diff --git a/build.gradle b/build.gradle
index dec769678645445543fb08103107e15ec46d2ca4..afb6ee8d3a48638ddfae7a382219ec9cd3077ce4 100644
--- a/build.gradle
+++ b/build.gradle
@@ -74,12 +74,12 @@ 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")
+ 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"),
- file('src/gen/jastadd/Ros2RagResolverStubs.jrag')
+ file("./src/gen/jastadd/Ros2Rag.jadd"),
+ file("./src/gen/jastadd/Ros2RagRefResolver.jadd"),
+ file('./src/gen/jastadd/Ros2RagResolverStubs.jrag')
}
jastadd {
diff --git a/src/main/jastadd/MustacheNodes.relast b/src/main/jastadd/MustacheNodes.relast
index 87c4d35cd0883cd40a35b17ebb9eb8ce2ee1bd2a..d9181d0ca3d72c6b9597f2300bb3f10b0d2fa866 100644
--- a/src/main/jastadd/MustacheNodes.relast
+++ b/src/main/jastadd/MustacheNodes.relast
@@ -1,19 +1,22 @@
//TypeComponentMustache ;
//rel TypeComponentMustache.TypeComponent -> TypeComponent ;
-MRos2Rag ::= ReadDefinition:MReadDefinition* WriteDefinition:MWriteDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* TypeComponent:MTypeComponent*;
-MUpdateDefinition ::= <FirstInputVarName>;
+MRos2Rag ::= ReadDefinition:MReadDefinition* WriteDefinition:MWriteDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeChildren:MTypeComponent* TokenComponent:MTokenComponent*;
+abstract MUpdateDefinition ::= InnerMappingDefinition:MInnerMappingDefinition*;
MReadDefinition : MUpdateDefinition;
MWriteDefinition : MUpdateDefinition;
MMappingDefinition;
+MInnerMappingDefinition;
MDependencyDefinition;
MTypeComponent;
+MTokenComponent;
-MUpdateDefinition.InnerMappingDefinition* -> MInnerMappingDefinition;
-MInnerMappingDefinition.MappingDefinition -> MappingDefinition;
-MReadDefinition.ReadFromMqttDefinition -> ReadFromMqttDefinition;
-MWriteDefinition.WriteToMqttDefinition -> WriteToMqttDefinition;
-MMappingDefinition.MappingDefinition -> MappingDefinition;
-MDependencyDefinition.DependencyDefinition -> DependencyDefinition;
-MTypeComponent.TypeComponent -> TypeComponent;
-MTypeComponent.DependencyDefinition* -> MDependencyDefinition;
+rel MRos2Rag.Ros2Rag -> Ros2Rag;
+rel MInnerMappingDefinition.MappingDefinition -> MappingDefinition;
+rel MReadDefinition.ReadFromMqttDefinition -> ReadFromMqttDefinition;
+rel MWriteDefinition.WriteToMqttDefinition -> WriteToMqttDefinition;
+rel MMappingDefinition.MappingDefinition -> MappingDefinition;
+rel MDependencyDefinition.DependencyDefinition -> DependencyDefinition;
+rel MTypeComponent.TypeComponent -> TypeComponent;
+rel MTokenComponent.TokenComponent -> TokenComponent;
+rel MTokenComponent.DependencyDefinition* -> MDependencyDefinition;
diff --git a/src/main/jastadd/Navigation.jrag b/src/main/jastadd/Navigation.jrag
index e181bc92401ef3e8e098685ac6047dba88e46954..a4f21e6e8d79c549a63d54474792382457bf74fd 100644
--- a/src/main/jastadd/Navigation.jrag
+++ b/src/main/jastadd/Navigation.jrag
@@ -2,10 +2,12 @@ aspect Navigation {
// --- program ---
eq Ros2Rag.getChild().program() = getProgram();
+ eq MRos2Rag.getChild().program() = getRos2Rag().program();
// --- ros2rag ---
inh Ros2Rag ASTNode.ros2rag();
eq Ros2Rag.getChild().ros2rag() = this;
+ eq MRos2Rag.getChild().ros2rag() = getRos2Rag();
// --- containedFile (first equation should be in preprocessor) ---
eq Program.getChild().containedFile() = null;
@@ -32,6 +34,7 @@ aspect Navigation {
eq GrammarFile.getChild().containedFileName() = getFileName();
eq Ros2Rag.getChild().containedFileName() = getFileName();
eq Program.getChild().containedFileName() = null;
+ eq MRos2Rag.getChild().containedFileName() = null;
// --- isTokenUpdateDefinition ---
syn boolean UpdateDefinition.isTokenUpdateDefinition() = false;
diff --git a/src/main/jastadd/backend/Generation.jadd b/src/main/jastadd/backend/Generation.jadd
index 2f2ff547924d3464c170cd995e6b10ddffeba3e2..01cbb9a39e92ea4a68875d6c46a219be29ff340c 100644
--- a/src/main/jastadd/backend/Generation.jadd
+++ b/src/main/jastadd/backend/Generation.jadd
@@ -31,34 +31,36 @@ aspect AttributesForMustache {
// --- MUpdateDefinition ---
syn String MUpdateDefinition.preemptiveExpectedValue();
syn String MUpdateDefinition.preemptiveReturn();
- syn String MUpdateDefinition.mqttUpdaterAttribute();
- syn UpdateDefinition MUpdateDefinition.updateDef();
+ syn TokenUpdateDefinition MUpdateDefinition.updateDef();
+ syn String MUpdateDefinition.firstInputVarName();
- eq MUpdateDefinition.getMInnerMappingDefinition(int i).isLast() = i == numInnerMappingDefinition();
+ eq MUpdateDefinition.getInnerMappingDefinition(int i).isLast() = i == getNumInnerMappingDefinition();
eq MUpdateDefinition.getInnerMappingDefinition().resultVarPrefix() = resultVarPrefix();
- eq MUpdateDefinition.getInnerMappingDefinition(int i).inputVarName() = i == 0 ? getFirstInputVarName() : resultVarPrefix() + getMInnerMappingDefinition(i - 1).getMappingDefinition().methodName();
+ eq MUpdateDefinition.getInnerMappingDefinition(int i).inputVarName() = i == 0 ? firstInputVarName() : resultVarPrefix() + getInnerMappingDefinition(i - 1).getMappingDefinition().methodName();
+ eq MRos2Rag.getChild().mqttUpdaterField() = getRos2Rag().mqttUpdaterField();
+ syn String MUpdateDefinition.mqttUpdaterAttribute() = updateDef().mqttUpdaterAttribute();
syn String MUpdateDefinition.connectMethod() = updateDef().connectMethod();
syn TokenComponent MUpdateDefinition.token() = updateDef().getToken();
syn boolean MUpdateDefinition.alwaysApply() = updateDef().getAlwaysApply();
syn String MUpdateDefinition.resultVarPrefix() = "result"; // we do not need "_" here, because methodName begins with one
syn String MUpdateDefinition.parentTypeName() = token().containingTypeDecl().getName();
- syn String MUpdateDefinition.TokenName() = token().getName();
- syn MInnerMappingDefinition MUpdateDefinition.lastDefinition() = getInnerMappingDefinition(numInnerMappingDefinition() - 1);
+ syn String MUpdateDefinition.tokenName() = token().getName();
+ syn MInnerMappingDefinition MUpdateDefinition.lastDefinition() = getInnerMappingDefinition(getNumInnerMappingDefinition() - 1);
syn String MUpdateDefinition.lastDefinitionType() = lastDefinition().ToType();
syn String MUpdateDefinition.lastDefinitionName() = lastDefinition().methodName();
+ syn String MUpdateDefinition.lastResult() = resultVarPrefix() + lastDefinitionName();
syn String MUpdateDefinition.condition() {
- String lastVarName = resultVarPrefix() + lastDefinitionDefinitionName();
if (lastDefinition().getMappingDefinition().getToType().isArray()) {
- return "java.util.Arrays.equals(" + preemptiveExpectedValue() + ", " + lastVarName + ")";
+ return "java.util.Arrays.equals(" + preemptiveExpectedValue() + ", " + lastResult() + ")";
}
if (token().isPrimitiveType() && lastDefinition().getMappingDefinition().getToType().isPrimitiveType()) {
- return preemptiveExpectedValue() + " == " + lastVarName;
+ return preemptiveExpectedValue() + " == " + lastResult();
}
if (lastDefinition().getMappingDefinition().isDefaultMappingDefinition()) {
- return preemptiveExpectedValue() + " != null && " + preemptiveExpectedValue() + ".equals(" + lastVarName ")";
+ return preemptiveExpectedValue() + " != null && " + preemptiveExpectedValue() + ".equals(" + lastResult() + ")";
}
- return preemptiveExpectedValue() + " != null ? " + preemptiveExpectedValue() + ".equals(" + lastVarName ") : " + inputVariableName + " == null";
+ return preemptiveExpectedValue() + " != null ? " + preemptiveExpectedValue() + ".equals(" + lastResult() + ") : " + lastResult() + " == null";
}
// --- MInnerMappingDefinition ---
@@ -69,18 +71,16 @@ aspect AttributesForMustache {
inh String MInnerMappingDefinition.inputVarName();
// --- MReadDefinition ---
- eq MReadDefinition.connectMethod() = getReadFromMqttDefinition().connectMethod();
- eq MReadDefinition.preemptiveExpectedValue() = "get" + TokenName() + "()";
+ eq MReadDefinition.preemptiveExpectedValue() = "get" + tokenName() + "()";
eq MReadDefinition.preemptiveReturn() = "return;";
eq MReadDefinition.updateDef() = getReadFromMqttDefinition();
-
- syn String MReadDefinition.mqttUpdaterAttribute() = getReadFromMqttDefinition().mqttUpdaterAttribute;
- syn String MReadDefinition.lastResult() = getReadFromMqttDefinition();
+ eq MReadDefinition.firstInputVarName() = "message";
// --- MWriteDefinition ---
eq MWriteDefinition.preemptiveExpectedValue() = lastValue();
eq MWriteDefinition.preemptiveReturn() = "return false;";
eq MWriteDefinition.updateDef() = getWriteToMqttDefinition();
+ eq MWriteDefinition.firstInputVarName() = "get" + tokenName() + "()";
syn String MWriteDefinition.writeTopic() = getWriteToMqttDefinition().writeTopic();
syn String MWriteDefinition.lastValue() = getWriteToMqttDefinition().lastValue();
@@ -101,69 +101,88 @@ aspect AttributesForMustache {
syn String MDependencyDefinition.sourceParentTypeName() = getDependencyDefinition().getSource().containingTypeDecl().getName();
syn String MDependencyDefinition.internalRelationPrefix() = getDependencyDefinition().internalRelationPrefix();
