diff --git a/build.gradle b/build.gradle
index 9e0bde27ffc2908022aa1a0148b6dc8acec2be35..dec769678645445543fb08103107e15ec46d2ca4 100644
--- a/build.gradle
+++ b/build.gradle
@@ -19,6 +19,7 @@ buildscript {
dependencies {
implementation 'com.fasterxml.jackson.core:jackson-core:2.9.8'
implementation 'com.fasterxml.jackson.core:jackson-databind:2.9.8'
+ implementation 'com.github.spullara.mustache.java:compiler:0.9.6'
// api 'org.jastadd:jastadd:2.3.4'
runtime 'org.jastadd:jastadd:2.3.4'
api group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
@@ -62,6 +63,7 @@ task relast(type: JavaExec) {
"../libs/relast.jar",
"../relast.preprocessor/src/main/jastadd/RelAst.relast",
"./src/main/jastadd/Ros2Rag.relast",
+ "./src/main/jastadd/MustacheNodes.relast",
"--listClass=java.util.ArrayList",
"--jastAddList=JastAddList",
"--useJastAddNames",
@@ -73,6 +75,7 @@ task relast(type: JavaExec) {
inputs.files file("../libs/relast.jar"),
file("../relast.preprocessor/src/main/jastadd/RelAST.relast"),
file("src/main/jastadd/Ros2Rag.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"),
diff --git a/src/main/jastadd/MustacheNodes.relast b/src/main/jastadd/MustacheNodes.relast
new file mode 100644
index 0000000000000000000000000000000000000000..30277272d713c062307b3679dff7db75b71b91ef
--- /dev/null
+++ b/src/main/jastadd/MustacheNodes.relast
@@ -0,0 +1,2 @@
+TypeComponentMustache ;
+rel TypeComponentMustache.TypeComponent -> TypeComponent ;
diff --git a/src/main/jastadd/Navigation.jrag b/src/main/jastadd/Navigation.jrag
index f56d99825c376248ce8f9a2dae1388ed3898ea64..e034804ba6f4151c744e7fb495c17f483be7e685 100644
--- a/src/main/jastadd/Navigation.jrag
+++ b/src/main/jastadd/Navigation.jrag
@@ -3,7 +3,7 @@ aspect Navigation {
// --- program ---
eq Ros2Rag.getChild().program() = getProgram();
- // --- ros2rag
+ // --- ros2rag ---
inh Ros2Rag ASTNode.ros2rag();
eq Ros2Rag.getChild().ros2rag() = this;
diff --git a/src/main/jastadd/Ros2Rag.relast b/src/main/jastadd/Ros2Rag.relast
index a5499702f44facd5b649a811a958b890d4565d0a..e1a84e8beac44fcbc23d09fc56ed536586bde4e8 100644
--- a/src/main/jastadd/Ros2Rag.relast
+++ b/src/main/jastadd/Ros2Rag.relast
@@ -10,7 +10,6 @@ rel TokenUpdateDefinition.Token -> TokenComponent;
ReadFromMqttDefinition : TokenUpdateDefinition;
WriteToMqttDefinition : TokenUpdateDefinition;
-// example: RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1
DependencyDefinition ::= <ID>;
rel DependencyDefinition.Source <-> TokenComponent.DependencySourceDefinition*;
rel DependencyDefinition.Target -> TokenComponent;
diff --git a/src/main/jastadd/backend/Configuration.jadd b/src/main/jastadd/backend/Configuration.jadd
index 711ba2511d1e0c8535007cacccac99872128e58f..d4f5b43f27cb329f1ff82318c6f383f0f69ebbd6 100644
--- a/src/main/jastadd/backend/Configuration.jadd
+++ b/src/main/jastadd/backend/Configuration.jadd
@@ -1,4 +1,5 @@
aspect Configuration {
public static boolean ASTNode.loggingEnabledForReads = false;
public static boolean ASTNode.loggingEnabledForWrites = false;
+ public static TypeDecl ASTNode.rootNode;
}
diff --git a/src/main/jastadd/backend/Generation.jadd b/src/main/jastadd/backend/Generation.jadd
index e698e405ee6d392d2405b15fe0869432b9b18a59..81e2dabe41761ef3e1b3058adb2809be90f6ac1d 100644
--- a/src/main/jastadd/backend/Generation.jadd
+++ b/src/main/jastadd/backend/Generation.jadd
@@ -22,10 +22,10 @@ aspect GenerationUtils {
}
