMapping();
+ case "Long": return ragconnect().defaultLongToBytesMapping();
case "float":
- case "Float": return ros2rag().defaultFloatToBytesMapping();
+ case "Float": return ragconnect().defaultFloatToBytesMapping();
case "double":
- case "Double": return ros2rag().defaultDoubleToBytesMapping();
+ case "Double": return ragconnect().defaultDoubleToBytesMapping();
case "char":
- case "Character": return ros2rag().defaultCharToBytesMapping();
- case "String": return ros2rag().defaultStringToBytesMapping();
+ case "Character": return ragconnect().defaultCharToBytesMapping();
+ case "String": return ragconnect().defaultStringToBytesMapping();
default: return null;
}
}
@@ -208,7 +208,7 @@ aspect Mappings {
eq JavaArrayMappingDefinitionType.isByteArray() = getType().getName().equals("byte");
// --- allMappingDefinitions ---
- syn java.util.List<MappingDefinition> Ros2Rag.allMappingDefinitions() {
+ syn java.util.List<MappingDefinition> RagConnect.allMappingDefinitions() {
java.util.List<MappingDefinition> result = new java.util.ArrayList<>();
getMappingDefinitionList().iterator().forEachRemaining(result::add);
result.add(defaultBytesToIntMapping());
diff --git a/src/main/jastadd/parser/Preamble.parser b/src/main/jastadd/parser/Preamble.parser
index 43fa51e769eed054371cecae2cde354b44e115a3..d701db19d6edb6d6c616bc79fc0145ea59d2713d 100644
--- a/src/main/jastadd/parser/Preamble.parser
+++ b/src/main/jastadd/parser/Preamble.parser
@@ -1,7 +1,7 @@
%header {:
-package org.jastadd.ros2rag.parser;
-import org.jastadd.ros2rag.ast.*;
+package org.jastadd.ragconnect.parser;
+import org.jastadd.ragconnect.ast.*;
:};
%goal goal;
-%goal ros2rag;
+%goal ragconnect;
diff --git a/src/main/jastadd/parser/Ros2Rag.parser b/src/main/jastadd/parser/RagConnect.parser
similarity index 70%
rename from src/main/jastadd/parser/Ros2Rag.parser
rename to src/main/jastadd/parser/RagConnect.parser
index 015b4e664950fd9f49601dbea53fc67225c41169..e2685c15555056c64d4f5e8bebdc458ecea981a3 100644
--- a/src/main/jastadd/parser/Ros2Rag.parser
+++ b/src/main/jastadd/parser/RagConnect.parser
@@ -1,9 +1,9 @@
-Ros2Rag ros2rag
- = update_definition.d ros2rag.r {: r.getUpdateDefinitionList().insertChild(d, 0); return r; :}
- | dependency_definition.d ros2rag.r {: r.getDependencyDefinitionList().insertChild(d, 0); return r; :}
- | mapping_definition.d ros2rag.r {: r.getMappingDefinitionList().insertChild(d, 0); return r; :}
- | comment ros2rag.r {: return r; :}
- | {: return new Ros2Rag(); :}
+RagConnect ragconnect
+ = endpoint_definition.d ragconnect.r {: r.getEndpointDefinitionList().insertChild(d, 0); return r; :}
+ | dependency_definition.d ragconnect.r {: r.getDependencyDefinitionList().insertChild(d, 0); return r; :}
+ | mapping_definition.d ragconnect.r {: r.getMappingDefinitionList().insertChild(d, 0); return r; :}
+ | comment ragconnect.r {: return r; :}
+ | {: return new RagConnect(); :}
;
%embed {:
@@ -12,31 +12,31 @@ Ros2Rag ros2rag
}
:} ;
-UpdateDefinition update_definition
- = READ ID.type_name DOT ID.token_name SCOL
+EndpointDefinition endpoint_definition
+ = RECEIVE ID.type_name DOT ID.token_name SCOL
{:
- ReadFromMqttDefinition result = new ReadFromMqttDefinition();
+ ReceiveFromMqttDefinition result = new ReceiveFromMqttDefinition();
result.setToken(TokenComponent.createRef(type_name + "." + token_name));
return result;
:}
- | READ ID.type_name DOT ID.token_name USING string_list.mapping_defs SCOL
+ | RECEIVE ID.type_name DOT ID.token_name USING string_list.mapping_defs SCOL
{:
- ReadFromMqttDefinition result = new ReadFromMqttDefinition();
+ ReceiveFromMqttDefinition result = new ReceiveFromMqttDefinition();
result.setToken(TokenComponent.createRef(type_name + "." + token_name));
for (String mapping_def : makeMappingDefs(mapping_defs)) {
result.addMapping(MappingDefinition.createRef(mapping_def));
}
return result;
:}
- | WRITE ID.type_name DOT ID.token_name SCOL
+ | SEND ID.type_name DOT ID.token_name SCOL
{:
- WriteToMqttDefinition result = new WriteToMqttDefinition();
+ SendToMqttDefinition result = new SendToMqttDefinition();
result.setToken(TokenComponent.createRef(type_name + "." + token_name));
return result;
:}
- | WRITE ID.type_name DOT ID.token_name USING string_list.mapping_defs SCOL
+ | SEND ID.type_name DOT ID.token_name USING string_list.mapping_defs SCOL
{:
- WriteToMqttDefinition result = new WriteToMqttDefinition();
+ SendToMqttDefinition result = new SendToMqttDefinition();
result.setToken(TokenComponent.createRef(type_name + "." + token_name));
for (String mapping_def : makeMappingDefs(mapping_defs)) {
result.addMapping(MappingDefinition.createRef(mapping_def));
diff --git a/src/main/jastadd/scanner/Header.flex b/src/main/jastadd/scanner/Header.flex
index 974aa01fe70d15edbd4c80ac67169a18fe95f9e8..f289a7e89438a572e3dd936548355cf600d3b8bd 100644
--- a/src/main/jastadd/scanner/Header.flex
+++ b/src/main/jastadd/scanner/Header.flex
@@ -1,17 +1,20 @@
-package org.jastadd.ros2rag.scanner;
+package org.jastadd.ragconnect.scanner;
-import org.jastadd.ros2rag.parser.Ros2RagParser.Terminals;
+import org.jastadd.ragconnect.parser.RagConnectParser.Terminals;
%%
%public
%final
-%class Ros2RagScanner
+%class RagConnectScanner
%extends beaver.Scanner
%type beaver.Symbol
%function nextToken
%yylexthrow beaver.Scanner.Exception
-%scanerror Ros2RagScanner.ScannerError
+%scanerror RagConnectScanner.ScannerError
+
+%x COMMENT
+%s DECLARATION
%line
%column
diff --git a/src/main/jastadd/scanner/Keywords.flex b/src/main/jastadd/scanner/Keywords.flex
index 3f546823fd8e034f821c8e867d8777ef697effdd..5773118d8fda8ffdc536b504aa7056b8784ddfb3 100644
--- a/src/main/jastadd/scanner/Keywords.flex
+++ b/src/main/jastadd/scanner/Keywords.flex
@@ -1,5 +1,5 @@
-"read" { return sym(Terminals.READ); }
-"write" { return sym(Terminals.WRITE); }
+"receive" { yybegin(DECLARATION); return sym(Terminals.RECEIVE); }
+"send" { yybegin(DECLARATION); return sym(Terminals.SEND); }
"using" { return sym(Terminals.USING); }
"canDependOn" { return sym(Terminals.CAN_DEPEND_ON); }
"maps" { return sym(Terminals.MAPS); }
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java b/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
similarity index 93%
rename from src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java
rename to src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
index 97680b18dc4fd1d8af3df75f35221e059355e19e..55818dcda1c89948726065c9d11640fcb6601130 100644
--- a/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java
+++ b/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler;
+package org.jastadd.ragconnect.compiler;
import java.io.IOException;
import java.io.Writer;
diff --git a/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java b/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
new file mode 100644
index 0000000000000000000000000000000000000000..8b33412c7994b5443088de6249273b9b83374414
--- /dev/null
+++ b/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
@@ -0,0 +1,235 @@
+package org.jastadd.ragconnect.compiler;
+
+import beaver.Parser;
+import org.jastadd.option.BooleanOption;
+import org.jastadd.option.ValueOption;
+import org.jastadd.relast.compiler.AbstractCompiler;
+import org.jastadd.relast.compiler.CompilerException;
+import org.jastadd.ragconnect.ast.*;
+import org.jastadd.ragconnect.parser.RagConnectParser;
+import org.jastadd.ragconnect.scanner.RagConnectScanner;
+
+import java.io.*;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.nio.file.StandardCopyOption;
+import java.util.Collection;
+import java.util.MissingResourceException;
+import java.util.ResourceBundle;
+
+public class Compiler extends AbstractCompiler {
+
+// private ValueOption optionOutputDir;
+ private ValueOption optionRootNode;
+ private BooleanOption optionVerbose;
+ private BooleanOption optionLogReads;
+ private BooleanOption optionLogWrites;
+
+ public Compiler() {
+ super("ragconnect", true);
+ }
+
+ @Override
+ protected int compile() throws CompilerException {
+ if (getConfiguration().shouldPrintVersion()) {
+ System.out.println(readVersion());
+ return 0;
+ }
+ if (getConfiguration().shouldPrintHelp()) {
+ getConfiguration().printHelp(System.out);
+ return 0;
+ }
+
+ printMessage("Running RagConnect " + readVersion());
+
+ if (!getConfiguration().outputDir().exists()) {
+ try {
+ Files.createDirectories(getConfiguration().outputDir().toPath());
+ } catch (IOException e) {
+ throw new CompilerException("Error creating output dir " + getConfiguration().outputDir(), e);
+ }
+ }
+
+ RagConnect ragConnect = parseProgram(getConfiguration().getFiles());
+
+ if (!ragConnect.errors().isEmpty()) {
+ System.err.println("Errors:");
+ for (ErrorMessage e : ragConnect.errors()) {
+ System.err.println(e);
+ }
+ System.exit(1);
+ }
+
+ printMessage("Writing output files");
+ // copy MqttHandler into outputDir
+ final String mqttHandlerFileName = "MqttHandler.jadd";
+ try {
+ InputStream inputStream = Compiler.class.getClassLoader().getResourceAsStream(mqttHandlerFileName);
+ if (inputStream == null) {
+ throw new CompilerException("Could not open " + mqttHandlerFileName);
+ }
+ Files.copy(inputStream,
+ getConfiguration().outputDir().toPath().resolve(mqttHandlerFileName),
+ StandardCopyOption.REPLACE_EXISTING);
+ } catch (IOException e) {
+ throw new CompilerException("Could not copy " + mqttHandlerFileName, e);
+ }
+ for (GrammarFile grammarFile : ragConnect.getProgram().getGrammarFileList()) {
+ Path outputFile = getConfiguration().outputDir().toPath().resolve(grammarFile.getFileName());
+ sendToFile(outputFile, grammarFile.generateAbstractGrammar());
+ }
+ sendToFile(getConfiguration().outputDir().toPath().resolve("RagConnect.jadd"), ragConnect.generateAspect(optionRootNode.value()));
+ return 0;
+ }
+
+ public static void main(String[] args) {
+ System.setProperty("java.util.logging.manager", "org.apache.logging.log4j.jul.LogManager");
+ System.setProperty("mustache.debug", "true");
+ try {
+ new Compiler().run(args);
+ } catch (CompilerException e) {
+ System.err.println(e.getMessage());
+ System.exit(-1);
+ }
+ }
+
+ /**
+ * Reads the version string.
