diff --git a/src/main/jastadd/Printing.jrag b/src/main/jastadd/Printing.jrag
index 96484151a05b4aea9707dfa60f71e2fb82e2a842..4d070f82a05b8acfc01028abbfe06a50b265f5c0 100644
--- a/src/main/jastadd/Printing.jrag
+++ b/src/main/jastadd/Printing.jrag
@@ -12,21 +12,23 @@ aspect Printing {
return sb.toString();
}
syn StringBuilder Element.prettyPrint(StringBuilder sb, boolean printIndent, String indent);
- eq StringElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
+ eq ValueElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
sb.append(getValue());
return sb;
}
- eq QuotedStringElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
+ eq StringElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
sb.append("\"").append(getValue()).append("\"");
return sb;
}
eq ListElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
- for (Element element : getElementList()) {
- sb.append(indent).append("- ");
- element.prettyPrint(sb, false, indent + PRINT_INDENT);
- sb.append("\n");
- }
- if (getNumElement() > 0) {
+ if (isEmpty()) {
+ sb.append("[]");
+ } else {
+ for (Element element : getElementList()) {
+ sb.append(indent).append("- ");
+ element.prettyPrint(sb, false, indent + PRINT_INDENT);
+ sb.append("\n");
+ }
// delete last newline
sb.deleteCharAt(sb.length() - 1);
}
@@ -35,7 +37,7 @@ aspect Printing {
eq KeyValuePair.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
if (printIndent) sb.append(indent);
sb.append(getKey()).append(": ");
- if (getValue().isComplex()) {
+ if (getValue().isComplex() && !getValue().isEmpty()) {
sb.append("\n");
getValue().prettyPrint(sb, true, indent + PRINT_INDENT); //);
} else {
@@ -44,14 +46,16 @@ aspect Printing {
return sb;
}
eq MappingElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
- boolean first = true;
- for (KeyValuePair pair : getKeyValuePairList()) {
- if (!first || printIndent) sb.append(indent);
- first = false;
- pair.prettyPrint(sb, false, indent); // + PRINT_INDENT
- sb.append("\n");
- }
- if (!first) {
+ if (isEmpty()) {
+ sb.append("{}");
+ } else {
+ boolean first = true;
+ for (KeyValuePair pair : getKeyValuePairList()) {
+ if (!first || printIndent) sb.append(indent);
+ first = false;
+ pair.prettyPrint(sb, false, indent); // + PRINT_INDENT
+ sb.append("\n");
+ }
// delete last newline
sb.deleteCharAt(sb.length() - 1);
}
diff --git a/src/main/jastadd/YAML.jrag b/src/main/jastadd/YAML.jrag
new file mode 100644
index 0000000000000000000000000000000000000000..93dd0f34b7b7b0505cf0970b6541fa3ae5bee7fa
--- /dev/null
+++ b/src/main/jastadd/YAML.jrag
@@ -0,0 +1,31 @@
+aspect Navigation {
+ eq Document.getChild().program() = null;
+ eq Document.getChild().ragconnect() = null;
+ eq Document.getChild().containedFile() = null;
+ eq Document.getChild().containedFileName() = getFileName();
+
+ syn boolean Element.isComplex() = false;
+ eq ComplexElement.isComplex() = true;
+
+ syn boolean Element.isEmpty() = false;
+ eq MappingElement.isEmpty() = getNumKeyValuePair() == 0;
+ eq ListElement.isEmpty() = getNumElement() == 0;
+}
+
+aspect Helper {
+ public static ValueElement ValueElement.of(int value) {
+ return new ValueElement(String.valueOf(value));
+ }
+ public static ValueElement ValueElement.of(boolean value) {
+ return new ValueElement(String.valueOf(value));
+ }
+ public static ValueElement ValueElement.of(String value) {
+ return new ValueElement(value);
+ }
+ public static StringElement StringElement.of(String value) {
+ return new StringElement(value);
+ }
+ public void MappingElement.addKeyValuePair(String key, Element value) {
+ addKeyValuePair(new KeyValuePair(key, value));
+ }
+}
diff --git a/src/main/jastadd/YAML.relast b/src/main/jastadd/YAML.relast
index 47a875edd39b90f1a582a9fa92e9a0178b61ac18..94f4ab20fdc3838348bd53b812b3d1477cae3558 100644
--- a/src/main/jastadd/YAML.relast
+++ b/src/main/jastadd/YAML.relast
@@ -5,5 +5,5 @@ MappingElement : ComplexElement ::= KeyValuePair* ;
KeyValuePair : ComplexElement ::= <Key> Value:Element ;
ListElement : ComplexElement ::= Element* ;
abstract SimpleElement : Element ;
+ValueElement : SimpleElement ::= <Value> ;
StringElement : SimpleElement ::= <Value> ;
-QuotedStringElement : SimpleElement ::= <Value> ;
diff --git a/src/main/jastadd/YAML_Navigation.jrag b/src/main/jastadd/YAML_Navigation.jrag
deleted file mode 100644
index 36240f5f6aadd744745bbaf57029023a9bd2e631..0000000000000000000000000000000000000000
--- a/src/main/jastadd/YAML_Navigation.jrag
+++ /dev/null
@@ -1,10 +0,0 @@
-aspect Navigation {
- eq Document.getChild().program() = null;
- eq Document.getChild().ragconnect() = null;
- eq Document.getChild().containedFile() = null;
- eq Document.getChild().containedFileName() = getFileName();
-
- syn boolean Element.isComplex() = false;
- eq ComplexElement.isComplex() = true;
-
-}
diff --git a/src/main/jastadd/backend/MustacheNodesToYAML.jrag b/src/main/jastadd/backend/MustacheNodesToYAML.jrag
new file mode 100644
index 0000000000000000000000000000000000000000..bdd032ad9ee27002413746ae3e3f12135c0d4e5c
--- /dev/null
+++ b/src/main/jastadd/backend/MustacheNodesToYAML.jrag
@@ -0,0 +1,154 @@
+aspect MustacheNodesToYAML {
+ syn Document MRagConnect.toYAML() {
+ Document doc = new Document();
+ MappingElement root = new MappingElement();
+ root.addKeyValuePair("rootNodeName", StringElement.of(rootNodeName()));
+ root.addKeyValuePair("usesMqtt", ValueElement.of(usesMqtt));
+ root.addKeyValuePair("usesRest", ValueElement.of(usesRest));
+ // mqtt
+ root.addKeyValuePair("mqttHandlerField", StringElement.of(mqttHandlerField()));
+ root.addKeyValuePair("mqttHandlerAttribute", StringElement.of(mqttHandlerAttribute()));
+ root.addKeyValuePair("mqttSetupWaitUntilReadyMethod", StringElement.of(mqttSetupWaitUntilReadyMethod()));
+
+ // rootTypeComponents
+ ListElement rootTypeComponents = new ListElement();
+ for (MTypeComponent comp : getRootTypeComponentList()) {
+ MappingElement inner = new MappingElement();
+ inner.addKeyValuePair("first", ValueElement.of(comp.isFirst()));
+ inner.addKeyValuePair("name", StringElement.of(comp.name()));
+ rootTypeComponents.addElement(inner);
+ }
+ root.addKeyValuePair("rootTypeComponents", rootTypeComponents);
+
+ // rest
+ root.addKeyValuePair("restHandlerField", StringElement.of(restHandlerField()));
+ root.addKeyValuePair("restHandlerAttribute", StringElement.of(restHandlerAttribute()));
+
+ // ReceiveDefinitions
+ ListElement receiveDefinitions = new ListElement();
+ for (MReceiveDefinition def : getReceiveDefinitionList()) {
+ receiveDefinitions.addElement(def.toYAML());
+ }
+ root.addKeyValuePair("ReceiveDefinitions", receiveDefinitions);
+
+ // SendDefinitions
+ ListElement sendDefinitions = new ListElement();
+ for (MSendDefinition def : getSendDefinitionList()) {
+ sendDefinitions.addElement(def.toYAML());
+ }
+ root.addKeyValuePair("SendDefinitions", sendDefinitions);
+
+ // MappingDefinitions
+ ListElement mappingDefinitions = new ListElement();
+ for (MMappingDefinition def : getMappingDefinitionList()) {
+ mappingDefinitions.addElement(def.toYAML());
+ }
+ root.addKeyValuePair("MappingDefinitions", mappingDefinitions);
+
+ // DependencyDefinitions
+ ListElement dependencyDefinitions = new ListElement();
