Integrated default mapping definitions.

- supported types: int, short, long, float, double, char, and all their boxed variants, and String
- default mapping definitions are NTAs which get reused for every update definition that needs them
- change generated check for not always apply (case for boxed types)
- cleanup parser

src/main/jastadd/Analysis.jrag

@@ -4,8 +4,9 @@ aspect Analysis {
   syn boolean JavaTypeUse.isPrimitiveType() = false;
   eq SimpleJavaTypeUse.isPrimitiveType() {
     switch(getName()) {
-      case "short":
       case "int":
+      case "short":
+      case "long":
       case "float":
       case "double":
       case "char":

src/main/jastadd/Navigation.jrag

@@ -34,4 +34,8 @@ aspect Navigation {
     }
     return null;
   }
+
+  // --- isDefaultMappingDefinition ---
+  syn boolean MappingDefinition.isDefaultMappingDefinition() = false;
+  eq DefaultMappingDefinition.isDefaultMappingDefinition() = true;
 }

src/main/jastadd/backend/Generation.jadd

@@ -95,7 +95,7 @@ aspect AspectGeneration {
     for (UpdateDefinition def : getUpdateDefinitionList()) {
       def.generateAspect(sb);
     }
-    for (MappingDefinition def : getMappingDefinitionList()) {
+    for (MappingDefinition def : allMappingDefinitions()) {
       def.generateAspect(sb);
     }
     for (DependencyDefinition def : getDependencyDefinitionList()) {
@@ -112,11 +112,11 @@ aspect AspectGeneration {
     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 = getMappingList().get(getMappingList().size() - 1);
+    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 : getMappingList()) {
+    for (MappingDefinition mappingDefinition : effectiveMappings()) {
       String resultVariableName = resultVariablePrefix + mappingDefinition.methodName();
       sb.append(ind(indent + 1));
       if (mappingDefinition != lastDefinition) {
@@ -135,6 +135,9 @@ aspect AspectGeneration {
       sb.append(ind(indent)).append("if (").append(preemptiveExpectedValue());
       if (getToken().isPrimitiveType()) {
         sb.append(" == ").append(inputVariableName);
+      } else if (effectiveMappings().get(effectiveMappings().size() - 1).isDefaultMappingDefinition()) {
+        sb.append(" != null && ").append(preemptiveExpectedValue()).append(".equals(")
+          .append(inputVariableName).append(")");
       } else {
         sb.append(" != null ? ").append(preemptiveExpectedValue()).append(".equals(")
           .append(inputVariableName).append(")").append(" : ")