+ *
+ * The version string is read from the property file
+ * src/main/resources/Version.properties. This
+ * file should be generated during the build process. If it is missing
+ * then there is some problem in the build script.
+ *
+ * @author Jesper Öqvist <jesper.oqvist@cs.lth.se>
+ * @return the read version string, or <code>version ?</code>
+ */
+ private String readVersion() {
+ try {
+ ResourceBundle resources = ResourceBundle.getBundle("ragConnectVersion");
+ return resources.getString("version");
+ } catch (MissingResourceException e) {
+ return "version ?";
+ }
+ }
+
+ private void printMessage(String message) {
+ System.out.println(message);
+ }
+
+ private void sendToFile(Path path, String str) throws CompilerException {
+ try (BufferedWriter writer = Files.newBufferedWriter(path)) {
+ writer.append(str);
+ } catch (Exception e) {
+ throw new CompilerException("Could not write to file " + path.toAbsolutePath(), e);
+ }
+ }
+
+ protected void initOptions() {
+ super.initOptions();
+ optionRootNode = addOption(
+ new ValueOption("rootNode", "root node in the base grammar.")
+ .acceptAnyValue()
+ .needsValue(true));
+ optionVerbose = addOption(
+ new BooleanOption("verbose", "Print more messages while compiling.")
+ .defaultValue(false));
+ optionLogReads = addOption(
+ new BooleanOption("logReads", "Enable logging for every read.")
+ .defaultValue(false));
+ optionLogWrites = addOption(
+ new BooleanOption("logWrites", "Enable logging for every write.")
+ .defaultValue(false));
+ }
+
+ private RagConnect parseProgram(Collection<String> files) throws CompilerException {
+ Program program = new Program();
+
+ RagConnect ragConnect = new RagConnect();
+ ragConnect.setProgram(program);
+
+ GrammarFile ragConnectGrammarPart = new GrammarFile();
+ ragConnectGrammarPart.setFileName("RagConnect.relast");
+ program.addGrammarFile(ragConnectGrammarPart);
+
+ for (String filename : files) {
+ String extension = filename.substring(filename.lastIndexOf('.') + 1);
+ switch (extension) {
+ case "ast":
+ case "relast":
+ // processGrammar
+ parseGrammar(program, filename);
+ break;
+ case "connect":
+ // process ragConnect
+ RagConnect parsedRagConnect = parseRagConnect(program, filename);
+ mergeRagConnectDefinitions(ragConnect, parsedRagConnect);
+ break;
+ default:
+ throw new CompilerException("Unknown file extension in " + filename);
+ }
+ }
+ ragConnect.treeResolveAll();
+ ragConnect.additionalRelations().forEach(ragConnectGrammarPart::addDeclaration);
+ ASTNode.loggingEnabledForReads = optionLogReads.value();
+ ASTNode.loggingEnabledForWrites = optionLogWrites.value();
+ return ragConnect;
+ }
+
+ private void parseGrammar(Program program, String filename) throws CompilerException {
+ try (BufferedReader reader = Files.newBufferedReader(Paths.get(filename))) {
+ RagConnectScanner scanner = new RagConnectScanner(reader);
+ RagConnectParser parser = new RagConnectParser();
+ GrammarFile grammarFile = (GrammarFile) parser.parse(scanner);
+ if (optionVerbose.value()) {
+ grammarFile.dumpTree(System.out);
+ }
+ program.addGrammarFile(grammarFile);
+ grammarFile.treeResolveAll();
+ grammarFile.setFileName(toBaseName(filename));
+ } catch (IOException | Parser.Exception e) {
+ throw new CompilerException("Could not parse grammar file " + filename, e);
+ }
+ }
+
+ private RagConnect parseRagConnect(Program program, String filename) throws CompilerException {
+ try (BufferedReader reader = Files.newBufferedReader(Paths.get(filename))) {
+ RagConnectScanner scanner = new RagConnectScanner(reader);
+ RagConnectParser parser = new RagConnectParser();
+ RagConnect ragConnect = (RagConnect) parser.parse(scanner, RagConnectParser.AltGoals.ragconnect);
+ ragConnect.setProgram(program);
+ ragConnect.setFileName(toBaseName(filename));
+ return ragConnect;
+ } catch (IOException | Parser.Exception e) {
+ throw new CompilerException("Could not parse connect file " + filename, e);
+ }
+ }
+
+ /**
+ * Extracts the basename of the given file, with file extension
+ * @param filename the given filename
+ * @return the basename
+ */
+ private String toBaseName(String filename) {
+ return new File(filename).getName();
+ }
+
+ private void mergeRagConnectDefinitions(RagConnect ragConnect, RagConnect ragConnectToIntegrate) {
+ for (EndpointDefinition endpointDefinition : ragConnectToIntegrate.getEndpointDefinitionList()) {
+ ragConnect.addEndpointDefinition(endpointDefinition);
+ }
+ for (MappingDefinition mappingDefinition : ragConnectToIntegrate.getMappingDefinitionList()) {
+ ragConnect.addMappingDefinition(mappingDefinition);
+ }
+ for (DependencyDefinition dependencyDefinition : ragConnectToIntegrate.getDependencyDefinitionList()) {
+ ragConnect.addDependencyDefinition(dependencyDefinition);
+ }
+ }
+
+// protected void printUsage() {
+// System.out.println("Usage: java -jar ragconnect.jar [--option1] [--option2=value] ... <filename1> <filename2> ... ");
+// System.out.println("Options:");
+// System.out.print(commandLine.printOptionHelp());
+// }
+}
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java b/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
similarity index 75%
rename from src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
rename to src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
index 74406f87a166732efedafbc772d114185f24e227..ac1109fef423ed58ebbbdfcaeacbdca42745e341 100644
--- a/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
+++ b/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
@@ -1,9 +1,9 @@
-package org.jastadd.ros2rag.compiler;
+package org.jastadd.ragconnect.compiler;
import beaver.Parser;
-import org.jastadd.ros2rag.ast.*;
-import org.jastadd.ros2rag.parser.Ros2RagParser;
-import org.jastadd.ros2rag.scanner.Ros2RagScanner;
+import org.jastadd.ragconnect.ast.*;
+import org.jastadd.ragconnect.parser.RagConnectParser;
+import org.jastadd.ragconnect.scanner.RagConnectScanner;
import java.io.BufferedReader;
import java.io.IOException;
@@ -102,18 +102,18 @@ public class SimpleMain {
}
public static void main(String[] args) {
- testing();
-// createManualAST();
+// testing();
+ createManualAST();
}
private static void createManualAST() {
- Ros2Rag model = new Ros2Rag();
- Program program = parseProgram(Paths.get("src", "test", "resources", "Example.relast"));
+ RagConnect model = new RagConnect();
+ Program program = parseProgram(Paths.get("ros2rag.starter","src", "main", "jastadd", "RobotModel.relast"));
model.setProgram(program);
MappingDefinition mappingDefinition = new MappingDefinition();
mappingDefinition.setID("PoseToPosition");
- mappingDefinition.setFromType(makeMappingDefinitionType("PBPose"));
+ mappingDefinition.setFromType(makeMappingDefinitionType("int"));
mappingDefinition.setFromVariableName("x");
mappingDefinition.setToType(makeMappingDefinitionType("Position"));
mappingDefinition.setContent(" pose.position.x += sqrt(.5 * size.x)\n" +
@@ -123,13 +123,16 @@ public class SimpleMain {
" ;");
model.addMappingDefinition(mappingDefinition);
- ReadFromMqttDefinition readFromMqttDefinition = new ReadFromMqttDefinition();
- readFromMqttDefinition.setAlwaysApply(false);
- readFromMqttDefinition.setToken(TokenComponent.createRef("Joint.CurrentPosition"));
- readFromMqttDefinition.addMapping(mappingDefinition);
- model.addUpdateDefinition(readFromMqttDefinition);
+ ReceiveFromMqttDefinition receiveFromMqttDefinition = new ReceiveFromMqttDefinition();
+ receiveFromMqttDefinition.setAlwaysApply(false);
+ receiveFromMqttDefinition.setToken(TokenComponent.createRef("Link.CurrentPosition"));
+ receiveFromMqttDefinition.addMapping(mappingDefinition);
+ model.addEndpointDefinition(receiveFromMqttDefinition);
model.treeResolveAll();
+ for (ErrorMessage error : model.errors()) {
+ System.err.println(error);
+ }
System.out.println(model.generateAspect("Model"));
}
@@ -142,9 +145,12 @@ public class SimpleMain {
private static Program parseProgram(Path path) {
try (BufferedReader reader = Files.newBufferedReader(path)) {
- Ros2RagScanner scanner = new Ros2RagScanner(reader);
- Ros2RagParser parser = new Ros2RagParser();
- return (Program) parser.parse(scanner);
+ RagConnectScanner scanner = new RagConnectScanner(reader);
+ RagConnectParser parser = new RagConnectParser();
+ GrammarFile grammarFile = (GrammarFile) parser.parse(scanner);
+ Program program = new Program();
+ program.addGrammarFile(grammarFile);
+ return program;
} catch (IOException | Parser.Exception e) {
e.printStackTrace();
}
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/Utils.java b/src/main/java/org/jastadd/ragconnect/compiler/Utils.java
similarity index 90%
rename from src/main/java/org/jastadd/ros2rag/compiler/Utils.java
rename to src/main/java/org/jastadd/ragconnect/compiler/Utils.java
index 6a229cd7e9a2551578a87f1c7b5fcccfebd31ff7..c083fe1d912fa74cb4461fce5fcb839f5b88a40f 100644
--- a/src/main/java/org/jastadd/ros2rag/compiler/Utils.java
+++ b/src/main/java/org/jastadd/ragconnect/compiler/Utils.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler;
+package org.jastadd.ragconnect.compiler;
import java.util.*;
import java.util.function.Predicate;
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java b/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
deleted file mode 100644
index b6331130a7b338ef1bf37f6ac372d612cb1754f1..0000000000000000000000000000000000000000
--- a/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
+++ /dev/null
@@ -1,217 +0,0 @@
-package org.jastadd.ros2rag.compiler;
-
-import beaver.Parser;
-import org.jastadd.ros2rag.ast.*;
-import org.jastadd.ros2rag.compiler.options.CommandLine;
-import org.jastadd.ros2rag.compiler.options.CommandLine.CommandLineException;
-import org.jastadd.ros2rag.compiler.options.FlagOption;
-import org.jastadd.ros2rag.compiler.options.Option;
-import org.jastadd.ros2rag.compiler.options.StringOption;
-import org.jastadd.ros2rag.parser.Ros2RagParser;
-import org.jastadd.ros2rag.scanner.Ros2RagScanner;
-
-import java.io.*;
-import java.nio.file.Files;
-import java.nio.file.Paths;
-import java.nio.file.StandardCopyOption;
-import java.util.ArrayList;