syn nta MUpdateDefinition MDependencyDefinition.targetUpdateDefinition() {
- return wrap(getDependencyDefinition().targetUpdateDefinition());
+ return getDependencyDefinition().targetUpdateDefinition().toMustache();
}
// --- MTypeComponent ---
- syn String MTypeComponent.parentTypeName() = getTypeComponent().containingTypeDecl().getName();
syn String MTypeComponent.name() = getTypeComponent().getName();
- syn String MTypeComponent.javaType() = getTypeComponent().getJavaTypeUse().prettyPrint();
- syn String MTypeComponent.internalName() = getTypeComponent().internalName();
+ inh String MTypeComponent.mqttUpdaterAttribute();
+ inh String MTypeComponent.mqttUpdaterField();
+
+ // --- MTokenComponent ---
+ syn String MTokenComponent.parentTypeName() = getTokenComponent().containingTypeDecl().getName();
+ syn String MTokenComponent.name() = getTokenComponent().getName();
+ syn String MTokenComponent.javaType() = getTokenComponent().getJavaTypeUse().prettyPrint();
+ syn String MTokenComponent.internalName() = getTokenComponent().internalName();
- // --- wrap ---
- syn lazy MRos2Rag Ros2Rag.wrap() {
+ // --- toMustache ---
+ syn lazy MRos2Rag Ros2Rag.toMustache() {
MRos2Rag result = new MRos2Rag();
+ result.setRos2Rag(this);
for (UpdateDefinition def : getUpdateDefinitionList()) {
if (def.isWriteToMqttDefinition()) {
- result.addWriteDefinition(def.asWriteToMqttDefinition.wrap());
+ result.addWriteDefinition(def.asWriteToMqttDefinition().toMustache());
} else {
- result.addReadDefinition(def.asReadFromMqttDefinition().wrap());
+ result.addReadDefinition(def.asReadFromMqttDefinition().toMustache());
}
}
for (MappingDefinition def : allMappingDefinitions()) {
- result.addMappingDefinition(def.wrap());
+ result.addMappingDefinition(def.toMustache());
}
for (DependencyDefinition def : getDependencyDefinitionList()) {
- result.addDependencyDefinition(def.wrap());
+ result.addDependencyDefinition(def.toMustache());
}
for (TokenComponent token : getProgram().allTokenComponents()) {
- result.addTokenComponent(token.wrap());
+ result.addTokenComponent(token.toMustache());
+ }
+ for (Component child : rootNode.getComponentList()) {
+ if (child.isTypeComponent()) {
+ result.addRootTypeChildren(child.asTypeComponent().toMustache());
+ }
}
return result;
}
+
//MInnerMappingDefinition.MappingDefinition -> MappingDefinition;
- private void MUpdateDefinition.addInnerMappings() {
- for (MappingDefinition def : updateDefinition().effectiveMappings()) {
- addInnerMappingDefinition(def.wrap());
+ protected void MUpdateDefinition.addInnerMappings() {
+ for (MappingDefinition def : updateDef().effectiveMappings()) {
+ MInnerMappingDefinition inner = new MInnerMappingDefinition();
+ inner.setMappingDefinition(def);
+ addInnerMappingDefinition(inner);
}
}
- syn lazy MReadDefinition ReadFromMqttDefinition.wrap() {
+ syn lazy MReadDefinition ReadFromMqttDefinition.toMustache() {
MReadDefinition result = new MReadDefinition();
result.setReadFromMqttDefinition(this);
result.addInnerMappings();
return result;
}
- syn lazy MWriteDefinition WriteToMqttDefinition.wrap() {
+ syn lazy MWriteDefinition WriteToMqttDefinition.toMustache() {
MWriteDefinition result = new MWriteDefinition();
result.setWriteToMqttDefinition(this);
result.addInnerMappings();
return result;
}
- syn lazy MMappingDefinition MappingDefinition.wrap() {
+ syn lazy MMappingDefinition MappingDefinition.toMustache() {
MMappingDefinition result = new MMappingDefinition();
result.setMappingDefinition(this);
return result;
}
- syn lazy MDependencyDefinition DependencyDefinition.wrap() {
+ syn lazy MDependencyDefinition DependencyDefinition.toMustache() {
MDependencyDefinition result = new MDependencyDefinition();
result.setDependencyDefinition(this);
return result;
}
- syn lazy MTypeComponent TypeComponent.wrap() {
+ syn lazy MTypeComponent TypeComponent.toMustache() {
MTypeComponent result = new MTypeComponent();
result.setTypeComponent(this);
+ return result;
+ }
+ syn lazy MTokenComponent TokenComponent.toMustache() {
+ MTokenComponent result = new MTokenComponent();
+ result.setTokenComponent(this);
for (DependencyDefinition def : getDependencySourceDefinitionList()) {
- result.addDependencyDefinition(def.wrap());
+ result.addDependencyDefinition(def.toMustache());
}
return result;
}
@@ -202,239 +221,241 @@ aspect AspectGeneration {
eq Ros2Rag.getChild().mqttUpdaterAttribute() = mqttUpdaterAttribute();
// --- mqttUpdaterField ---
- eq Ros2Rag.getChild().mqttUpdaterField() = mqttUpdaterField();
// --- rootNodeName ---
syn String ASTNode.rootNodeName() = rootNode.getName();
// 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();
-
- // 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()){
- result.add(child.asTypeComponent().mustache());
- }
- }
- return result;
- }
+// 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();
+//
+// // 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()){
+// result.add(child.asTypeComponent().mustache());
+// }
+// }
+// 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");
+ com.github.mustachejava.Mustache m = mf.compile("ros2rag.mustache");
m.execute(new java.io.PrintWriter(new org.jastadd.ros2rag.compiler.AppendableWriter(sb)), this);
+// generateMqttAspect(sb);
+// generateGrammarExtension(sb);
+ return sb.toString();
}
-
- public void Ros2Rag.generateGrammarExtension(StringBuilder sb) {
- sb.append("aspect ROS2RAG {\n");
-
- for (UpdateDefinition def : getUpdateDefinitionList()) {
- def.generateAspect(sb);
- }
- for (MappingDefinition def : allMappingDefinitions()) {
- def.generateAspect(sb);
- }
- for (DependencyDefinition def : getDependencyDefinitionList()) {
- def.generateAspect(sb);
- }
- for (TokenComponent token : getProgram().allTokenComponents()) {
- token.generateAspect(sb);
- }
-
- sb.append("}\n");
- }
-
- abstract void UpdateDefinition.generateAspect(StringBuilder sb);
-
- String TokenUpdateDefinition.generateMappingApplication(StringBuilder sb, int indent,
- String initialInputVariableName) {
- final String resultVariablePrefix = "result"; // we do not need "_" here, because methodName begins with one
- String inputVariableName = initialInputVariableName;
- // last variable need to be declared before begin of try
- MappingDefinition lastDefinition = effectiveMappings().get(effectiveMappings().size() - 1);
- sb.append(ind(indent)).append(lastDefinition.getToType().prettyPrint()).append(" ")
- .append(resultVariablePrefix).append(lastDefinition.methodName()).append(";\n");
- sb.append(ind(indent)).append("try {\n");
- for (MappingDefinition mappingDefinition : effectiveMappings()) {
- String resultVariableName = resultVariablePrefix + mappingDefinition.methodName();
- sb.append(ind(indent + 1));
- if (mappingDefinition != lastDefinition) {
- sb.append(mappingDefinition.getToType().prettyPrint()).append(" ");
- }
- sb.append(resultVariablePrefix).append(mappingDefinition.methodName())
- .append(" = ").append(mappingDefinition.methodName()).append("(")
- .append(inputVariableName).append(");\n");
- inputVariableName = resultVariableName;
- }
- sb.append(ind(indent)).append("} catch (Exception e) {\n");
- sb.append(ind(indent + 1)).append("e.printStackTrace();\n");
- sb.append(ind(indent + 1)).append(preemptiveReturnStatement()).append("\n");
- sb.append(ind(indent)).append("}\n");
- if (!getAlwaysApply()) {
- MappingDefinition lastMapping = effectiveMappings().get(effectiveMappings().size() - 1);
- sb.append(ind(indent)).append("if (");
- if (lastMapping.getToType().isArray()) {
- sb.append("java.util.Arrays.equals(").append(preemptiveExpectedValue())
- .append(", ").append(inputVariableName).append(")");
- } else {
- sb.append(preemptiveExpectedValue());
- if (getToken().isPrimitiveType() && lastMapping.getToType().isPrimitiveType()) {
- sb.append(" == ").append(inputVariableName);
- } else if (lastMapping.isDefaultMappingDefinition()) {
- sb.append(" != null && ").append(preemptiveExpectedValue()).append(".equals(")
- .append(inputVariableName).append(")");
- } else {
- sb.append(" != null ? ").append(preemptiveExpectedValue()).append(".equals(")
- .append(inputVariableName).append(")").append(" : ")
- .append(inputVariableName).append(" == null");
- }
- }
- sb.append(") { ").append(preemptiveReturnStatement()).append(" }\n");
- }
- return inputVariableName;
- }
-
- syn String TokenUpdateDefinition.preemptiveExpectedValue();
- eq ReadFromMqttDefinition.preemptiveExpectedValue() = "get" + getToken().getName() + "()";
- eq WriteToMqttDefinition.preemptiveExpectedValue() = lastValue();
-
- syn String TokenUpdateDefinition.preemptiveReturnStatement();
- eq ReadFromMqttDefinition.preemptiveReturnStatement() = "return;";
- eq WriteToMqttDefinition.preemptiveReturnStatement() = "return false;";
-
- @Override
- void ReadFromMqttDefinition.generateAspect(StringBuilder sb) {
- sb.append(ind(1)).append("public void ").append(getToken().containingTypeDecl().getName()).append(".")
