diff --git a/build.gradle b/build.gradle
index d6b7e06c97a59d3011c6e92cf6b6f09181c6d484..87e174cf6b7070f199f24805658fa691ce40db35 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,8 +1,5 @@
-
-apply plugin: 'java'
apply plugin: 'jastadd'
apply plugin: 'application'
-apply plugin: "idea"
sourceCompatibility = 1.8
@@ -20,14 +17,11 @@ buildscript {
}
dependencies {
- testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.0'
- testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.0'
- testCompile 'org.assertj:assertj-core:3.12.1'
- compile 'com.fasterxml.jackson.core:jackson-core:2.9.8'
- compile 'com.fasterxml.jackson.core:jackson-databind:2.9.8'
- compile 'org.jastadd:jastadd:2.3.4'
+ implementation 'com.fasterxml.jackson.core:jackson-core:2.9.8'
+ implementation 'com.fasterxml.jackson.core:jackson-databind:2.9.8'
+// api 'org.jastadd:jastadd:2.3.4'
runtime 'org.jastadd:jastadd:2.3.4'
- compile group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
+ api group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
}
sourceSets {
@@ -163,3 +157,5 @@ jastadd {
}
generateAst.dependsOn relast
+
+apply from: 'test.build.gradle'
diff --git a/src/main/jastadd/Errors.jrag b/src/main/jastadd/Errors.jrag
index 60bdf24708ed6b26bd1094bff8185ff07de62fe3..7fb6b00b626a04b0d0c9eb3036242d728c64e050 100644
--- a/src/main/jastadd/Errors.jrag
+++ b/src/main/jastadd/Errors.jrag
@@ -1,65 +1,77 @@
-//import java.util.Set;
-//import java.util.TreeSet;
-//import java.util.LinkedList;
-//
-//
-//
-//
-//aspect ErrorMessage {
-// public class ErrorMessage implements Comparable<ErrorMessage> {
-// private final ASTNode node;
-// private final String filename;
-// private final int line;
-// private final int col;
-// private final String message;
-//
-// public ErrorMessage(ASTNode node, String message) {
-// this.node = node;
-// this.filename = node.containedFile().getFileName();
-// this.line = node.getStartLine();
-// this.col = node.getStartColumn();
-// this.message = message;
-// }
-//
-// public ASTNode getNode() {
-// return node;
-// }
-// public int getLine() {
-// return line;
-// }
-// public int getCol() {
-// return col;
-// }
-// public String getMessage() {
-// return message;
-// }
-//
-// public String toString() {
-// return filename + " Line " + line + ", column " + col + ": " + message;
-// }
-//
-// @Override
-// public int compareTo(ErrorMessage err) {
-// int n = filename.compareTo(err.filename);
-// if (n != 0) {
-// return n;
-// }
-//
-// n = line - err.line;
-// if (n != 0) {
-// return n;
-// }
-//
-// n = col-err.col;
-// if (n != 0) {
-// return n;
-// }
-//
-// return message.compareTo(err.message);
-// }
-// }
-//
-// protected ErrorMessage ASTNode.error(String message) {
-// return new ErrorMessage(this, message);
-// }
-//}
+import java.util.Set;
+import java.util.TreeSet;
+import java.util.LinkedList;
+
+aspect Errors {
+ coll Set<ErrorMessage> Ros2Rag.errors()
+ [new TreeSet<ErrorMessage>()]
+ root Ros2Rag;
+
+// TypeUse contributes error("Type '" + getID() + "' not found")
+// when decl() == null && !isToken()
+// to Program.errors();
+