-import java.util.List;
-
-public class Compiler {
-
- private StringOption optionOutputDir;
- private StringOption optionInputGrammar;
- private StringOption optionRootNode;
- private StringOption optionInputRos2Rag;
- private FlagOption optionHelp;
- private FlagOption optionVerbose;
- private FlagOption optionLogReads;
- private FlagOption optionLogWrites;
-
- private ArrayList<Option<?>> options;
- private CommandLine commandLine;
-
- public Compiler() {
- options = new ArrayList<>();
- addOptions();
- }
-
- public void run(String[] args) throws CommandLineException, CompilerException {
- System.setProperty("java.util.logging.manager", "org.apache.logging.log4j.jul.LogManager");
- System.setProperty("mustache.debug", "true");
- options = new ArrayList<>();
- addOptions();
- commandLine = new CommandLine(options);
- commandLine.parse(args);
-
- if (optionHelp.isSet()) {
- printUsage();
- return;
- }
-
- if (optionVerbose.isSet()) {
- try {
- run();
- } catch (CompilerException e) {
- e.printStackTrace();
- throw e;
- }
- } else {
- run();
- }
- }
-
- private void run() throws CompilerException {
- String outputDir;
- if (optionOutputDir.isSet()) {
- outputDir = optionOutputDir.getValue();
- } else {
- outputDir = "gen";
- System.out.println("No output output dir is set. Assuming '" + outputDir + "'.");
- }
- try {
- Files.createDirectories(Paths.get(outputDir));
- } catch (IOException e) {
- throw new CompilerException("Error creating output dir " + outputDir, e);
- }
-
- printMessage("Running Ros2Rag Preprocessor");
-
- if (anyRequiredOptionIsUnset()) {
- throw new CompilerException("Aborting due to missing values for required options.");
- }
-
- List<String> otherArgs = commandLine.getArguments();
- if (!otherArgs.isEmpty()) {
- printMessage("Superfluous arguments will be ignored: " + otherArgs);
- }
- Ros2Rag ros2Rag = parseProgram(optionInputGrammar.getValue(), optionInputRos2Rag.getValue());
-
- if (!ros2Rag.errors().isEmpty()) {
- System.err.println("Errors:");
- for (ErrorMessage e : ros2Rag.errors()) {
- System.err.println(e);
- }
- System.exit(1);
- }
-
- printMessage("Writing output files");
- // copy MqttHandler into outputDir
- final String mqttHandlerFileName = "MqttHandler.jadd";
- try {
- InputStream inputStream = Compiler.class.getClassLoader().getResourceAsStream(mqttHandlerFileName);
- if (inputStream == null) {
- throw new CompilerException("Could not open " + mqttHandlerFileName);
- }
- Files.copy(inputStream,
- Paths.get(outputDir, mqttHandlerFileName),
- StandardCopyOption.REPLACE_EXISTING);
- } catch (IOException e) {
- throw new CompilerException("Could not copy " + mqttHandlerFileName, e);
- }
- writeToFile(outputDir + "/Grammar.relast", ros2Rag.getProgram().generateAbstractGrammar());
- writeToFile(outputDir + "/ROS2RAG.jadd", ros2Rag.generateAspect(optionRootNode.getValue()));
- }
-
- private boolean anyRequiredOptionIsUnset() {
- boolean foundError = false;
- for (Option<?> option : options) {
- if (option.hasArgument() == Option.HasArgument.YES && !option.isSet()) {
- System.err.println("Option '" + option.getName() +
- "' (" + option.getDescription() + ") is required but unset!");
- foundError = true;
- }
- }
- return foundError;
- }
-
-
- public static void main(String[] args) {
- try {
- new Compiler().run(args);
- } catch (CommandLineException | CompilerException e) {
- System.err.println(e.getMessage());
- System.exit(-1);
- }
- }
-
- private void printMessage(String message) {
- System.out.println(message);
- }
-
- private void writeToFile(String filename, String str) throws CompilerException {
- try {
- PrintWriter writer = new PrintWriter(filename);
- writer.print(str);
- writer.close();
- } catch (Exception e) {
- throw new CompilerException("Could not write to file " + filename, e);
- }
- }
-
- private void addOptions() {
- optionOutputDir = addOption(new StringOption("outputDir", "target directory for the generated files."));
- optionInputGrammar = addOption(new StringOption("inputGrammar", "base grammar."));
- optionRootNode = addOption(new StringOption("rootNode", "root node in the base grammar."));
- optionInputRos2Rag = addOption(new StringOption("inputRos2Rag", "ros2rag definition file."));
- optionHelp = addOption(new FlagOption("help", "Print usage and exit."));
- optionVerbose = addOption(new FlagOption("verbose", "Print more messages while compiling."));
- optionLogReads = addOption(new FlagOption("logReads", "Enable logging for every read."));
- optionLogWrites = addOption(new FlagOption("logWrites", "Enable logging for every write."));
- }
-
- private <OptionType extends Option<?>> OptionType addOption(OptionType option) {
- options.add(option);
- return option;
- }
-
- private Ros2Rag parseProgram(String inputGrammarFileName, String inputRos2RagFileName) throws CompilerException {
- Program program = new Program();
- Ros2Rag ros2Rag;
- GrammarFile inputGrammar;
-
- try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputGrammarFileName))) {
- Ros2RagScanner scanner = new Ros2RagScanner(reader);
- Ros2RagParser parser = new Ros2RagParser();
- inputGrammar = (GrammarFile) parser.parse(scanner);
- if (optionVerbose.isSet()) {
- inputGrammar.dumpTree(System.out);
- }
- program.addGrammarFile(inputGrammar);
- inputGrammar.treeResolveAll();
- inputGrammar.setFileName(inputGrammarFileName);
- } catch (IOException | Parser.Exception e) {
- throw new CompilerException("Could not parse grammar file " + inputGrammarFileName, e);
- }
-
- try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputRos2RagFileName))) {
- Ros2RagScanner scanner = new Ros2RagScanner(reader);
- Ros2RagParser parser = new Ros2RagParser();
- ros2Rag = (Ros2Rag) parser.parse(scanner, Ros2RagParser.AltGoals.ros2rag);
- ros2Rag.setProgram(program);
- ros2Rag.setFileName(inputRos2RagFileName);
- } catch (IOException | Parser.Exception e) {
- throw new CompilerException("Could not parse ros2rag file " + inputRos2RagFileName, e);
- }
- ros2Rag.treeResolveAll();
- ros2Rag.additionalRelations().forEach(inputGrammar::addDeclaration);
- ASTNode.loggingEnabledForReads = optionLogReads.isSet();
- ASTNode.loggingEnabledForWrites = optionLogWrites.isSet();
- return ros2Rag;
- }
-
- protected void printUsage() {
- System.out.println("Usage: java -jar ros2rag.jar [--option1] [--option2=value] ... <filename1> <filename2> ... ");
- System.out.println("Options:");
- System.out.print(commandLine.printOptionHelp());
- }
-
- public static class CompilerException extends Exception {
- CompilerException(String message) {
- super(message);
- }
- CompilerException(String message, Throwable cause) {
- super(message, cause);
- }
- }
-}
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/options/CommandLine.java b/src/main/java/org/jastadd/ros2rag/compiler/options/CommandLine.java
deleted file mode 100644
index 89a1335c5440cc88fc8ee7c0c22552fffd86c13b..0000000000000000000000000000000000000000
--- a/src/main/java/org/jastadd/ros2rag/compiler/options/CommandLine.java
+++ /dev/null
@@ -1,97 +0,0 @@
-package org.jastadd.ros2rag.compiler.options;
-
-import java.util.*;
-
-public class CommandLine {
- private final Collection<Option<?>> options;
- private final Map<String, Option<?>> mapping;
- private final List<String> arguments;
-
- public CommandLine(Collection<Option<?>> options) {
- this.options = options;
- this.mapping = new HashMap<>();
- for (Option<?> option : options) {
- mapping.put(option.getName(), option);
- }
- this.arguments = new ArrayList<>();
- }
-
- public void parse(String[] args) throws CommandLineException {
- int i = 0;
- while (i < args.length) {
- if (args[i].startsWith(Option.PREFIX)) {
- int argumentIndex = args[i].indexOf("=");
- String name;
- String argument = null;
- if (argumentIndex > 0) {
- name = args[i].substring(2, argumentIndex);
- argument = args[i].substring(argumentIndex + 1);
- } else {
- name = args[i].substring(2);
- }
- Option<?> option = mapping.get(name);
- if (option == null) {
- throw new CommandLineException("Option " + Option.PREFIX + name + " not found");
- }
- match(option, argument);
- } else {
- arguments.add(args[i]);
- }
- i++;
- }
- }
-
- public void match(Option<?> option, String argument) throws CommandLineException {
- try {
- switch (option.hasArgument()) {
- case NO:
- if (argument == null) {
- option.match(null);
- } else {
- throw new CommandLineException("Option " + option + " is not allowed to have an argument");
- }
- break;
- case OPTIONAL:
- option.match(argument);
- break;
- case YES:
- if (argument != null) {
- option.match(argument);
- } else {
- throw new CommandLineException("Option " + option + " requires an argument");
- }
- break;
- }
- } catch (Option.IllegalMatchException e) {
- throw new CommandLineException("Invalid value for option " + option + ": " + e.getMessage());
- }
- }
-
- public List<String> getArguments() {
- return arguments;
- }
-
- public String printOptionHelp() {
- StringBuilder sb = new StringBuilder();
- int longestOption = 0;
- for (Option<?> option : options) {
- if (longestOption < option.getName().length()) {
- longestOption = option.getName().length();
- }
- }
- for (Option<?> option : new TreeSet<>(options)) {
- String s = String.format(" %s%-" + (longestOption + 6) + "s %s%n",
- Option.PREFIX, option.getName(), option.getDescription());
- sb.append(s);
- }
- return sb.toString();
- }
-
- public static class CommandLineException extends Exception {
- private static final long serialVersionUID = 1L;
-
- public CommandLineException(String message) {
- super(message);
- }
- }
-}
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/options/EnumOption.java b/src/main/java/org/jastadd/ros2rag/compiler/options/EnumOption.java
deleted file mode 100644
index 67ada98e8c2483b8d29ffeb73f99e4be8e6244c8..0000000000000000000000000000000000000000
--- a/src/main/java/org/jastadd/ros2rag/compiler/options/EnumOption.java
+++ /dev/null
@@ -1,60 +0,0 @@
-package org.jastadd.ros2rag.compiler.options;
-
-import java.util.Collection;
-import java.util.TreeSet;
-
-public class EnumOption extends Option<String> {