- .append(connectMethod()).append("(String topic) {\n");
- sb.append(ind(2)).append(mqttUpdaterAttribute()).append("().newConnection(topic, message -> {\n");
- String lastResult = generateMappingApplication(sb, 3, "message");
- if (loggingEnabledForReads) {
- sb.append(ind(3)).append("System.out.println(\"[Read] \" + topic + \" -> ")
- .append(getToken().getName()).append(" = \" + ").append(lastResult)
- .append(");\n");
- }
- sb.append(ind(3)).append("set").append(getToken().getName()).append("(").append(lastResult).append(");\n");
- sb.append(ind(2)).append("});\n");
- sb.append(ind(1)).append("}\n\n");
- }
-
- @Override
- void WriteToMqttDefinition.generateAspect(StringBuilder sb) {
- String parentTypeName = getToken().containingTypeDecl().getName();
- // fields
- sb.append(ind(1)).append("private String ").append(parentTypeName).append(".")
- .append(writeTopic()).append(" = null;\n");
- sb.append(ind(1)).append("private byte[] ").append(parentTypeName).append(".")
- .append(lastValue()).append(" = null;\n");
-
- // connect method
- sb.append(ind(1)).append("public void ").append(parentTypeName).append(".")
- .append(connectMethod()).append("(String topic, boolean writeCurrentValue) {\n");
- sb.append(ind(2)).append(writeTopic()).append(" = topic;\n");
- sb.append(ind(2)).append(updateMethod()).append("();\n");
- sb.append(ind(2)).append("if (writeCurrentValue) {\n");
- sb.append(ind(3)).append(writeMethod()).append("();\n");
- sb.append(ind(2)).append("}\n");
- sb.append(ind(1)).append("}\n\n");
-
- // update method
- sb.append(ind(1)).append("protected boolean ").append(parentTypeName).append(".")
- .append(updateMethod()).append("() {\n");
- sb.append(ind(2)).append(tokenResetMethod()).append("();\n");
- String lastResult = generateMappingApplication(sb, 2, "get" + getToken().getName() + "()");
- sb.append(ind(2)).append(lastValue()).append(" = ").append(lastResult).append(";\n");
- sb.append(ind(2)).append("return true;\n");
- sb.append(ind(1)).append("}\n\n");
-
- // write method
- sb.append(ind(1)).append("protected void ").append(parentTypeName).append(".")
- .append(writeMethod()).append("() {\n");
- if (loggingEnabledForWrites) {
- sb.append(ind(2)).append("System.out.println(\"[Write] ").append(getToken().getName())
- .append(" = \" + ")
- .append("get").append(getToken().getName()).append("() + \" -> \" + ")
- .append(writeTopic()).append(");\n");
- }
- // _mqttUpdater().publish(${writeTopic()}, ${lastValue()});
- sb.append(ind(2)).append(mqttUpdaterAttribute()).append("().publish(")
- .append(writeTopic()).append(", ").append(lastValue()).append(");\n");
- sb.append(ind(1)).append("}\n\n");
- }
-
- void MappingDefinition.generateAspect(StringBuilder sb) {
- sb.append(ind(1)).append("protected static ").append(getToType().prettyPrint())
- .append(" ASTNode.").append(methodName()).append("(")
- .append(getFromType().prettyPrint()).append(" ").append(getFromVariableName())
- .append(") throws Exception {\n");
- for (String line : getContent().split("\n")) {
- if (!line.trim().isEmpty()) {
- sb.append(ind(2)).append(line).append("\n");
- }
- }
- sb.append(ind(1)).append("}\n\n");
- }
-
- void DependencyDefinition.generateAspect(StringBuilder sb) {
- String targetParentTypeName = getTarget().containingTypeDecl().getName();
- String sourceParentTypeName = getSource().containingTypeDecl().getName();
-
- // dependency method
- sb.append(ind(1)).append("public void ").append(targetParentTypeName).append(".")