+ UpdateDefinition contributes error("")
+ when true
+ to Ros2Rag.errors();
+}
+
+
+aspect ErrorMessage {
+ public class ErrorMessage implements Comparable<ErrorMessage> {
+ private final ASTNode node;
+ private final String filename;
+ private final int line;
+ private final int col;
+ private final String message;
+
+ public ErrorMessage(ASTNode node, String message) {
+ this.node = node;
+ this.filename = node.containedFile().getFileName();
+ this.line = node.getStartLine();
+ this.col = node.getStartColumn();
+ this.message = message;
+ }
+
+ public ASTNode getNode() {
+ return node;
+ }
+ public int getLine() {
+ return line;
+ }
+ public int getCol() {
+ return col;
+ }
+ public String getMessage() {
+ return message;
+ }
+
+ public String toString() {
+ return filename + " Line " + line + ", column " + col + ": " + message;
+ }
+
+ @Override
+ public int compareTo(ErrorMessage err) {
+ int n = filename.compareTo(err.filename);
+ if (n != 0) {
+ return n;
+ }
+
+ n = line - err.line;
+ if (n != 0) {
+ return n;
+ }
+
+ n = col-err.col;
+ if (n != 0) {
+ return n;
+ }
+
+ return message.compareTo(err.message);
+ }
+ }
+
+ protected ErrorMessage ASTNode.error(String message) {
+ return new ErrorMessage(this, message);
+ }
+}
diff --git a/src/main/jastadd/backend/Generation.jadd b/src/main/jastadd/backend/Generation.jadd
index 3195a70108e14412150ada77dd9ac22c6066db6b..c5f253f4a5a2c2d1d289512bd003927233eb790c 100644
--- a/src/main/jastadd/backend/Generation.jadd
+++ b/src/main/jastadd/backend/Generation.jadd
@@ -90,7 +90,7 @@ aspect AspectGeneration {
}
public void Ros2Rag.generateGrammarExtension(StringBuilder sb) {
- sb.append("aspect ros2rag.GrammarExtension {\n");
+ sb.append("aspect ROS2RAG {\n");
for (UpdateDefinition def : getUpdateDefinitionList()) {
def.generateAspect(sb);
@@ -144,7 +144,7 @@ aspect AspectGeneration {
sb.append(ind(2)).append(mqttUpdaterAttribute()).append("().newConnection(topic, message -> {\n");
String lastResult = generateMappingApplication(sb, 3, "message");
sb.append(ind(3)).append("set").append(getToken().getName()).append("(").append(lastResult).append(");\n");
- sb.append(ind(2)).append("}\n");
+ sb.append(ind(2)).append("});\n");
sb.append(ind(1)).append("}\n\n");
}
@@ -168,7 +168,7 @@ aspect AspectGeneration {
sb.append(ind(1)).append("}\n\n");
// update method
- sb.append(ind(1)).append("protected boolean").append(parentTypeName).append(".")
+ 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() + "()");
@@ -177,7 +177,7 @@ aspect AspectGeneration {
sb.append(ind(1)).append("}\n\n");
// write method
- sb.append(ind(1)).append("protected void").append(parentTypeName).append(".")
+ sb.append(ind(1)).append("protected void ").append(parentTypeName).append(".")
.append(writeMethod()).append("() {\n");
// _mqttUpdater().publish(${writeTopic()}, ${lastValue()});
sb.append(ind(2)).append(mqttUpdaterAttribute()).append("().publish(")
@@ -202,7 +202,7 @@ aspect AspectGeneration {
String sourceParentTypeName = getSource().containingTypeDecl().getName();
// dependency method
- sb.append(ind(1)).append("public void").append(targetParentTypeName).append(".")