aspect AspectGeneration {
+ // naming convention attributes
syn String TokenComponent.internalName() = getDependencySourceDefinitionList().isEmpty() ? externalName() : "_internal_" + getName();
syn String TokenComponent.externalName() = getName();
- // naming convention attributes
syn String TokenUpdateDefinition.connectMethod() = "connect" + getToken().getName();
syn String WriteToMqttDefinition.writeTopic() = "_topic_" + getToken().getName();
syn String WriteToMqttDefinition.lastValue() = "_lastValue" + getToken().getName();
@@ -39,10 +39,6 @@ aspect AspectGeneration {
syn String DependencyDefinition.internalRelationPrefix() = "_internal_" + getID();
syn String DependencyDefinition.internalTokenName() = getSource().internalName();
- inh String UpdateDefinition.mqttUpdaterAttribute();
- inh String MappingDefinition.mqttUpdaterAttribute();
- inh String DependencyDefinition.mqttUpdaterAttribute();
- eq Ros2Rag.getChild().mqttUpdaterAttribute() = mqttUpdaterAttribute();
syn String Ros2Rag.mqttUpdaterAttribute() = "_mqttUpdater";
syn String Ros2Rag.mqttUpdaterField() = "_mqttUpdater";
@@ -50,54 +46,53 @@ aspect AspectGeneration {
syn String Ros2Rag.mqttWaitUntilReadyMethod() = "MqttWaitUntilReady";
syn String Ros2Rag.mqttCloseMethod() = "MqttCloseConnections";
- public String Ros2Rag.generateAspect(String rootNodeName) {
- StringBuilder sb = new StringBuilder();
- TypeDecl rootNode = getProgram().resolveTypeDecl(rootNodeName);
- generateMqttAspect(sb, rootNode);
- generateGrammarExtension(sb);
- return sb.toString();
- }
+ // naming copy attributes
+ // --- mqttUpdaterAttribute ---
+ inh String UpdateDefinition.mqttUpdaterAttribute();
+ inh String MappingDefinition.mqttUpdaterAttribute();
+ inh String DependencyDefinition.mqttUpdaterAttribute();
+ eq Ros2Rag.getChild().mqttUpdaterAttribute() = mqttUpdaterAttribute();
- public void Ros2Rag.generateMqttAspect(StringBuilder sb, TypeDecl rootNode) {
- String rootNodeName = rootNode.getName();
- sb.append("aspect MQTT {\n");
- sb.append(ind(1)).append("private MqttUpdater ").append(rootNodeName)
- .append(".").append(mqttUpdaterField()).append(" = new MqttUpdater();\n");
-
- // mqttSetHost(String host)
- sb.append(ind(1)).append("public void ").append(rootNodeName).append(".")
- .append(mqttSetHostMethod()).append("(String host) throws java.io.IOException {\n");
- sb.append(ind(2)).append(mqttUpdaterField()).append(".setHost(host);\n");
- sb.append(ind(1)).append("}\n");
-
- // mqttSetHost(String host, int port)
- sb.append(ind(1)).append("public void ").append(rootNodeName).append(".")
- .append(mqttSetHostMethod()).append("(String host, int port) throws java.io.IOException {\n");
- sb.append(ind(2)).append(mqttUpdaterField()).append(".setHost(host, port);\n");
- sb.append(ind(1)).append("}\n\n");
+ // --- mqttUpdaterField ---
+ eq Ros2Rag.getChild().mqttUpdaterField() = mqttUpdaterField();
- // mqttWaitUntilReady
- sb.append(ind(1)).append("public boolean ").append(rootNodeName).append(".")
- .append(mqttWaitUntilReadyMethod()).append("(long time, java.util.concurrent.TimeUnit unit) {\n");
- sb.append(ind(2)).append("return ").append(mqttUpdaterField()).append(".waitUntilReady(time, unit);\n");
- sb.append(ind(1)).append("}\n\n");
+ // --- rootNodeName ---
+ syn String ASTNode.rootNodeName() = rootNode.getName();
- // mqttClose
- sb.append(ind(1)).append("public void ").append(rootNodeName).append(".")