- .append(dependencyMethod()).append("(").append(sourceParentTypeName).append(" source) {\n");
- sb.append(ind(2)).append("add").append(internalRelationPrefix()).append("Source(source);\n");
- sb.append(ind(1)).append("}\n\n");
- }
-
- void TokenComponent.generateAspect(StringBuilder sb) {
- if (getDependencySourceDefinitionList().isEmpty()) { return; }
-
- String parentTypeName = containingTypeDecl().getName();
- // virtual setter
- sb.append(ind(1)).append("public ").append(parentTypeName).append(" ")
- .append(parentTypeName).append(".set").append(getName()).append("(")
- .append(getJavaTypeUse().prettyPrint()).append(" value) {\n");
- sb.append(ind(2)).append("set").append(internalName()).append("(value);\n");
-
- for (DependencyDefinition dependencyDefinition : getDependencySourceDefinitionList()) {
- String targetParentTypeName = dependencyDefinition.getTarget().containingTypeDecl().getName();
- sb.append(ind(2)).append("for (").append(targetParentTypeName).append(" target : get")
- .append(dependencyDefinition.internalRelationPrefix()).append("TargetList()) {\n");
- sb.append(ind(3)).append("if (target.")
- .append(dependencyDefinition.targetUpdateDefinition().updateMethod())
- .append("()) {\n");
- sb.append(ind(4)).append("target.")
- .append(dependencyDefinition.targetUpdateDefinition().writeMethod())
- .append("();\n");
- sb.append(ind(3)).append("}\n");
- sb.append(ind(2)).append("}\n");
- }
- sb.append(ind(2)).append("return this;\n");
- sb.append(ind(1)).append("}\n\n");
-
- // virtual getter
- sb.append(ind(1)).append("public ").append(getJavaTypeUse().prettyPrint())
- .append(" ").append(parentTypeName).append(".get").append(getName()).append("() {\n");
- sb.append(ind(2)).append("return get").append(internalName()).append("();\n");
- sb.append(ind(1)).append("}\n\n");
- }
+//
+// 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) {
+// sb.append("aspect ROS2RAG {\n");
+//
+// for (UpdateDefinition def : getUpdateDefinitionList()) {
+// def.generateAspect(sb);
+// }
+// for (MappingDefinition def : allMappingDefinitions()) {
+// def.generateAspect(sb);
+// }
+// for (DependencyDefinition def : getDependencyDefinitionList()) {
+// def.generateAspect(sb);
+// }
+// for (TokenComponent token : getProgram().allTokenComponents()) {
+// token.generateAspect(sb);
+// }
+//
+// sb.append("}\n");
+// }
+//
+// abstract void UpdateDefinition.generateAspect(StringBuilder sb);
+//
+// String TokenUpdateDefinition.generateMappingApplication(StringBuilder sb, int indent,
+// String initialInputVariableName) {
+// final String resultVariablePrefix = "result"; // we do not need "_" here, because methodName begins with one
+// String inputVariableName = initialInputVariableName;
+// // last variable need to be declared before begin of try
+// MappingDefinition lastDefinition = effectiveMappings().get(effectiveMappings().size() - 1);
+// sb.append(ind(indent)).append(lastDefinition.getToType().prettyPrint()).append(" ")
+// .append(resultVariablePrefix).append(lastDefinition.methodName()).append(";\n");
+// sb.append(ind(indent)).append("try {\n");
+// for (MappingDefinition mappingDefinition : effectiveMappings()) {
+// String resultVariableName = resultVariablePrefix + mappingDefinition.methodName();
+// sb.append(ind(indent + 1));
+// if (mappingDefinition != lastDefinition) {
+// sb.append(mappingDefinition.getToType().prettyPrint()).append(" ");
+// }
+// sb.append(resultVariablePrefix).append(mappingDefinition.methodName())
+// .append(" = ").append(mappingDefinition.methodName()).append("(")
+// .append(inputVariableName).append(");\n");
+// inputVariableName = resultVariableName;
+// }
+// sb.append(ind(indent)).append("} catch (Exception e) {\n");
+// sb.append(ind(indent + 1)).append("e.printStackTrace();\n");
+// sb.append(ind(indent + 1)).append(preemptiveReturnStatement()).append("\n");
+// sb.append(ind(indent)).append("}\n");
+// if (!getAlwaysApply()) {
+// MappingDefinition lastMapping = effectiveMappings().get(effectiveMappings().size() - 1);
+// sb.append(ind(indent)).append("if (");
+// if (lastMapping.getToType().isArray()) {
+// sb.append("java.util.Arrays.equals(").append(preemptiveExpectedValue())
+// .append(", ").append(inputVariableName).append(")");
+// } else {
+// sb.append(preemptiveExpectedValue());
+// if (getToken().isPrimitiveType() && lastMapping.getToType().isPrimitiveType()) {
+// sb.append(" == ").append(inputVariableName);
+// } else if (lastMapping.isDefaultMappingDefinition()) {
+// sb.append(" != null && ").append(preemptiveExpectedValue()).append(".equals(")
+// .append(inputVariableName).append(")");
+// } else {
+// sb.append(" != null ? ").append(preemptiveExpectedValue()).append(".equals(")
+// .append(inputVariableName).append(")").append(" : ")
+// .append(inputVariableName).append(" == null");
+// }
+// }
+// sb.append(") { ").append(preemptiveReturnStatement()).append(" }\n");
+// }
+// return inputVariableName;
+// }
+//
+// syn String TokenUpdateDefinition.preemptiveExpectedValue();
+// eq ReadFromMqttDefinition.preemptiveExpectedValue() = "get" + getToken().getName() + "()";
+// eq WriteToMqttDefinition.preemptiveExpectedValue() = lastValue();
+//
+// syn String TokenUpdateDefinition.preemptiveReturnStatement();
+// eq ReadFromMqttDefinition.preemptiveReturnStatement() = "return;";
+// eq WriteToMqttDefinition.preemptiveReturnStatement() = "return false;";
+//
+// @Override
+// void ReadFromMqttDefinition.generateAspect(StringBuilder sb) {
+// sb.append(ind(1)).append("public void ").append(getToken().containingTypeDecl().getName()).append(".")