+ 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");
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java b/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
index afae43aacba3080c023adecaa8de95b12efd451e..9fd90f037abad335414f1c54fea0a548c34b2909 100644
--- a/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
+++ b/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
@@ -4,6 +4,7 @@ import beaver.Parser;
import org.jastadd.ros2rag.ast.*;
import org.jastadd.ros2rag.compiler.options.CommandLine;
import org.jastadd.ros2rag.compiler.options.CommandLine.CommandLineException;
+import org.jastadd.ros2rag.compiler.options.FlagOption;
import org.jastadd.ros2rag.compiler.options.Option;
import org.jastadd.ros2rag.compiler.options.StringOption;
import org.jastadd.ros2rag.parser.Ros2RagParser;
@@ -22,6 +23,7 @@ public class Compiler {
private StringOption optionInputGrammar;
private StringOption optionRootNode;
private StringOption optionInputRos2Rag;
+ private FlagOption optionHelp;
private ArrayList<Option<?>> options;
private CommandLine commandLine;
@@ -31,23 +33,34 @@ public class Compiler {
addOptions();
}
- public int run(String[] args) throws CommandLineException, CompilerException {
+ public void run(String[] args) throws CommandLineException, CompilerException {
options = new ArrayList<>();
addOptions();
commandLine = new CommandLine(options);
commandLine.parse(args);
- String outputDir = "gen"; // should not be used, but otherwise there is a compiler warning
+ if (optionHelp.isSet()) {
+ printUsage();
+ return;
+ }
+
+ String outputDir;
if (optionOutputDir.isSet()) {
outputDir = optionOutputDir.getValue();
} else {
+ outputDir = "gen";
System.out.println("No output output dir is set. Assuming '" + outputDir + "'.");
}
+ try {
+ Files.createDirectories(Paths.get(outputDir));
+ } catch (IOException e) {
+ throw new CompilerException("Error creating output dir " + outputDir, e);
+ }
- printMessage("Running ROS2RAG Preprocessor");
+ printMessage("Running Ros2Rag Preprocessor");
if (anyRequiredOptionIsUnset()) {
- return error("Aborting.");
+ throw new CompilerException("Aborting due to missing values for required options.");
}
List<String> otherArgs = commandLine.getArguments();
@@ -59,15 +72,14 @@ public class Compiler {
printMessage("Writing output files");
// copy MqttUpdater into outputDir
try {
- Files.copy(Paths.get("src", "main", "jastadd", "MqttUpdater.java_class"),
- Paths.get(outputDir, "MqttUpdater.java"),
+ Files.copy(Paths.get("src", "main", "resources", "MqttUpdater.jadd"),
+ Paths.get(outputDir, "MqttUpdater.jadd"),
StandardCopyOption.REPLACE_EXISTING);
} catch (IOException e) {
throw new CompilerException("Could not copy MqttUpdater.java", e);
}
writeToFile(outputDir + "/Grammar.relast", ros2Rag.getProgram().generateAbstractGrammar());
writeToFile(outputDir + "/ROS2RAG.jadd", ros2Rag.generateAspect(optionRootNode.getValue()));
- return 0;
}
private boolean anyRequiredOptionIsUnset() {
@@ -111,6 +123,7 @@ public class Compiler {
optionInputGrammar = addOption(new StringOption("inputGrammar", "base grammar."));
optionRootNode = addOption(new StringOption("rootNode", "root node in the base grammar."));
optionInputRos2Rag = addOption(new StringOption("inputRos2Rag", "ros2rag definition file."));
+ optionHelp = addOption(new FlagOption("help", "Print usage and exit."));
}
private <OptionType extends Option<?>> OptionType addOption(OptionType option) {
@@ -149,35 +162,18 @@ public class Compiler {