- private final TreeSet<String> allowedValues;
- private final String defaultValue;
- private String value;
- private boolean isSet;
-
- public EnumOption(String name, String description, Collection<String> allowedValues, String defaultValue) {
- super(name, description);
- this.allowedValues = new TreeSet<>(allowedValues);
- this.defaultValue = defaultValue;
- this.value = defaultValue;
- this.isSet = false;
- }
-
- public boolean addAllowedValue(String allowedValue) {
- return allowedValues.add(allowedValue);
- }
-
- @Override
- public String getValue() {
- return value;
- }
-
- @Override
- public Option.HasArgument hasArgument() {
- return Option.HasArgument.OPTIONAL;
- }
-
- @Override
- public void match(String argument) throws IllegalMatchException {
- if (argument == null) {
- isSet = true;
- value = defaultValue;
- } else if (allowedValues.contains(argument)) {
- isSet = true;
- value = argument;
- } else {
- throw new IllegalMatchException(argument
- + " is not allowed, allowed values are " + allowedValues);
- }
- }
-
- @Override
- public boolean isSet() {
- return isSet;
- }
-
- @Override
- public String getDescription() {
- String allowedValuesStr = allowedValues.toString();
- allowedValuesStr = allowedValuesStr.substring(1);
- allowedValuesStr = allowedValuesStr.substring(0, allowedValuesStr.length() - 1);
- return super.getDescription() + " (allowed values: " + allowedValuesStr + ")";
- }
-}
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/options/FlagOption.java b/src/main/java/org/jastadd/ros2rag/compiler/options/FlagOption.java
deleted file mode 100644
index ad87ed19e91b03f05d163f0cc123af15a4a4e2e2..0000000000000000000000000000000000000000
--- a/src/main/java/org/jastadd/ros2rag/compiler/options/FlagOption.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package org.jastadd.ros2rag.compiler.options;
-
-public class FlagOption extends Option<Boolean> {
- private boolean value;
-
- public FlagOption(String name, String description) {
- super(name, description);
- value = false;
- }
-
- @Override
- public Boolean getValue() {
- return value;
- }
-
- @Override
- public Option.HasArgument hasArgument() {
- return Option.HasArgument.NO;
- }
-
- @Override
- public void match(String string) throws IllegalMatchException {
- value = true;
- }
-
- @Override
- public boolean isSet() {
- return getValue();
- }
-}
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/options/Option.java b/src/main/java/org/jastadd/ros2rag/compiler/options/Option.java
deleted file mode 100644
index 0f57f9899ba5f28ee80ca6d37788a6e31123ac47..0000000000000000000000000000000000000000
--- a/src/main/java/org/jastadd/ros2rag/compiler/options/Option.java
+++ /dev/null
@@ -1,60 +0,0 @@
-package org.jastadd.ros2rag.compiler.options;
-
-abstract public class Option<ValueType> implements Comparable<Option<?>> {
- public final static String PREFIX = "--";
- private final String name;
- private final String description;
-
- public Option(String name, String description) {
- this.name = name;
- this.description = description;
- }
-
- public String getName() {
- return name;
- }
-
- public String getDescription() {
- return description;
- }
-
- @Override
- public int compareTo(Option<?> o) {
- return name.compareTo(o.name);
- }
-
- @Override
- public boolean equals(Object other) {
- if (other instanceof Option) {
- return compareTo((Option<?>) other) == 0;
- }
- return false;
- }
-
- @Override
- public String toString() {
- return PREFIX + name;
- }
-
- abstract public boolean isSet();
-
- abstract public ValueType getValue();
-
- abstract public HasArgument hasArgument();
-
- abstract public void match(String input) throws IllegalMatchException;
-
- public enum HasArgument {
- NO,
- OPTIONAL,
- YES
- }
-
- public static class IllegalMatchException extends Exception {
- private static final long serialVersionUID = 1L;
-
- public IllegalMatchException(String message) {
- super(message);
- }
- }
-}
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/options/StringOption.java b/src/main/java/org/jastadd/ros2rag/compiler/options/StringOption.java
deleted file mode 100644
index 19082b5ae6b9fa90145a73ff4ddc4b58b2f9b122..0000000000000000000000000000000000000000
--- a/src/main/java/org/jastadd/ros2rag/compiler/options/StringOption.java
+++ /dev/null
@@ -1,37 +0,0 @@
-package org.jastadd.ros2rag.compiler.options;
-
-public class StringOption extends Option<String> {
- private String value;
- private boolean isSet;
-
- public StringOption(String name, String description) {
- this(name, description, "");
- }
-
- public StringOption(String name, String description, String defaultValue) {
- super(name, description);
- value = defaultValue;
- isSet = false;
- }
-
- @Override
- public String getValue() {
- return value;
- }
-
- @Override
- public Option.HasArgument hasArgument() {
- return Option.HasArgument.YES;
- }
-
- @Override
- public void match(String value) {
- this.value = value;
- isSet = true;
- }
-
- @Override
- public boolean isSet() {
- return isSet;
- }
-}