+ for (MDependencyDefinition def : getDependencyDefinitionList()) {
+ dependencyDefinitions.addElement(def.toYAML());
+ }
+ root.addKeyValuePair("DependencyDefinitions", dependencyDefinitions);
+
+ // TokenComponents
+ ListElement tokenComponents = new ListElement();
+ for (MTokenComponent comp : getTokenComponentList()) {
+ tokenComponents.addElement(comp.toYAML());
+ }
+ root.addKeyValuePair("TokenComponents", tokenComponents);
+
+ doc.addComplexElement(root);
+ return doc;
+ }
+
+ syn Element MReceiveDefinition.toYAML() {
+ MappingElement inner = new MappingElement();
+ inner.addKeyValuePair("parentTypeName", StringElement.of(parentTypeName()));
+ inner.addKeyValuePair("connectMethod", StringElement.of(connectMethod()));
+ inner.addKeyValuePair("connectParameterName", StringElement.of(connectParameterName()));
+ inner.addKeyValuePair("lastDefinitionToType", StringElement.of(lastDefinitionToType()));
+ inner.addKeyValuePair("resultVarPrefix", StringElement.of(resultVarPrefix()));
+ inner.addKeyValuePair("lastDefinitionName", StringElement.of(lastDefinitionName()));
+ inner.addKeyValuePair("preemptiveReturn", StringElement.of(preemptiveReturn()));
+ inner.addKeyValuePair("alwaysApply", ValueElement.of(alwaysApply()));
+ inner.addKeyValuePair("condition", StringElement.of(condition()));
+ inner.addKeyValuePair("loggingEnabledForReads", ValueElement.of(loggingEnabledForReads));
+ inner.addKeyValuePair("tokenName", StringElement.of(tokenName()));
+ inner.addKeyValuePair("lastResult", StringElement.of(lastResult()));
+// inner.addKeyValuePair("first", ValueElement.of(isFirst()));
+// parentTypeName
+// connectMethod
+// connectParameterName
+// lastDefinitionToType
+// resultVarPrefix
+// lastDefinitionName
+// #InnerMappingDefinitions -> MInnerMappingDefinition
+// last
+// toType
+// methodName
+// inputVarName
+// preemptiveReturn
+// alwaysApply
+// condition - special chars
+// loggingEnabledForReads
+// tokenName
+// lastResult
+ return inner;
+ }
+
+ syn Element MSendDefinition.toYAML() {
+ MappingElement inner = new MappingElement();
+// #SendDefinitions -> MSendDefinition
+// parentTypeName
+// sender
+// lastValue
+// connectMethod
+// connectParameterName
+// loggingEnabledForWrites
+// updateMethod
+// writeMethod
+// tokenResetMethod
+// lastResult
+ return inner;
+ }
+
+ syn Element MMappingDefinition.toYAML() {
+ MappingElement inner = new MappingElement();
+// #MappingDefinitions -> MMappingDefinition
+// toType
+// methodName
+// fromType
+// fromVariableName
+// content - special chars
+ return inner;
+ }
+
+ syn Element MDependencyDefinition.toYAML() {
+ MappingElement inner = new MappingElement();
+// #DependencyDefinitions -> MDependencyDefinition
+// targetParentTypeName
+// dependencyMethod
+// sourceParentTypeName
+// internalRelationPrefix
+ return inner;
+ }
+
+ syn Element MTokenComponent.toYAML() {
+ MappingElement inner = new MappingElement();
+// #TokenComponents -> MTokenComponent
+// parentTypeName
+// name
+// javaType
+// internalName
+// #DependencyDefinitions -> MDependencyDefinition
+// targetParentTypeName
+// internalRelationPrefix
+// #targetEndpointDefinition -> MSendDefinition
+// updateMethod
+// writeMethod
+ return inner;
+ }
+
+}
diff --git a/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java b/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
index d44ef9e590abd09d3c7d7026c3da2dfe5f29511b..12fc212b9b10be507fffa6b56bc4a6816082e87a 100644
--- a/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
+++ b/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