return ros2Rag;
}
- private void parse(Program program, Reader reader, String file) {
- Ros2RagScanner scanner = new Ros2RagScanner(reader);
- Ros2RagParser parser = new Ros2RagParser();
-
- try {
- GrammarFile newFile = (GrammarFile) parser.parse(scanner);
- program.addGrammarFile(newFile);
- } catch (IOException e) {
- error(e.getMessage());
- } catch (Parser.Exception e) {
- System.err.println("Parse error in file " + file);
- System.err.println(e.getMessage());
- System.exit(1);
- }
- }
-
- protected int error(String message) {
- System.err.println("Error: " + message);
- System.err.println();
- System.err.println("Usage: java -jar ros2rag.jar [--option1] [--option2=value] ... <filename1> <filename2> ... ");
- System.err.println("Options:");
- System.err.print(commandLine.printOptionHelp());
- return 1;
+ protected void printUsage() {
+ System.out.println("Usage: java -jar ros2rag.jar [--option1] [--option2=value] ... <filename1> <filename2> ... ");
+ System.out.println("Options:");
+ System.out.print(commandLine.printOptionHelp());
}
public static class CompilerException extends Exception {
+ CompilerException(String message) {
+ super(message);
+ }
CompilerException(String message, Throwable cause) {
super(message, cause);
}
}
}
-
diff --git a/src/main/jastadd/MqttUpdater.java_class b/src/main/resources/MqttUpdater.jadd
similarity index 65%
rename from src/main/jastadd/MqttUpdater.java_class
rename to src/main/resources/MqttUpdater.jadd
index 835a7313bb1020a82ca53a727c275cf862f5072b..53fa6cf5dacd874382416d2855eca9cbef225cd5 100644
--- a/src/main/jastadd/MqttUpdater.java_class
+++ b/src/main/resources/MqttUpdater.jadd
@@ -1,23 +1,3 @@
-package org.jastadd.ros2rag.compiler.mqtt;
-
-import org.apache.logging.log4j.LogManager;
-import org.apache.logging.log4j.Logger;
-import org.fusesource.hawtbuf.Buffer;
-import org.fusesource.hawtbuf.UTF8Buffer;
-import org.fusesource.mqtt.client.*;
-
-import java.io.IOException;
-import java.net.URI;
-import java.util.HashMap;
-import java.util.Map;
-import java.util.Objects;
-import java.util.concurrent.TimeUnit;
-import java.util.concurrent.atomic.AtomicReference;
-import java.util.concurrent.locks.Condition;
-import java.util.concurrent.locks.Lock;
-import java.util.concurrent.locks.ReentrantLock;
-import java.util.function.Consumer;
-
/**
* Helper class to receive updates via MQTT and use callbacks to handle those messages.
*
@@ -25,33 +5,33 @@ import java.util.function.Consumer;
*/
public class MqttUpdater {
- private final Logger logger;
+ private final org.apache.logging.log4j.Logger logger;
private final String name;
/** The host running the MQTT broker. */
- private URI host;
+ private java.net.URI host;
/** The connection to the MQTT broker. */
- private CallbackConnection connection;
+ private org.fusesource.mqtt.client.CallbackConnection connection;
/** Whether we are subscribed to the topics yet */
- private final Condition readyCondition;
- private final Lock readyLock;
+ private final java.util.concurrent.locks.Condition readyCondition;
+ private final java.util.concurrent.locks.Lock readyLock;
private boolean ready;
- private QoS qos;
+ private org.fusesource.mqtt.client.QoS qos;
/** Dispatch knowledge */
- private final Map<String, Consumer<byte[]>> callbacks;
+ private final java.util.Map<String, java.util.function.Consumer<byte[]>> callbacks;
public MqttUpdater() {
this("Ros2Rag");
}
public MqttUpdater(String name) {
- this.name = Objects.requireNonNull(name, "Name must be set");
- this.logger = LogManager.getLogger(MqttUpdater.class);
- this.callbacks = new HashMap<>();
- this.readyLock = new ReentrantLock();
+ this.name = java.util.Objects.requireNonNull(name, "Name must be set");
+ this.logger = org.apache.logging.log4j.LogManager.getLogger(MqttUpdater.class);
+ this.callbacks = new java.util.HashMap<>();
+ this.readyLock = new java.util.concurrent.locks.ReentrantLock();
this.readyCondition = readyLock.newCondition();
this.ready = false;
- this.qos = QoS.AT_LEAST_ONCE;
+ this.qos = org.fusesource.mqtt.client.QoS.AT_LEAST_ONCE;
}
/**
@@ -59,18 +39,18 @@ public class MqttUpdater {
* @throws IOException if could not connect, or could not subscribe to a topic
* @return self
*/
- public MqttUpdater setHost(String host, int port) throws IOException {
- this.host = URI.create("tcp://" + host + ":" + port);
+ public MqttUpdater setHost(String host, int port) throws java.io.IOException {
+ this.host = java.net.URI.create("tcp://" + host + ":" + port);
logger.debug("Host for {} is {}", this.name, this.host);
- Objects.requireNonNull(this.host, "Host need to be set!");
- MQTT mqtt = new MQTT();
+ java.util.Objects.requireNonNull(this.host, "Host need to be set!");
+ org.fusesource.mqtt.client.MQTT mqtt = new org.fusesource.mqtt.client.MQTT();
mqtt.setHost(this.host);
connection = mqtt.callbackConnection();
- AtomicReference<Throwable> error = new AtomicReference<>();
+ java.util.concurrent.atomic.AtomicReference<Throwable> error = new java.util.concurrent.atomic.AtomicReference<>();
// add the listener to dispatch messages later
- connection.listener(new ExtendedListener() {
+ connection.listener(new org.fusesource.mqtt.client.ExtendedListener() {
public void onConnected() {
logger.debug("Connected");
}
@@ -81,9 +61,9 @@ public class MqttUpdater {
}
@Override
- public void onPublish(UTF8Buffer topic, Buffer body, Callback<Callback<Void>> ack) {
+ public void onPublish(org.fusesource.hawtbuf.UTF8Buffer topic, org.fusesource.hawtbuf.Buffer body, org.fusesource.mqtt.client.Callback<org.fusesource.mqtt.client.Callback<Void>> ack) {
String topicString = topic.toString();
- Consumer<byte[]> callback = callbacks.get(topicString);
+ java.util.function.Consumer<byte[]> callback = callbacks.get(topicString);
if (callback == null) {
logger.debug("Got a message, but no callback to call. Forgot to unsubscribe?");
} else {
@@ -95,7 +75,7 @@ public class MqttUpdater {
}
@Override
- public void onPublish(UTF8Buffer topicBuffer, Buffer body, Runnable ack) {
+ public void onPublish(org.fusesource.hawtbuf.UTF8Buffer topicBuffer, org.fusesource.hawtbuf.Buffer body, Runnable ack) {
logger.warn("onPublish should not be called");
}
@@ -108,10 +88,10 @@ public class MqttUpdater {
throwIf(error);
// actually establish the connection
- connection.connect(new Callback<Void>() {
+ connection.connect(new org.fusesource.mqtt.client.Callback<Void>() {
@Override
public void onSuccess(Void value) {
- connection.publish("components", (name + " is connected").getBytes(), QoS.AT_LEAST_ONCE, false, new Callback<Void>() {
+ connection.publish("components", (name + " is connected").getBytes(), org.fusesource.mqtt.client.QoS.AT_LEAST_ONCE, false, new org.fusesource.mqtt.client.Callback<Void>() {
@Override
public void onSuccess(Void value) {
logger.debug("success sending welcome message");
@@ -141,21 +121,21 @@ public class MqttUpdater {
return this;
}
- public URI getHost() {
+ public java.net.URI getHost() {
