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JastAdd
RagConnect
Commits
9287757d
Commit
9287757d
authored
Jan 14, 2021
by
René Schöne
Browse files
Update preprocessor and mustache.
parent
7496e1b5
Changes
3
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mustache
@
c10bed0d
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130a96ef
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c10bed0d
Subproject commit
130a96efa74f90c9d2f8634e2ddc6d6c705f146d
Subproject commit
c10bed0d03e3fa18b8133ce1de48de7646899615
ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
View file @
9287757d
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
;
import
org.jastadd.ragconnect.ast.Document
;
import
org.jastadd.ragconnect.ast.ListElement
;
import
org.jastadd.ragconnect.ast.MappingElement
;
/**
* Testing Ros2Rag without parser.
...
...
@@ -19,70 +15,64 @@ public class SimpleMain {
Document
doc
=
new
Document
();
MappingElement
root
=
new
MappingElement
();
MappingElement
firstLevel
=
new
MappingElement
();
firstLevel
.
addKeyValuePair
(
new
KeyValuePair
(
"server"
,
new
StringElement
(
"tcp://localhost:1883"
)
))
;
firstLevel
.
addKeyValuePair
(
new
KeyValuePair
(
"robot_speed_factor"
,
new
ValueElement
(
".7"
)
))
;
firstLevel
.
put
(
"server"
,
"tcp://localhost:1883"
);
firstLevel
.
put
(
"robot_speed_factor"
,
".7"
);
KeyValuePair
topics
=
new
KeyValuePair
();
topics
.
setKey
(
"topics"
);
MappingElement
theTopics
=
new
MappingElement
();
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
);
theTopics
.
put
(
"robotConfig"
,
"robotconfig"
);
theTopics
.
put
(
"trajectory"
,
"trajectory"
);
theTopics
.
put
(
"nextStep"
,
"ros2rag/nextStep"
);
firstLevel
.
put
(
"topics"
,
theTopics
);
firstLevel
.
addKeyValuePair
(
new
KeyValuePair
(
"zone_size"
,
new
ValueElement
(
"0.5"
)
))
;
firstLevel
.
put
(
"zone_size"
,
"0.5"
);
ListElement
theZones
=
new
ListElement
();
theZones
.
add
Element
(
new
StringElement
(
"1 1"
)
)
;
theZones
.
add
Element
(
new
StringElement
(
"0 1"
)
)
;
theZones
.
add
Element
(
new
StringElement
(
"-1 1"
)
)
;
firstLevel
.
addKeyValuePair
(
"zones"
,
theZones
);
theZones
.
add
(
"1 1"
);
theZones
.
add
(
"0 1"
);
theZones
.
add
(
"-1 1"
);
firstLevel
.
put
(
"zones"
,
theZones
);
MappingElement
pandaParts
=
new
MappingElement
();
MappingElement
thePanda
=
new
MappingElement
();
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
.
addKeyValuePair
(
"panda"
,
thePanda
);
firstLevel
.
addKeyValuePair
(
"parts"
,
pandaParts
);
thePanda
.
put
(
"Link0"
,
"panda_link0"
);
thePanda
.
put
(
"Link1"
,
"panda_link1"
);
thePanda
.
put
(
"Link2"
,
"panda_link2"
);
thePanda
.
put
(
"Link3"
,
"panda_link3"
);
thePanda
.
put
(
"Link4"
,
"panda_link4"
);
thePanda
.
put
(
"Link5"
,
"panda_link5"
);
thePanda
.
put
(
"Link6"
,
"panda_link6"
);
thePanda
.
put
(
"RightFinger"
,
"panda_rightfinger"
);
thePanda
.
put
(
"LeftFinger"
,
"panda_leftfinger"
);
pandaParts
.
put
(
"panda"
,
thePanda
);
firstLevel
.
put
(
"parts"
,
pandaParts
);
MappingElement
endEffectorParts
=
new
MappingElement
();
MappingElement
endEffector
=
new
MappingElement
();
endEffector
.
addKeyValuePair
(
"EndEffector"
,
new
StringElement
(
"panda_hand"
)
)
;
endEffectorParts
.
addKeyValuePair
(
"panda"
,
endEffector
);
firstLevel
.
addKeyValuePair
(
"end_effectors"
,
endEffectorParts
);
endEffector
.
put
(
"EndEffector"
,
"panda_hand"
);
endEffectorParts
.
put
(
"panda"
,
endEffector
);
firstLevel
.
put
(
"end_effectors"
,
endEffectorParts
);
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
);
theGoalPoses
.
add
(
makePose
(
"0.4 0.4 0.3"
));
theGoalPoses
.
add
(
makePose
(
"-0.4 0.4 0.3"
));
theGoalPoses
.
add
(
makePose
(
"-0.4 -0.4 0.3"
));
theGoalPoses
.
add
(
makePose
(
"0.4 0.4 0.3"
));
theGoalPoses
.
add
(
makePose
(
"-0.4 0.4 0.3"
));
theGoalPoses
.
add
(
makePose
(
"0.4 0.4 0.3"
));
firstLevel
.
put
(
"goal_poses"
,
theGoalPoses
);
root
.
addKeyValuePair
(
"panda_mqtt_connector"
,
firstLevel
);
root
.
put
(
"panda_mqtt_connector"
,
firstLevel
);
doc
.
setRootElement
(
root
);
System
.
out
.
println
(
doc
.
prettyPrint
());
}
private
static
void
addPose
(
List
Element
theGoal
Pose
s
,
String
position
)
{
MappingElement
goalPose
1
=
new
MappingElement
();
goalPose
1
.
addKeyValuePair
(
new
KeyValuePair
(
"position"
,
new
StringElement
(
position
)
))
;
goalPose
1
.
addKeyValuePair
(
new
KeyValuePair
(
"orientation"
,
new
StringElement
(
"1 1 0 0"
)
))
;
goalPose
1
.
addKeyValuePair
(
new
KeyValuePair
(
"work"
,
new
StringElement
(
"20000"
)
))
;
theGoalPoses
.
addElement
(
goalPose
1
)
;
private
static
Mapping
Element
make
Pose
(
String
position
)
{
MappingElement
goalPose
=
new
MappingElement
();
goalPose
.
put
(
"position"
,
position
);
goalPose
.
put
(
"orientation"
,
"1 1 0 0"
);
goalPose
.
put
(
"work"
,
"20000"
);
return
goalPose
;
}
public
static
void
main
(
String
[]
args
)
{
...
...
relast-preprocessor
@
c00441c0
Compare
79d237fd
...
c00441c0
Subproject commit
79d237fda220364ffebf77dc7de0a7b29635e360
Subproject commit
c00441c03dc6723a08de0fcb041254a99497774f
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