Merge branch '35-cleanup' into 'master'

Resolve "Cleanup"

Closes #35

See merge request jastadd/ros2rag!4

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"]
 }

src/main/jastadd/Analysis.jrag

 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;
 }

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 {

src/main/jastadd/MustacheNodes.relast

 //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;

src/main/jastadd/NameResolution.jrag

 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;
       }

src/main/jastadd/Navigation.jrag

 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();
 }

src/main/jastadd/Ros2Rag.relast → src/main/jastadd/RagConnect.relast

-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*;

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;
   }