Rename read/write to receive/send

src/main/jastadd/Errors.jrag

@@ -7,32 +7,32 @@ aspect Errors {
     [new TreeSet<ErrorMessage>()]
     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 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 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 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 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 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 RagConnect.errors();
 
@@ -44,7 +44,7 @@ aspect Errors {
       when isAlreadyDefinedAsList()
       to RagConnect.errors();
 
-    DependencyDefinition contributes error("There must be a write update definition targeting " + getSource().parentTypeypeAndName() + " for dependency definition " + getID())
+    DependencyDefinition contributes error("There must be a send update definition targeting " + getSource().parentTypeypeAndName() + " for dependency definition " + getID())
       when targetEndpointDefinition() == null
       to RagConnect.errors();
 }

src/main/jastadd/MustacheNodes.relast

 //TypeComponentMustache ;
 //rel TypeComponentMustache.TypeComponent -> TypeComponent ;
 
-MRagConnect ::= ReadDefinition:MReadDefinition* WriteDefinition:MWriteDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeComponent:MTypeComponent* TokenComponent:MTokenComponent*;
+MRagConnect ::= ReceiveDefinition:MReceiveDefinition* SendDefinition:MSendDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeComponent:MTypeComponent* TokenComponent:MTokenComponent*;
 abstract MEndpointDefinition ::= InnerMappingDefinition:MInnerMappingDefinition*;
-MReadDefinition : MEndpointDefinition;
-MWriteDefinition : MEndpointDefinition;
+MReceiveDefinition : MEndpointDefinition;
+MSendDefinition : MEndpointDefinition;
 MMappingDefinition;
 MInnerMappingDefinition;
 MDependencyDefinition;
@@ -13,8 +13,8 @@ MTokenComponent;
 
 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/Navigation.jrag

@@ -24,25 +24,25 @@ aspect Navigation {
   syn TokenEndpointDefinition EndpointDefinition.asTokenEndpointDefinition() = null;
   eq TokenEndpointDefinition.asTokenEndpointDefinition() = this;
 
-  // --- isWriteToMqttDefinition ---
-  syn boolean EndpointDefinition.isWriteToMqttDefinition() = false;
-  eq WriteToMqttDefinition.isWriteToMqttDefinition() = true;
+  // --- isSendToMqttDefinition ---
+  syn boolean EndpointDefinition.isSendToMqttDefinition() = false;
+  eq SendToMqttDefinition.isSendToMqttDefinition() = true;
 
-  // --- asWriteToMqttDefinition ---
-  syn WriteToMqttDefinition EndpointDefinition.asWriteToMqttDefinition() = null;
-  eq WriteToMqttDefinition.asWriteToMqttDefinition() = this;
+  // --- asSendToMqttDefinition ---
+  syn SendToMqttDefinition EndpointDefinition.asSendToMqttDefinition() = null;
+  eq SendToMqttDefinition.asSendToMqttDefinition() = this;
 
-  // --- asReadFromMqttDefinition ---
-  syn ReadFromMqttDefinition EndpointDefinition.asReadFromMqttDefinition() = null;
-  eq ReadFromMqttDefinition.asReadFromMqttDefinition() = this;
+  // --- asReceiveFromMqttDefinition ---
+  syn ReceiveFromMqttDefinition EndpointDefinition.asReceiveFromMqttDefinition() = null;
+  eq ReceiveFromMqttDefinition.asReceiveFromMqttDefinition() = this;
 
   // --- targetEndpointDefinition ---
-  syn WriteToMqttDefinition DependencyDefinition.targetEndpointDefinition() {
+  syn SendToMqttDefinition DependencyDefinition.targetEndpointDefinition() {
     // resolve definition in here, as we do not need resolveMethod in any other place (yet)
     for (EndpointDefinition endpointDefinition : ragconnect().getEndpointDefinitionList()) {
-      if (endpointDefinition.isWriteToMqttDefinition() &&
-          endpointDefinition.asWriteToMqttDefinition().getToken().equals(this.getTarget())) {
-        return endpointDefinition.asWriteToMqttDefinition();
+      if (endpointDefinition.isSendToMqttDefinition() &&
+          endpointDefinition.asSendToMqttDefinition().getToken().equals(this.getTarget())) {
+        return endpointDefinition.asSendToMqttDefinition();
       }
     }
     return null;

src/main/jastadd/RagConnect.relast

@@ -7,8 +7,8 @@ rel EndpointDefinition.Mapping* -> MappingDefinition;
 abstract TokenEndpointDefinition : EndpointDefinition;
 rel TokenEndpointDefinition.Token -> TokenComponent;
 
-ReadFromMqttDefinition : TokenEndpointDefinition;
-WriteToMqttDefinition  : TokenEndpointDefinition;
+ReceiveFromMqttDefinition : TokenEndpointDefinition;
+SendToMqttDefinition  : TokenEndpointDefinition;
 