+// .append(connectMethod()).append("(String topic) {\n");
+// sb.append(ind(2)).append(mqttUpdaterAttribute()).append("().newConnection(topic, message -> {\n");
+// String lastResult = generateMappingApplication(sb, 3, "message");
+// if (loggingEnabledForReads) {
+// sb.append(ind(3)).append("System.out.println(\"[Read] \" + topic + \" -> ")
+// .append(getToken().getName()).append(" = \" + ").append(lastResult)
+// .append(");\n");
+// }
+// sb.append(ind(3)).append("set").append(getToken().getName()).append("(").append(lastResult).append(");\n");
+// sb.append(ind(2)).append("});\n");
+// sb.append(ind(1)).append("}\n\n");
+// }
+//
+// @Override
+// void WriteToMqttDefinition.generateAspect(StringBuilder sb) {
+// String parentTypeName = getToken().containingTypeDecl().getName();
+// // fields
+// sb.append(ind(1)).append("private String ").append(parentTypeName).append(".")
+// .append(writeTopic()).append(" = null;\n");
+// sb.append(ind(1)).append("private byte[] ").append(parentTypeName).append(".")
+// .append(lastValue()).append(" = null;\n");
+//
+// // connect method
+// sb.append(ind(1)).append("public void ").append(parentTypeName).append(".")
+// .append(connectMethod()).append("(String topic, boolean writeCurrentValue) {\n");
+// sb.append(ind(2)).append(writeTopic()).append(" = topic;\n");
+// sb.append(ind(2)).append(updateMethod()).append("();\n");
+// sb.append(ind(2)).append("if (writeCurrentValue) {\n");
+// sb.append(ind(3)).append(writeMethod()).append("();\n");
+// sb.append(ind(2)).append("}\n");
+// sb.append(ind(1)).append("}\n\n");
+//
+// // update method
+// sb.append(ind(1)).append("protected boolean ").append(parentTypeName).append(".")
+// .append(updateMethod()).append("() {\n");
+// sb.append(ind(2)).append(tokenResetMethod()).append("();\n");
+// String lastResult = generateMappingApplication(sb, 2, "get" + getToken().getName() + "()");
+// sb.append(ind(2)).append(lastValue()).append(" = ").append(lastResult).append(";\n");
+// sb.append(ind(2)).append("return true;\n");
+// sb.append(ind(1)).append("}\n\n");
+//
+// // write method
+// sb.append(ind(1)).append("protected void ").append(parentTypeName).append(".")
+// .append(writeMethod()).append("() {\n");
+// if (loggingEnabledForWrites) {
+// sb.append(ind(2)).append("System.out.println(\"[Write] ").append(getToken().getName())
+// .append(" = \" + ")
+// .append("get").append(getToken().getName()).append("() + \" -> \" + ")
+// .append(writeTopic()).append(");\n");
+// }
+// // _mqttUpdater().publish(${writeTopic()}, ${lastValue()});
+// sb.append(ind(2)).append(mqttUpdaterAttribute()).append("().publish(")
+// .append(writeTopic()).append(", ").append(lastValue()).append(");\n");
+// sb.append(ind(1)).append("}\n\n");
+// }
+//
+// void MappingDefinition.generateAspect(StringBuilder sb) {
+// sb.append(ind(1)).append("protected static ").append(getToType().prettyPrint())
+// .append(" ASTNode.").append(methodName()).append("(")
+// .append(getFromType().prettyPrint()).append(" ").append(getFromVariableName())
+// .append(") throws Exception {\n");
+// for (String line : getContent().split("\n")) {
+// if (!line.trim().isEmpty()) {
+// sb.append(ind(2)).append(line).append("\n");
+// }
+// }
+// sb.append(ind(1)).append("}\n\n");
+// }
+//
+// void DependencyDefinition.generateAspect(StringBuilder sb) {
+// String targetParentTypeName = getTarget().containingTypeDecl().getName();
+// String sourceParentTypeName = getSource().containingTypeDecl().getName();
+//
+// // dependency method
+// sb.append(ind(1)).append("public void ").append(targetParentTypeName).append(".")