- .append(mqttCloseMethod()).append("() {\n");
- sb.append(ind(2)).append(mqttUpdaterField()).append(".close();\n");
- sb.append(ind(1)).append("}\n\n");
+ // mustache specific nodes
+ syn nta TypeComponentMustache TypeComponent.mustache() {
+ TypeComponentMustache result = new TypeComponentMustache();
+ result.setTypeComponent(this);
+ return result;
+ }
+ syn String TypeComponentMustache.name() = getTypeComponent().getName();
+ inh String TypeComponentMustache.mqttUpdaterAttribute();
+ inh String TypeComponentMustache.mqttUpdaterField();
- // mqttUpdater
- sb.append(ind(1)).append("inh MqttUpdater ASTNode.").append(mqttUpdaterAttribute()).append("();\n");
+ // mustache specific attributes
+ syn java.util.List<TypeComponentMustache> Ros2Rag.rootTypeChildren() {
+ java.util.List<TypeComponentMustache> result = new java.util.ArrayList<>();
for (Component child : rootNode.getComponentList()) {
- if (child.isTypeComponent()) {
- sb.append(ind(1)).append("eq ").append(rootNodeName)
- .append(".get").append(child.getName()).append("().")
- .append(mqttUpdaterAttribute()).append("() = ").append(mqttUpdaterField()).append(";\n");
+ if (child.isTypeComponent()){
+ result.add(child.asTypeComponent().mustache());
}
}
- sb.append("}\n\n");
+ return result;
+ }
+
+ public String Ros2Rag.generateAspect(String rootNodeName) {
+ StringBuilder sb = new StringBuilder();
+ rootNode = getProgram().resolveTypeDecl(rootNodeName);
+ generateMqttAspect(sb);
+ generateGrammarExtension(sb);
+ return sb.toString();
+ }
+
+ public void Ros2Rag.generateMqttAspect(StringBuilder sb) {
+ String rootNodeName = rootNode.getName();
+ com.github.mustachejava.MustacheFactory mf = new com.github.mustachejava.DefaultMustacheFactory();
+ com.github.mustachejava.Mustache m = mf.compile("mqtt.mustache");
+ m.execute(new java.io.PrintWriter(new org.jastadd.ros2rag.compiler.AppendableWriter(sb)), this);
}
public void Ros2Rag.generateGrammarExtension(StringBuilder sb) {
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java b/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java
new file mode 100644
index 0000000000000000000000000000000000000000..97680b18dc4fd1d8af3df75f35221e059355e19e
--- /dev/null
+++ b/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java
@@ -0,0 +1,37 @@
+package org.jastadd.ros2rag.compiler;
+
+import java.io.IOException;
+import java.io.Writer;
+
+/**
+ * Writer appending to a StringBuilder.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class AppendableWriter extends Writer {
+ private final StringBuilder sb;
+
+ public AppendableWriter(StringBuilder sb) {
+ this.sb = sb;
+ }
+
+ @Override
+ public void write(char[] chars, int off, int len) throws IOException {
+ sb.append(chars, off, len);
+ }
+
+ @Override
+ public void write(String str) throws IOException {
+ sb.append(str);
+ }
+
+ @Override
+ public void flush() {
+
+ }
+
+ @Override
+ public void close() {
+
+ }
+}
diff --git a/src/main/resources/mqtt.mustache b/src/main/resources/mqtt.mustache
new file mode 100644
index 0000000000000000000000000000000000000000..33e3f4ee001d889575c264f617f37d04dc574a97
--- /dev/null
+++ b/src/main/resources/mqtt.mustache
@@ -0,0 +1,22 @@
+aspect MQTT {
+ private MqttUpdater {{rootNodeName}}.{{mqttUpdaterField}} = new MqttUpdater();
+ public void {{rootNodeName}}.{{mqttSetHostMethod}}(String host) throws java.io.IOException {
+ {{mqttUpdaterField}}.setHost(host);
+ }
+ public void {{rootNodeName}}.{{mqttSetHostMethod}}(String host, int port) throws java.io.IOException {
+ {{mqttUpdaterField}}.setHost(host, port);
+ }
+
+ public boolean {{rootNodeName}}.{{mqttWaitUntilReadyMethod}}(long time, java.util.concurrent.TimeUnit unit) {
+ return {{mqttUpdaterField}}.waitUntilReady(time, unit);
+ }
+
+ public void {{rootNodeName}}.{{mqttCloseMethod}}() {
+ {{mqttUpdaterField}}.close();
+ }
+
+ inh MqttUpdater ASTNode.{{mqttUpdaterAttribute}}();
+ {{#rootTypeChildren}}
+ eq {{rootNodeName}}.get{{name}}().{{mqttUpdaterAttribute}}() = {{mqttUpdaterField}};
+ {{/rootTypeChildren}}
+}