@@ -21,6 +21,7 @@ public class Compiler extends AbstractCompiler {
// private ValueOption optionOutputDir;
private ValueOption optionRootNode;
private ValueOption optionProtocols;
+ private BooleanOption optionPrintYaml;
private BooleanOption optionVerbose;
private BooleanOption optionLogReads;
private BooleanOption optionLogWrites;
@@ -53,6 +54,10 @@ public class Compiler extends AbstractCompiler {
}
}
+ if (!optionRootNode.isMatched()) {
+ return error("Root node not specified");
+ }
+
RagConnect ragConnect = parseProgram(getConfiguration().getFiles());
if (!ragConnect.errors().isEmpty()) {
@@ -63,6 +68,12 @@ public class Compiler extends AbstractCompiler {
System.exit(1);
}
+ if (optionPrintYaml.value()) {
+ ASTNode.rootNode = ragConnect.getProgram().resolveTypeDecl(optionRootNode.value());
+ System.out.println(ragConnect.toMustache().toYAML().prettyPrint());
+ return 0;
+ }
+
printMessage("Writing output files");
final List<String> handlers = new ArrayList<>();
if (ASTNode.usesMqtt) {
@@ -99,7 +110,7 @@ public class Compiler extends AbstractCompiler {
try {
new Compiler().run(args);
} catch (CompilerException e) {
- System.err.println(e.getMessage());
+ e.printStackTrace();
System.exit(1);
}
}
@@ -148,6 +159,9 @@ public class Compiler extends AbstractCompiler {
.addDefaultValue(OPTION_PROTOCOL_MQTT, "Enable MQTT")
.addAcceptedValue(OPTION_PROTOCOL_REST, "Enable REST")
);
+ optionPrintYaml = addOption(
+ new BooleanOption("printYaml", "Print out YAML instead of generating files")
+ .defaultValue(false));
optionVerbose = addOption(
new BooleanOption("verbose", "Print more messages while compiling.")
.defaultValue(false));
@@ -161,6 +175,8 @@ public class Compiler extends AbstractCompiler {
private RagConnect parseProgram(Collection<String> files) throws CompilerException {
Program program = new Program();
+ boolean atLeastOneGrammar = false;
+ boolean atLeastOneRagConnect = false;
RagConnect ragConnect = new RagConnect();
ragConnect.setProgram(program);
@@ -176,17 +192,28 @@ public class Compiler extends AbstractCompiler {
case "relast":
// processGrammar
parseGrammar(program, filename);
+ atLeastOneGrammar = true;
break;
case "connect":
case "ragconnect":
// process ragConnect
RagConnect parsedRagConnect = parseRagConnect(program, filename);
mergeRagConnectDefinitions(ragConnect, parsedRagConnect);
+ atLeastOneRagConnect = true;
break;
default:
throw new CompilerException("Unknown file extension in " + filename);
}
}
+ if (!atLeastOneGrammar) {
+ System.err.println("No grammar file specified! (*.ast, *.relast)");
+ }
+ if (!atLeastOneRagConnect) {
+ System.err.println("No ragconnect file specified! (*.connect, *.ragconnect)");
+ }
+ if (!atLeastOneGrammar && !atLeastOneRagConnect) {
+ System.exit(1);
+ }
ragConnect.treeResolveAll();
ragConnect.additionalRelations().forEach(ragConnectGrammarPart::addDeclaration);
ASTNode.loggingEnabledForReads = optionLogReads.value();
diff --git a/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java b/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
index 800ae6cf9b02911ab6eedd3525e8e985d62ceddf..ee9ed046348efeaa4b12dbc816c55414d93289cf 100644
--- a/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
+++ b/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
@@ -1,6 +1,12 @@
package org.jastadd.ragconnect.compiler;
import org.jastadd.ragconnect.ast.*;
+import org.jastadd.ragconnect.parser.RagConnectParser;
+import org.jastadd.ragconnect.scanner.RagConnectScanner;
+
+import java.io.Reader;
+import java.nio.file.Files;
+import java.nio.file.Paths;
/**
* Testing Ros2Rag without parser.