diff --git a/src/main/resources/MqttHandler.jadd b/src/main/resources/MqttHandler.jadd
index c3e98dc89377e6217946fafa54a9eb7ab7594c61..493d8e4452e81c5dbfa45a522a6366345908cdcc 100644
--- a/src/main/resources/MqttHandler.jadd
+++ b/src/main/resources/MqttHandler.jadd
@@ -24,7 +24,7 @@ public class MqttHandler {
private final java.util.Map<String, java.util.List<java.util.function.Consumer<byte[]>>> callbacks;
public MqttHandler() {
- this("Ros2Rag");
+ this("RagConnect");
}
public MqttHandler(String name) {
diff --git a/src/main/resources/mqtt.mustache b/src/main/resources/mqtt.mustache
index d65ca944a9dc7e881ff75d89ea696d4bb1fe09fc..dbdb85e7954dbf50ae7e150ffc43dd4cbda0fd80 100644
--- a/src/main/resources/mqtt.mustache
+++ b/src/main/resources/mqtt.mustache
@@ -16,8 +16,8 @@ aspect MQTT {
{{mqttHandlerField}}.close();
}
- inh MqttHandler ASTNode.{{mqttHandlerAttribute}}();
{{#getRootTypeComponents}}
+ {{#first}}inh MqttHandler ASTNode.{{mqttHandlerAttribute}}();{{/first}}
eq {{rootNodeName}}.get{{name}}().{{mqttHandlerAttribute}}() = {{mqttHandlerField}};
{{/getRootTypeComponents}}
}
diff --git a/src/main/resources/ragConnectVersion.properties b/src/main/resources/ragConnectVersion.properties
new file mode 100644
index 0000000000000000000000000000000000000000..8ec441610d66cd3f793075302676eb132eea35c3
--- /dev/null
+++ b/src/main/resources/ragConnectVersion.properties
@@ -0,0 +1,2 @@
+#Wed Jul 29 16:29:05 CEST 2020
+version=0.2.0
diff --git a/src/main/resources/ros2rag.mustache b/src/main/resources/ragconnect.mustache
similarity index 64%
rename from src/main/resources/ros2rag.mustache
rename to src/main/resources/ragconnect.mustache
index dd5e73cf554e35cc20da014b2d83f0db1b88521b..0b455283977cf812a47b5266ee593c6597e97cc9 100644
--- a/src/main/resources/ros2rag.mustache
+++ b/src/main/resources/ragconnect.mustache
@@ -1,12 +1,12 @@
{{> mqtt}}
aspect ROS2RAG {
- {{#ReadDefinitions}}
- {{> readDefinition}}
- {{/ReadDefinitions}}
+ {{#ReceiveDefinitions}}
+ {{> receiveDefinition}}
+ {{/ReceiveDefinitions}}
- {{#WriteDefinitions}}
- {{> writeDefinition}}
- {{/WriteDefinitions}}
+ {{#SendDefinitions}}
+ {{> sendDefinition}}
+ {{/SendDefinitions}}
{{#MappingDefinitions}}
{{> mappingDefinition}}
diff --git a/src/main/resources/readDefinition.mustache b/src/main/resources/receiveDefinition.mustache
similarity index 68%
rename from src/main/resources/readDefinition.mustache
rename to src/main/resources/receiveDefinition.mustache
index 77235a277f5acdfee6c07dedf62e6bfa4e090055..e2df0433fe82b37df2c016887da52a11cfd2692b 100644
--- a/src/main/resources/readDefinition.mustache
+++ b/src/main/resources/receiveDefinition.mustache
@@ -2,7 +2,7 @@
{{mqttHandlerAttribute}}().newConnection(topic, message -> {
{{> mappingApplication}}
{{#loggingEnabledForReads}}
- System.out.println("[Read] " + topic + " -> {{tokenName}} = " + {{lastResult}});{{!lastResult has to be a new attribute}}
+ System.out.println("[Receive] " + topic + " -> {{tokenName}} = " + {{lastResult}});{{!lastResult has to be a new attribute}}
{{/loggingEnabledForReads}}
set{{tokenName}}({{lastResult}});
});
diff --git a/src/main/resources/writeDefinition.mustache b/src/main/resources/sendDefinition.mustache
similarity index 67%
rename from src/main/resources/writeDefinition.mustache
rename to src/main/resources/sendDefinition.mustache
index 6e2e18476424269bc10e9e03ccfdd6444ff55762..477dbc550132af842e53e8fed2cbbee0c8996296 100644
--- a/src/main/resources/writeDefinition.mustache
+++ b/src/main/resources/sendDefinition.mustache
@@ -1,8 +1,8 @@
- private String {{parentTypeName}}.{{writeTopic}} = null;
+ private String {{parentTypeName}}.{{sendTopic}} = null;
private byte[] {{parentTypeName}}.{{lastValue}} = null;
public void {{parentTypeName}}.{{connectMethod}}(String topic, boolean writeCurrentValue) {
- {{writeTopic}} = topic;
+ {{sendTopic}} = topic;
{{updateMethod}}();
if (writeCurrentValue) {
{{writeMethod}}();
@@ -18,7 +18,7 @@
protected void {{parentTypeName}}.{{writeMethod}}() {
{{#loggingEnabledForWrites}}
- System.out.println("[Write] {{tokenName}} = " + get{{tokenName}}() + " -> " + {{writeTopic}});
+ System.out.println("[Send] {{tokenName}} = " + get{{tokenName}}() + " -> " + {{sendTopic}});
{{/loggingEnabledForWrites}}
- {{mqttHandlerAttribute}}().publish({{writeTopic}}, {{lastValue}});
+ {{mqttHandlerAttribute}}().publish({{sendTopic}}, {{lastValue}});
}
diff --git a/src/main/resources/tokenComponent.mustache b/src/main/resources/tokenComponent.mustache
index a3615c4526e5725bdd49121b16a87a011562f0cd..e6a136d1c8de08b6dce9104fd46fafa5d91b67b6 100644
--- a/src/main/resources/tokenComponent.mustache
+++ b/src/main/resources/tokenComponent.mustache
@@ -2,11 +2,11 @@
set{{internalName}}(value);
{{#DependencyDefinitions}}
for ({{targetParentTypeName}} target : get{{internalRelationPrefix}}TargetList()) {
- {{#targetUpdateDefinition}}
+ {{#targetEndpointDefinition}}
if (target.{{updateMethod}}()) {
target.{{writeMethod}}();
}
- {{/targetUpdateDefinition}}
+ {{/targetEndpointDefinition}}
}
{{/DependencyDefinitions}}
return this;