+// .append(dependencyMethod()).append("(").append(sourceParentTypeName).append(" source) {\n");
+// sb.append(ind(2)).append("add").append(internalRelationPrefix()).append("Source(source);\n");
+// sb.append(ind(1)).append("}\n\n");
+// }
+//
+// void TokenComponent.generateAspect(StringBuilder sb) {
+// if (getDependencySourceDefinitionList().isEmpty()) { return; }
+//
+// String parentTypeName = containingTypeDecl().getName();
+// // virtual setter
+// sb.append(ind(1)).append("public ").append(parentTypeName).append(" ")
+// .append(parentTypeName).append(".set").append(getName()).append("(")
+// .append(getJavaTypeUse().prettyPrint()).append(" value) {\n");
+// sb.append(ind(2)).append("set").append(internalName()).append("(value);\n");
+//
+// for (DependencyDefinition dependencyDefinition : getDependencySourceDefinitionList()) {
+// String targetParentTypeName = dependencyDefinition.getTarget().containingTypeDecl().getName();
+// sb.append(ind(2)).append("for (").append(targetParentTypeName).append(" target : get")
+// .append(dependencyDefinition.internalRelationPrefix()).append("TargetList()) {\n");
+// sb.append(ind(3)).append("if (target.")
+// .append(dependencyDefinition.targetUpdateDefinition().updateMethod())
+// .append("()) {\n");
+// sb.append(ind(4)).append("target.")
+// .append(dependencyDefinition.targetUpdateDefinition().writeMethod())
+// .append("();\n");
+// sb.append(ind(3)).append("}\n");
+// sb.append(ind(2)).append("}\n");
+// }
+// sb.append(ind(2)).append("return this;\n");
+// sb.append(ind(1)).append("}\n\n");
+//
+// // virtual getter
+// sb.append(ind(1)).append("public ").append(getJavaTypeUse().prettyPrint())
+// .append(" ").append(parentTypeName).append(".get").append(getName()).append("() {\n");
+// sb.append(ind(2)).append("return get").append(internalName()).append("();\n");
+// sb.append(ind(1)).append("}\n\n");
+// }
}
aspect RelationGeneration {
diff --git a/src/main/resources/mqtt.mustache b/src/main/resources/mqtt.mustache
index 33e3f4ee001d889575c264f617f37d04dc574a97..3386b2ee72e5648ad8c1e4a1cadb524eca38f97d 100644
--- a/src/main/resources/mqtt.mustache
+++ b/src/main/resources/mqtt.mustache
@@ -16,7 +16,7 @@ aspect MQTT {
}
inh MqttUpdater ASTNode.{{mqttUpdaterAttribute}}();
- {{#rootTypeChildren}}
+ {{#RootTypeChildren}}
eq {{rootNodeName}}.get{{name}}().{{mqttUpdaterAttribute}}() = {{mqttUpdaterField}};
- {{/rootTypeChildren}}
+ {{/RootTypeChildren}}
}
diff --git a/src/main/resources/readDefinition.mustache b/src/main/resources/readDefinition.mustache
index 4d07c8fa2d1464ad774badfa02d9b5e1ac774e7e..f908ef166db8eb781d7b7d46e7bae1719ea5fb1d 100644
--- a/src/main/resources/readDefinition.mustache
+++ b/src/main/resources/readDefinition.mustache
@@ -2,8 +2,8 @@
{{mqttUpdaterAttribute}}().newConnection(topic, message -> {
{{> mappingApplication}}
{{#loggingEnabledForReads}}
- System.out.println("[Read] " + topic + " -> {{TokenName}} = " + {{lastResult}});{{!lastResult has to be a new attribute}}
+ System.out.println("[Read] " + topic + " -> {{tokenName}} = " + {{lastResult}});{{!lastResult has to be a new attribute}}
{{/loggingEnabledForReads}}
- set{{TokenName}}({{lastResult}});
+ set{{tokenName}}({{lastResult}});
});
}
diff --git a/src/main/resources/ros2rag.mustache b/src/main/resources/ros2rag.mustache
index b224c6c1018fd405ca2a5802e544295e3a5a7cfa..dd5e73cf554e35cc20da014b2d83f0db1b88521b 100644
--- a/src/main/resources/ros2rag.mustache
+++ b/src/main/resources/ros2rag.mustache
@@ -1,3 +1,4 @@
+{{> mqtt}}
aspect ROS2RAG {
{{#ReadDefinitions}}
{{> readDefinition}}
diff --git a/src/main/resources/writeDefinition.mustache b/src/main/resources/writeDefinition.mustache
index d94f85d51d679cd4571979664cdcfc53fc28cc1a..81ed5f55403e2340a97b79c451fa1f841c85b1f7 100644
--- a/src/main/resources/writeDefinition.mustache
+++ b/src/main/resources/writeDefinition.mustache
@@ -18,7 +18,7 @@
protected void {{parentTypeName}}.{{writeMethod}}() {
{{#loggingEnabledForWrites}}
- System.out.println("[Write] {{TokenName}} = " + get{{TokenName}}() + " -> {{writeTopic}});
+ System.out.println("[Write] {{tokenName}} = " + get{{tokenName}}() + " -> {{writeTopic}});
{{/loggingEnabledForWrites}}
{{mqttUpdateAttribute}}().publish({{writeTopic}}, {{lastValue}});
}