return host;
}
- private void throwIf(AtomicReference<Throwable> error) throws IOException {
+ private void throwIf(java.util.concurrent.atomic.AtomicReference<Throwable> error) throws java.io.IOException {
if (error.get() != null) {
- throw new IOException(error.get());
+ throw new java.io.IOException(error.get());
}
}
- public void setQoSForSubscription(QoS qos) {
+ public void setQoSForSubscription(org.fusesource.mqtt.client.QoS qos) {
this.qos = qos;
}
- public void newConnection(String topic, Consumer<byte[]> callback) {
+ public void newConnection(String topic, java.util.function.Consumer<byte[]> callback) {
if (!ready) {
// TODO should maybe be something more kind than throwing an exception here
throw new IllegalStateException("Updater not ready");
@@ -165,7 +145,7 @@ public class MqttUpdater {
// subscribe at broker
Topic[] topicArray = { new Topic(topic, this.qos) };
- connection.subscribe(topicArray, new Callback<byte[]>() {
+ connection.subscribe(topicArray, new org.fusesource.mqtt.client.Callback<byte[]>() {
@Override
public void onSuccess(byte[] qoses) {
logger.debug("Subscribed to {}, qoses: {}", topic, qoses);
@@ -187,7 +167,7 @@ public class MqttUpdater {
* @param unit the time unit of the time argument
* @return whether this updater is ready
*/
- public boolean waitUntilReady(long time, TimeUnit unit) {
+ public boolean waitUntilReady(long time, java.util.concurrent.TimeUnit unit) {
try {
readyLock.lock();
if (ready) {
@@ -207,7 +187,7 @@ public class MqttUpdater {
logger.warn("Stopping without connection. Was setHost() called?");
return;
}
- connection.disconnect(new Callback<Void>() {
+ connection.disconnect(new org.fusesource.mqtt.client.Callback<Void>() {
@Override
public void onSuccess(Void value) {
logger.info("Disconnected {} from {}", name, host);
@@ -221,7 +201,7 @@ public class MqttUpdater {
}
public void publish(String topic, byte[] bytes) {
- connection.publish(topic, bytes, qos, false, new Callback<Void>() {
+ connection.publish(topic, bytes, qos, false, new org.fusesource.mqtt.client.Callback<Void>() {
@Override
public void onSuccess(Void value) {
logger.debug("Published some bytes to {}", topic);
diff --git a/src/test/.gitignore b/src/test/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..e372444da686be9b60c0a1ef74a2821d13fcb46f
--- /dev/null
+++ b/src/test/.gitignore
@@ -0,0 +1,3 @@
+02-after-ros2rag/*
+03-after-relast/*
+java-gen/*
diff --git a/src/test/resources/Example.jadd b/src/test/01-input/example/Example.jadd
similarity index 100%
rename from src/test/resources/Example.jadd
rename to src/test/01-input/example/Example.jadd
diff --git a/src/test/resources/Example.relast b/src/test/01-input/example/Example.relast
similarity index 73%
rename from src/test/resources/Example.relast
rename to src/test/01-input/example/Example.relast
index 93168fbb1b7e879d35ede813a443790a4e6f07f3..5afeb2250283d049143a0134247fb1e374ac4296 100644
--- a/src/test/resources/Example.relast
+++ b/src/test/01-input/example/Example.relast
@@ -6,7 +6,7 @@ Zone ::= Coordinate* ;
RobotArm ::= Joint* EndEffector <AttributeTestSource:int> /<AppropriateSpeed:double>/ ; // normally this would be: <AttributeTestSource:int> ;
-Joint ::= <Name> <CurrentPosition:IntPosition> ; // normally this would be: <CurrentPosition:IntPosition>
+Joint ::= <Name:String> <CurrentPosition:IntPosition> ; // normally this would be: <CurrentPosition:IntPosition>
EndEffector : Joint;