@@ -14,26 +20,26 @@ public class SimpleMain {
KeyValuePair root = new KeyValuePair();
root.setKey("panda_mqtt_connector");
MappingElement firstLevel = new MappingElement();
- firstLevel.addKeyValuePair(new KeyValuePair("server", new QuotedStringElement("tcp://localhost:1883")));
- firstLevel.addKeyValuePair(new KeyValuePair("robot_speed_factor", new StringElement(".7")));
+ firstLevel.addKeyValuePair(new KeyValuePair("server", new StringElement("tcp://localhost:1883")));
+ firstLevel.addKeyValuePair(new KeyValuePair("robot_speed_factor", new ValueElement(".7")));
KeyValuePair topics = new KeyValuePair();
topics.setKey("topics");
MappingElement theTopics = new MappingElement();
- theTopics.addKeyValuePair(new KeyValuePair("robotConfig", new QuotedStringElement("robotconfig")));
- theTopics.addKeyValuePair(new KeyValuePair("trajectory", new QuotedStringElement("trajectory")));
- theTopics.addKeyValuePair(new KeyValuePair("nextStep", new QuotedStringElement("ros2rag/nextStep")));
+ theTopics.addKeyValuePair(new KeyValuePair("robotConfig", new StringElement("robotconfig")));
+ theTopics.addKeyValuePair(new KeyValuePair("trajectory", new StringElement("trajectory")));
+ theTopics.addKeyValuePair(new KeyValuePair("nextStep", new StringElement("ros2rag/nextStep")));
topics.setValue(theTopics);
firstLevel.addKeyValuePair(topics);
- firstLevel.addKeyValuePair(new KeyValuePair("zone_size", new StringElement("0.5")));
+ firstLevel.addKeyValuePair(new KeyValuePair("zone_size", new ValueElement("0.5")));
KeyValuePair zones = new KeyValuePair();
zones.setKey("zones");
ListElement theZones = new ListElement();
- theZones.addElement(new QuotedStringElement("1 1"));
- theZones.addElement(new QuotedStringElement("0 1"));
- theZones.addElement(new QuotedStringElement("-1 1"));
+ theZones.addElement(new StringElement("1 1"));
+ theZones.addElement(new StringElement("0 1"));
+ theZones.addElement(new StringElement("-1 1"));
zones.setValue(theZones);
firstLevel.addKeyValuePair(zones);
@@ -42,15 +48,15 @@ public class SimpleMain {
KeyValuePair pandaParts = new KeyValuePair();
pandaParts.setKey("panda");
MappingElement thePanda = new MappingElement();
- thePanda.addKeyValuePair(new KeyValuePair("Link0", new QuotedStringElement("panda_link0")));
- thePanda.addKeyValuePair(new KeyValuePair("Link1", new QuotedStringElement("panda_link1")));
- thePanda.addKeyValuePair(new KeyValuePair("Link2", new QuotedStringElement("panda_link2")));
- thePanda.addKeyValuePair(new KeyValuePair("Link3", new QuotedStringElement("panda_link3")));
- thePanda.addKeyValuePair(new KeyValuePair("Link4", new QuotedStringElement("panda_link4")));
- thePanda.addKeyValuePair(new KeyValuePair("Link5", new QuotedStringElement("panda_link5")));
- thePanda.addKeyValuePair(new KeyValuePair("Link6", new QuotedStringElement("panda_link6")));
- thePanda.addKeyValuePair(new KeyValuePair("RightFinger", new QuotedStringElement("panda_rightfinger")));