 DependencyDefinition ::= <ID>;
 rel DependencyDefinition.Source <-> TokenComponent.DependencySourceDefinition*;

src/main/jastadd/backend/Generation.jadd

@@ -79,23 +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.endpointDef() = 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.endpointDef() = 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();
@@ -130,10 +130,10 @@ aspect AttributesForMustache {
     MRagConnect result = new MRagConnect();
     result.setRagConnect(this);
     for (EndpointDefinition def : getEndpointDefinitionList()) {
-      if (def.isWriteToMqttDefinition()) {
-        result.addWriteDefinition(def.asWriteToMqttDefinition().toMustache());
+      if (def.isSendToMqttDefinition()) {
+        result.addSendDefinition(def.asSendToMqttDefinition().toMustache());
       } else {
-        result.addReadDefinition(def.asReadFromMqttDefinition().toMustache());
+        result.addReceiveDefinition(def.asReceiveFromMqttDefinition().toMustache());
       }
     }
     for (MappingDefinition def : allMappingDefinitions()) {
@@ -163,15 +163,15 @@ aspect AttributesForMustache {
       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;
   }
@@ -206,11 +206,11 @@ aspect AspectGeneration {
   syn String TokenComponent.externalName() = getName();
 
   syn String TokenEndpointDefinition.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 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)) +

src/main/jastadd/backend/Mappings.jrag

@@ -106,7 +106,7 @@ aspect DefaultMappings {
 aspect Mappings {
   // --- effectiveMappings ---
   syn java.util.List<MappingDefinition> EndpointDefinition.effectiveMappings();
-  eq ReadFromMqttDefinition.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
@@ -160,7 +160,7 @@ aspect Mappings {
 
   // --- suitableDefaultMapping ---
   syn DefaultMappingDefinition EndpointDefinition.suitableDefaultMapping();
-  eq ReadFromMqttDefinition.suitableDefaultMapping() {
+  eq ReceiveFromMqttDefinition.suitableDefaultMapping() {
     String typeName = getMappingList().isEmpty() ?
         getToken().getJavaTypeUse().getName() :
         getMappingList().get(0).getFromType().prettyPrint();
@@ -181,7 +181,7 @@ aspect Mappings {
       default: return null;
     }
   }
-  eq WriteToMqttDefinition.suitableDefaultMapping() {
+  eq SendToMqttDefinition.suitableDefaultMapping() {
     String typeName = getMappingList().isEmpty() ?
         getToken().getJavaTypeUse().getName() :
         getMappingList().get(getMappingList().size() - 1).getFromType().prettyPrint();

src/main/jastadd/parser/RagConnect.parser

@@ -13,30 +13,30 @@ RagConnect ragconnect
 :} ;
 
 EndpointDefinition endpoint_definition
-  = READ ID.type_name DOT ID.token_name SCOL
+  = 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));

src/main/jastadd/scanner/Keywords.flex

-"read"       { yybegin(DECLARATION); return sym(Terminals.READ); }
-"write"      { yybegin(DECLARATION); 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); }

src/main/java/org/jastadd/ragconnect/compiler/Compiler.java

@@ -77,9 +77,9 @@ public class Compiler extends AbstractCompiler {
     }
     for (GrammarFile grammarFile : ragConnect.getProgram().getGrammarFileList()) {
       Path outputFile = getConfiguration().outputDir().toPath().resolve(grammarFile.getFileName());
-      writeToFile(outputFile, grammarFile.generateAbstractGrammar());
+      sendToFile(outputFile, grammarFile.generateAbstractGrammar());
     }
-    writeToFile(getConfiguration().outputDir().toPath().resolve("RagConnect.jadd"), ragConnect.generateAspect(optionRootNode.value()));
+    sendToFile(getConfiguration().outputDir().toPath().resolve("RagConnect.jadd"), ragConnect.generateAspect(optionRootNode.value()));
     return 0;
   }
 
@@ -118,7 +118,7 @@ public class Compiler extends AbstractCompiler {
     System.out.println(message);
   }
 
-  private void writeToFile(Path path, String str) throws CompilerException {
+  private void sendToFile(Path path, String str) throws CompilerException {
     try (BufferedWriter writer = Files.newBufferedWriter(path)) {
       writer.append(str);
     } catch (Exception e) {

src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java

@@ -123,11 +123,11 @@ public class SimpleMain {
         "    ;");
     model.addMappingDefinition(mappingDefinition);
 
-    ReadFromMqttDefinition readFromMqttDefinition = new ReadFromMqttDefinition();
-    readFromMqttDefinition.setAlwaysApply(false);
-    readFromMqttDefinition.setToken(TokenComponent.createRef("Link.CurrentPosition"));
-    readFromMqttDefinition.addMapping(mappingDefinition);
-    model.addEndpointDefinition(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()) {

src/main/resources/ragconnect.mustache

 {{> mqtt}}
 aspect ROS2RAG {
-  {{#ReadDefinitions}}
-    {{> readDefinition}}
-  {{/ReadDefinitions}}
+  {{#ReceiveDefinitions}}
+    {{> receiveDefinition}}
+  {{/ReceiveDefinitions}}
 
-  {{#WriteDefinitions}}
-    {{> writeDefinition}}
-  {{/WriteDefinitions}}
+  {{#SendDefinitions}}
+    {{> sendDefinition}}
+  {{/SendDefinitions}}
 
   {{#MappingDefinitions}}
     {{> mappingDefinition}}

src/main/resources/readDefinition.mustache → 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}});
     });

src/main/resources/writeDefinition.mustache → src/main/resources/sendDefinition.mustache

-  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}});
   }