diff --git a/src/test/resources/Example.ros2rag b/src/test/01-input/example/Example.ros2rag
similarity index 100%
rename from src/test/resources/Example.ros2rag
rename to src/test/01-input/example/Example.ros2rag
diff --git a/src/test/01-input/example/linkstate.proto b/src/test/01-input/example/linkstate.proto
new file mode 100644
index 0000000000000000000000000000000000000000..dc95138ba49f35497f4bdf061496145168292c9d
--- /dev/null
+++ b/src/test/01-input/example/linkstate.proto
@@ -0,0 +1,38 @@
+syntax = "proto3";
+
+package panda;
+
+message PandaLinkState {
+
+ string name = 1;
+
+ message Position {
+ float positionX = 1;
+ float positionY = 2;
+ float positionZ = 3;
+ }
+
+ message Orientation {
+ float orientationX = 1;
+ float orientationY = 2;
+ float orientationZ = 3;
+ float orientationW = 4;
+ }
+
+ message TwistLinear {
+ float twistLinearX = 1;
+ float twistLinearY = 2;
+ float twistLinearZ = 3;
+ }
+
+ message TwistAngular {
+ float twistAngularX = 1;
+ float twistAngularY = 2;
+ float twistAngularZ = 3;
+ }
+
+ Position pos = 2;
+ Orientation orient = 3;
+ TwistLinear tl = 4;
+ TwistAngular ta = 5;
+}
diff --git a/src/test/01-input/example/robotconfig.proto b/src/test/01-input/example/robotconfig.proto
new file mode 100644
index 0000000000000000000000000000000000000000..c3e0862e0216e5ea00f79966dff8d5ce434f3dac
--- /dev/null
+++ b/src/test/01-input/example/robotconfig.proto
@@ -0,0 +1,16 @@
+syntax = "proto3";
+
+package config;
+
+message RobotConfig {
+
+ double speed = 1;
+ bool loopTrajectory = 2;
+
+ enum PlanningMode {
+ FLUID = 0;
+ CARTESIAN = 1;
+ }
+
+ PlanningMode planningMode = 3;
+}
diff --git a/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java b/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
new file mode 100644
index 0000000000000000000000000000000000000000..7b41810c351943775074c5fe1a0abd9e47a5afc6
--- /dev/null
+++ b/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
@@ -0,0 +1,58 @@
+package org.jastadd.ros2rag.tests;
+
+import example.ast.*;
+import org.junit.jupiter.api.Test;
+
+/**
+ * Test case "example".
+ *
+ * @author rschoene - Initial contribution
+ */
+public class ExampleTest {
+
+ @Test
+ public void buildModel() {
+ Model model = new Model();
+ model.MqttSetHost("localhost");
+
+ ZoneModel zoneModel = new ZoneModel();
+ zoneModel.setSize(makePosition(1, 1, 1));
+
+ IntPosition myPosition = makePosition(0, 0, 0);
+ Coordinate myCoordinate = new Coordinate(myPosition);
+ Coordinate leftPosition = new Coordinate(makePosition(-1, 0, 0));
+ Coordinate rightPosition = new Coordinate(makePosition(1, 0, 0));
+
+ Zone safetyZone = new Zone();
+ safetyZone.addCoordinate(myCoordinate);
+ safetyZone.addCoordinate(leftPosition);
+ safetyZone.addCoordinate(rightPosition);
+ zoneModel.addSafetyZone(safetyZone);
+ model.setZoneModel(zoneModel);
+
+ RobotArm robotArm = new RobotArm();
+ robotArm.setAttributeTestSource(1); // set initial value, no trigger
+
+ Joint joint1 = new Joint();
+ joint1.setName("joint1");
+ joint1.setCurrentPosition(myPosition);
+
+ EndEffector endEffector = new EndEffector();
+ endEffector.setName("gripper");
+ endEffector.setCurrentPosition(makePosition(2, 2, 3));
+
+ robotArm.addJoint(joint1);
+ robotArm.setEndEffector(endEffector);
+ model.setRobotArm(robotArm);
+
+ // add dependencies
+ robotArm.addDependency1(joint1);
+ robotArm.addDependency1(endEffector);
+ robotArm.addDependency2(robotArm);
+ }
+
+ private static IntPosition makePosition(int x, int y, int z) {