- thePanda.addKeyValuePair(new KeyValuePair("LeftFinger", new QuotedStringElement("panda_leftfinger")));
+ thePanda.addKeyValuePair(new KeyValuePair("Link0", new StringElement("panda_link0")));
+ thePanda.addKeyValuePair(new KeyValuePair("Link1", new StringElement("panda_link1")));
+ thePanda.addKeyValuePair(new KeyValuePair("Link2", new StringElement("panda_link2")));
+ thePanda.addKeyValuePair(new KeyValuePair("Link3", new StringElement("panda_link3")));
+ thePanda.addKeyValuePair(new KeyValuePair("Link4", new StringElement("panda_link4")));
+ thePanda.addKeyValuePair(new KeyValuePair("Link5", new StringElement("panda_link5")));
+ thePanda.addKeyValuePair(new KeyValuePair("Link6", new StringElement("panda_link6")));
+ thePanda.addKeyValuePair(new KeyValuePair("RightFinger", new StringElement("panda_rightfinger")));
+ thePanda.addKeyValuePair(new KeyValuePair("LeftFinger", new StringElement("panda_leftfinger")));
pandaParts.setValue(thePanda);
parts.setValue(pandaParts);
firstLevel.addKeyValuePair(parts);
@@ -59,7 +65,7 @@ public class SimpleMain {
end_effectors.setKey("end_effectors");
KeyValuePair endEffectorParts = new KeyValuePair();
endEffectorParts.setKey("panda");
- endEffectorParts.setValue(new KeyValuePair("EndEffector", new QuotedStringElement("panda_hand")));
+ endEffectorParts.setValue(new KeyValuePair("EndEffector", new StringElement("panda_hand")));
end_effectors.setValue(endEffectorParts);
firstLevel.addKeyValuePair(end_effectors);
@@ -83,9 +89,9 @@ public class SimpleMain {
private static void addPose(ListElement theGoalPoses, String position) {
MappingElement goalPose1 = new MappingElement();
- goalPose1.addKeyValuePair(new KeyValuePair("position", new QuotedStringElement(position)));
- goalPose1.addKeyValuePair(new KeyValuePair("orientation", new QuotedStringElement("1 1 0 0")));
- goalPose1.addKeyValuePair(new KeyValuePair("work", new QuotedStringElement("20000")));
+ goalPose1.addKeyValuePair(new KeyValuePair("position", new StringElement(position)));
+ goalPose1.addKeyValuePair(new KeyValuePair("orientation", new StringElement("1 1 0 0")));
+ goalPose1.addKeyValuePair(new KeyValuePair("work", new StringElement("20000")));
theGoalPoses.addElement(goalPose1);
}
diff --git a/src/main/resources/mqtt.mustache b/src/main/resources/mqtt.mustache
index f10ae88139d958d2f4b0a8f4245b64b41e0f1003..9391d1091c41eee257f9e6a1368297ef743e39ce 100644
--- a/src/main/resources/mqtt.mustache
+++ b/src/main/resources/mqtt.mustache
@@ -6,11 +6,11 @@ aspect MQTT {
{{mqttHandlerField}}.setupWaitUntilReady(time, unit);
}
- {{#getRootTypeComponents}}
+ {{#RootTypeComponents}}
{{#first}}inh MqttServerHandler ASTNode.{{mqttHandlerAttribute}}();{{/first}}
eq {{rootNodeName}}.get{{name}}().{{mqttHandlerAttribute}}() = {{mqttHandlerField}};
- {{/getRootTypeComponents}}
- {{^getRootTypeComponents}}
+ {{/RootTypeComponents}}
+ {{^RootTypeComponents}}
syn MqttServerHandler {{rootNodeName}}.{{mqttHandlerAttribute}}() = {{mqttHandlerField}};
- {{/getRootTypeComponents}}
+ {{/RootTypeComponents}}
}