diff --git a/build.gradle b/build.gradle
index d4a75cf60a5d4b4f1b75b8cef947428da08bec4a..c986f2a61adf610a9c2e5fdc7fd20eb193a9a46a 100644
--- a/build.gradle
+++ b/build.gradle
@@ -74,6 +74,7 @@ task relast(type: JavaExec) {
"../relast.preprocessor/src/main/jastadd/RelAst.relast",
"./src/main/jastadd/RagConnect.relast",
"./src/main/jastadd/MustacheNodes.relast",
+ "./src/main/jastadd/YAML.relast",
"--listClass=java.util.ArrayList",
"--jastAddList=JastAddList",
"--useJastAddNames",
@@ -83,9 +84,10 @@ task relast(type: JavaExec) {
]
inputs.files("../libs/relast.jar",
- "../relast.preprocessor/src/main/jastadd/RelAST.relast",
+ "../relast.preprocessor/src/main/jastadd/RelAst.relast",
"./src/main/jastadd/RagConnect.relast",
- "./src/main/jastadd/MustacheNodes.relast")
+ "./src/main/jastadd/MustacheNodes.relast",
+ "./src/main/jastadd/YAML.relast")
outputs.files("./src/gen/jastadd/RagConnect.ast",
"./src/gen/jastadd/RagConnect.jadd",
"./src/gen/jastadd/RagConnectRefResolver.jadd",
diff --git a/src/main/jastadd/Navigation.jrag b/src/main/jastadd/Navigation.jrag
index 481de3d1c960de76e962c2c8fb087e63b5bd9104..752fc36aea4c59348874c1a08134696a9543b6cb 100644
--- a/src/main/jastadd/Navigation.jrag
+++ b/src/main/jastadd/Navigation.jrag
@@ -15,6 +15,7 @@ aspect Navigation {
eq MRagConnect.getChild().containedFile() = null;
// --- containedFileName ---
+ eq Grammar.getChild().containedFileName() = null; // should be in PP
eq RagConnect.getChild().containedFileName() = getFileName();
eq MRagConnect.getChild().containedFileName() = null;
diff --git a/src/main/jastadd/Printing.jrag b/src/main/jastadd/Printing.jrag
new file mode 100644
index 0000000000000000000000000000000000000000..96484151a05b4aea9707dfa60f71e2fb82e2a842
--- /dev/null
+++ b/src/main/jastadd/Printing.jrag
@@ -0,0 +1,60 @@
+aspect Printing {
+ String ASTNode.PRINT_INDENT = " ";
+ syn String Document.prettyPrint() {
+ StringBuilder sb = new StringBuilder("#start\n");
+ for (ComplexElement element : getComplexElementList()) {
+ element.prettyPrint(sb, false, "");
+ }
+ if (sb.charAt(sb.length() - 1) != '\n') {
+ sb.append("\n");
+ }
+ sb.append("#end");
+ return sb.toString();
+ }
+ syn StringBuilder Element.prettyPrint(StringBuilder sb, boolean printIndent, String indent);
+ eq StringElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
+ sb.append(getValue());
+ return sb;
+ }
+ eq QuotedStringElement.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) {
+ // delete last newline
+ sb.deleteCharAt(sb.length() - 1);
+ }
+ return sb;
+ }
+ eq KeyValuePair.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
+ if (printIndent) sb.append(indent);
+ sb.append(getKey()).append(": ");
+ if (getValue().isComplex()) {
+ sb.append("\n");
+ getValue().prettyPrint(sb, true, indent + PRINT_INDENT); //);
+ } else {
+ getValue().prettyPrint(sb, false, indent);
+ }
+ 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) {
+ // delete last newline
+ sb.deleteCharAt(sb.length() - 1);
+ }
+ return sb;
+ }
+}
diff --git a/src/main/jastadd/YAML.relast b/src/main/jastadd/YAML.relast
new file mode 100644
index 0000000000000000000000000000000000000000..47a875edd39b90f1a582a9fa92e9a0178b61ac18
--- /dev/null
+++ b/src/main/jastadd/YAML.relast
@@ -0,0 +1,9 @@
+Document ::= <FileName> ComplexElement* ;
+abstract Element ;
+abstract ComplexElement : Element ;
+MappingElement : ComplexElement ::= KeyValuePair* ;
+KeyValuePair : ComplexElement ::= <Key> Value:Element ;
+ListElement : ComplexElement ::= Element* ;
+abstract SimpleElement : Element ;
+StringElement : SimpleElement ::= <Value> ;
+QuotedStringElement : SimpleElement ::= <Value> ;
diff --git a/src/main/jastadd/YAML_Navigation.jrag b/src/main/jastadd/YAML_Navigation.jrag
new file mode 100644
index 0000000000000000000000000000000000000000..36240f5f6aadd744745bbaf57029023a9bd2e631
--- /dev/null
+++ b/src/main/jastadd/YAML_Navigation.jrag
@@ -0,0 +1,10 @@
+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/java/org/jastadd/ragconnect/compiler/SimpleMain.java b/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
new file mode 100644
index 0000000000000000000000000000000000000000..800ae6cf9b02911ab6eedd3525e8e985d62ceddf
--- /dev/null
+++ b/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
@@ -0,0 +1,95 @@
+package org.jastadd.ragconnect.compiler;
+
+import org.jastadd.ragconnect.ast.*;
+
+/**
+ * Testing Ros2Rag without parser.
+ *
+ * @author rschoene - Initial contribution
+ */
+public class SimpleMain {
+
+ private static void printManualYAML() {
+ Document doc = new Document();
+ 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")));
+
+ 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")));
+ topics.setValue(theTopics);
+ firstLevel.addKeyValuePair(topics);
+
+ firstLevel.addKeyValuePair(new KeyValuePair("zone_size", new StringElement("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"));
+ zones.setValue(theZones);
+ firstLevel.addKeyValuePair(zones);
+
+ KeyValuePair parts = new KeyValuePair();
+ parts.setKey("end_effectors");
+ 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")));
+ pandaParts.setValue(thePanda);
+ parts.setValue(pandaParts);
+ firstLevel.addKeyValuePair(parts);
+
+ KeyValuePair end_effectors = new KeyValuePair();
+ end_effectors.setKey("end_effectors");
+ KeyValuePair endEffectorParts = new KeyValuePair();
+ endEffectorParts.setKey("panda");
+ endEffectorParts.setValue(new KeyValuePair("EndEffector", new QuotedStringElement("panda_hand")));
+ end_effectors.setValue(endEffectorParts);
+ firstLevel.addKeyValuePair(end_effectors);
+
+ KeyValuePair goalPoses = new KeyValuePair();
+ goalPoses.setKey("goal_poses");
+ ListElement theGoalPoses = new ListElement();
+ addPose(theGoalPoses, "0.4 0.4 0.3");
+ addPose(theGoalPoses, "-0.4 0.4 0.3");
+ addPose(theGoalPoses, "-0.4 -0.4 0.3");
+ addPose(theGoalPoses, "0.4 0.4 0.3");
+ addPose(theGoalPoses, "-0.4 0.4 0.3");
+ addPose(theGoalPoses, "0.4 0.4 0.3");
+ goalPoses.setValue(theGoalPoses);
+ firstLevel.addKeyValuePair(goalPoses);
+
+ root.setValue(firstLevel);
+ doc.addComplexElement(root);
+
+ System.out.println(doc.prettyPrint());
+ }
+
+ 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")));
+ theGoalPoses.addElement(goalPose1);
+ }
+
+ public static void main(String[] args) {
+ printManualYAML();
+ }
+}