+ return IntPosition.of(x, y, z);
+ }
+
+}
diff --git a/src/test/java/org/jastadd/ros2rag/tests/RosToRagTest.java b/src/test/java/org/jastadd/ros2rag/tests/RosToRagTest.java
index d7d482a65f37bfa39f416feb72dc9c0af293f3f6..adf19335a371d70a3b30efaf0d08a91a60360571 100644
--- a/src/test/java/org/jastadd/ros2rag/tests/RosToRagTest.java
+++ b/src/test/java/org/jastadd/ros2rag/tests/RosToRagTest.java
@@ -2,6 +2,7 @@ package org.jastadd.ros2rag.tests;
import org.jastadd.ros2rag.compiler.Compiler;
import org.jastadd.ros2rag.compiler.options.CommandLine;
+import org.junit.jupiter.api.Disabled;
import org.junit.jupiter.api.Test;
import java.io.File;
@@ -10,6 +11,7 @@ import java.util.Objects;
import static org.junit.jupiter.api.Assertions.assertTrue;
+@Disabled("migrating build logic from test to build, this test is disabled for now")
public class RosToRagTest {
void transform(String inputGrammar, String inputRos2Rag, String rootNode, String outputDir) throws CommandLine.CommandLineException, Compiler.CompilerException {
diff --git a/test.build.gradle b/test.build.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..04252f02b04ded4c49d6ff7860935f6dd480eef8
--- /dev/null
+++ b/test.build.gradle
@@ -0,0 +1,68 @@
+import org.jastadd.relast.plugin.RelastPlugin
+import org.jastadd.relast.plugin.RelastTest
+apply plugin: RelastPlugin
+
+relastTest {
+ compilerLocation = '../libs/relast.jar'
+}
+
+dependencies {
+ testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.0'
+ testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.0'
+ testImplementation 'org.assertj:assertj-core:3.12.1'
+ testImplementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
+ testImplementation group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
+ testImplementation 'com.google.protobuf:protobuf-java:3.0.0'
+}
+
+sourceSets {
+ test {
+ java.srcDir "src/test/java-gen"
+ }
+}
+
+task preprocessExampleTest(type: JavaExec, group: 'verification') {
+
+ doFirst {
+ delete 'src/test/02-after-ros2rag/example/Grammar.relast',
+ 'src/test/02-after-ros2rag/example/MqttUpdater.java',
+ 'src/test/02-after-ros2rag/example/ROS2RAG.jadd'
+ }
+
+ classpath = sourceSets.main.runtimeClasspath
+ main = 'org.jastadd.ros2rag.compiler.Compiler'
+ //noinspection GroovyAssignabilityCheck
+ args '--outputDir=src/test/02-after-ros2rag/example',
+ '--inputGrammar=src/test/01-input/example/Example.relast',
+ '--inputRos2Rag=src/test/01-input/example/Example.ros2rag',
+ '--rootNode=Model'
+}
+
+//task compileExampleTest(type: JavaExec, group: 'verification') {
+//
+// doFirst {
+// delete 'src/test/java-gen/example'
+// }
+//
+// classpath = sourceSets.main.runtimeClasspath
+// main = 'org.jastadd.JastAdd'
+// //noinspection GroovyAssignabilityCheck
+// args '--o=src/test/java-gen/', '--package=example.ast',
+// 'src/test/jastadd-gen/example/Grammar.relast',
+// 'src/test/jastadd-gen/example/MqttUpdater.java',
+// 'src/test/jastadd-gen/example/ROS2RAG.jadd',
+// 'src/test/jastadd/Example.jadd'
+//}
+
+task compileExampleTest(type: RelastTest) {
+ verbose = true
+ relastFiles 'src/test/02-after-ros2rag/example/Grammar.relast'
+ grammarName = 'src/test/03-after-relast/example/example'
+ packageName = 'example.ast'
+ moreInputFiles 'src/test/01-input/example/Example.jadd',
+ 'src/test/02-after-ros2rag/example/MqttUpdater.jadd',
+ 'src/test/02-after-ros2rag/example/ROS2RAG.jadd'
+}
+
+test.dependsOn compileExampleTest
+compileExampleTest.dependsOn preprocessExampleTest