src/main/jastadd/backend/Mappings.jrag

+aspect DefaultMappings {
+
+  private DefaultMappingDefinition Ros2Rag.baseDefaultMappingDefinitionFromBytes(String typeName) {
+    DefaultMappingDefinition result = new DefaultMappingDefinition();
+    result.setID("_DefaultBytesTo" + Character.toUpperCase(typeName.charAt(0)) + typeName.substring(1) + "Mapping");
+    result.setFromType(new JavaArrayMappingDefinitionType(new SimpleJavaTypeUse("byte")));
+    result.setFromVariableName("bytes");
+    result.setToType(new JavaMappingDefinitionType(new SimpleJavaTypeUse(typeName)));
+    return result;
+  }
+
+  private DefaultMappingDefinition Ros2Rag.baseDefaultMappingDefinitionToBytes(String typeName) {
+    DefaultMappingDefinition result = new DefaultMappingDefinition();
+    result.setID("_Default" + Character.toUpperCase(typeName.charAt(0)) + typeName.substring(1) + "ToBytesMapping");
+    result.setFromType(new JavaMappingDefinitionType(new SimpleJavaTypeUse(typeName)));
+    result.setFromVariableName("input");
+    result.setToType(new JavaArrayMappingDefinitionType(new SimpleJavaTypeUse("byte")));
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToIntMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("int");
+    result.setContent("return java.nio.ByteBuffer.wrap(bytes).getInt();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToShortMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("short");
+    result.setContent("return java.nio.ByteBuffer.wrap(bytes).getShort();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToLongMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("long");
+    result.setContent("return java.nio.ByteBuffer.wrap(bytes).getLong();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToFloatMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("float");
+    result.setContent("return java.nio.ByteBuffer.wrap(bytes).getFloat();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToDoubleMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("double");
+    result.setContent("return java.nio.ByteBuffer.wrap(bytes).getDouble();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToCharMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("char");
+    result.setContent("return java.nio.ByteBuffer.wrap(bytes).getChar();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToStringMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("String");
+    result.setContent("return new String(bytes);");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultIntToBytesMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("int");
+    result.setContent("return java.nio.ByteBuffer.allocate(4).putInt(input).array();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultShortToBytesMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("short");
+    result.setContent("return java.nio.ByteBuffer.allocate(2).putShort(input).array();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultLongToBytesMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("long");
+    result.setContent("return java.nio.ByteBuffer.allocate(8).putLong(input).array();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultFloatToBytesMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("float");
+    result.setContent("return java.nio.ByteBuffer.allocate(4).putFloat(input).array();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultDoubleToBytesMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("double");
+    result.setContent("return java.nio.ByteBuffer.allocate(8).putDouble(input).array();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultCharToBytesMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("char");
+    result.setContent("return java.nio.ByteBuffer.allocate(2).putChar(input).array();");
+    return result;
+  }
+
+  syn nta DefaultMappingDefinition Ros2Rag.defaultStringToBytesMapping() {
+    DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("String");
+    result.setContent("return input.getBytes();");
+    return result;
+  }
+}
+
+aspect Mappings {
+  // --- effectiveMappings ---
+  syn java.util.List<MappingDefinition> UpdateDefinition.effectiveMappings();
+  eq ReadFromMqttDefinition.effectiveMappings() {
+    // if there is a first mapping, check if its input type is byte[].
+    //  or if no mappings are specified.
+    // then prepend the suitable default mapping
+    java.util.List<MappingDefinition> result;
+    if (getMappingList().size() == 0 || !getMappingList().get(0).getFromType().isByteArray()) {
+      result = new java.util.ArrayList();
+      result.add(suitableDefaultMapping());
+      result.addAll(getMappingList());
+    } else {
+      result = getMappingList();
+    }
+    return result;
+  }
+  eq WriteToMqttDefinition.effectiveMappings() {
+    // if there is a mapping, check if the output type of the last mapping is byte[].
+    //  or if no mappings are specified.
+    // then append the suitable default mapping
+    java.util.List<MappingDefinition> result;
+    int numMappings = getMappingList().size();
+    if (numMappings == 0 || !getMappingList().get(numMappings - 1).getToType().isByteArray()) {
+      result = new java.util.ArrayList();
+      result.addAll(getMappingList());
+      result.add(suitableDefaultMapping());
+    } else {
+      result = getMappingList();
+    }
+    return result;
+  }
+
+  // --- suitableDefaultMapping ---
+  syn DefaultMappingDefinition UpdateDefinition.suitableDefaultMapping();
+  eq ReadFromMqttDefinition.suitableDefaultMapping() {
+    String typeName = getToken().getJavaTypeUse().getName();
+    switch(typeName) {
+      case "int":
+      case "Integer": return ros2rag().defaultBytesToIntMapping();
+      case "short":
+      case "Short": return ros2rag().defaultBytesToShortMapping();
+      case "long":
+      case "Long": return ros2rag().defaultBytesToLongMapping();
+      case "float":
+      case "Float": return ros2rag().defaultBytesToFloatMapping();
+      case "double":
+      case "Double": return ros2rag().defaultBytesToDoubleMapping();
+      case "char":
+      case "Character": return ros2rag().defaultBytesToCharMapping();
+      case "String": return ros2rag().defaultBytesToStringMapping();
+      default: return null;
+    }
+  }
+  eq WriteToMqttDefinition.suitableDefaultMapping() {
+    String typeName = getToken().getJavaTypeUse().getName();
+    switch(typeName) {
+      case "int":
+      case "Integer": return ros2rag().defaultIntToBytesMapping();
+      case "short":
+      case "Short": return ros2rag().defaultShortToBytesMapping();
+      case "long":
+      case "Long": return ros2rag().defaultLongToBytesMapping();
+      case "float":
+      case "Float": return ros2rag().defaultFloatToBytesMapping();
+      case "double":
+      case "Double": return ros2rag().defaultDoubleToBytesMapping();
+      case "char":
+      case "Character": return ros2rag().defaultCharToBytesMapping();
+      case "String": return ros2rag().defaultStringToBytesMapping();
+      default: return null;
+    }
+  }
+
+  // --- isByteArray ---
+  syn boolean MappingDefinitionType.isByteArray() = false;
+  eq JavaArrayMappingDefinitionType.isByteArray() = getType().getName().equals("byte");
+
+  // --- allMappingDefinitions ---
+  syn java.util.List<MappingDefinition> Ros2Rag.allMappingDefinitions() {
+    java.util.List<MappingDefinition> result = new java.util.ArrayList<>();
+    getMappingDefinitionList().iterator().forEachRemaining(result::add);
+    result.add(defaultBytesToIntMapping());
+    result.add(defaultBytesToShortMapping());
+    result.add(defaultBytesToLongMapping());
+    result.add(defaultBytesToFloatMapping());
+    result.add(defaultBytesToDoubleMapping());
+    result.add(defaultBytesToCharMapping());
+    result.add(defaultBytesToStringMapping());
+    result.add(defaultIntToBytesMapping());
+    result.add(defaultShortToBytesMapping());
+    result.add(defaultLongToBytesMapping());
+    result.add(defaultFloatToBytesMapping());
+    result.add(defaultDoubleToBytesMapping());
+    result.add(defaultCharToBytesMapping());
+    result.add(defaultStringToBytesMapping());
+    return result;
+  }
+}

src/main/jastadd/parser/Ros2Rag.parser

@@ -12,8 +12,6 @@ Ros2Rag ros2rag
   }
 :} ;
 
-// read Joint.CurrentPosition using LinkStateToIntPosition ;
-// write RobotArm._AppropriateSpeed using CreateSpeedMessage ;
 UpdateDefinition update_definition
   = READ ID.type_name DOT ID.token_name SCOL
     {:
@@ -52,7 +50,6 @@ ArrayList string_list
   | string_list COMMA ID
 ;
 
-// RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
 DependencyDefinition dependency_definition
   = ID.target_type DOT ID.target_token CAN_DEPEND_ON ID.source_type DOT ID.source_token AS ID.id SCOL
     {:
@@ -64,10 +61,6 @@ DependencyDefinition dependency_definition
     :}
 ;
 
-//LinkStateToIntPosition maps protobuf panda.Linkstate.PandaLinkState x to IntPosition y {
-//  panda.Linkstate.PandaLinkState.Position p = x.getPos();
-//  y = IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ());
-//}
 MappingDefinition mapping_definition
   = ID.id MAPS mapping_type.from_type ID.from_name TO mapping_type.to_type MAPPING_CONTENT.content
     {: