diff --git a/src/main/jastadd/Analysis.jrag b/src/main/jastadd/Analysis.jrag
index 246645f2e92f18ef325466530f95e5b5f37847a5..6c8755e77db354ed36900f3439cd6fd8c5e6f2f5 100644
--- a/src/main/jastadd/Analysis.jrag
+++ b/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":
diff --git a/src/main/jastadd/Navigation.jrag b/src/main/jastadd/Navigation.jrag
index a43beba54597e06cae95d577e610b5bba5b1e2c9..ce2029496eebf41a537d8f72554e8ddb2021a675 100644
--- a/src/main/jastadd/Navigation.jrag
+++ b/src/main/jastadd/Navigation.jrag
@@ -34,4 +34,8 @@ aspect Navigation {
}
return null;
}
+
+ // --- isDefaultMappingDefinition ---
+ syn boolean MappingDefinition.isDefaultMappingDefinition() = false;
+ eq DefaultMappingDefinition.isDefaultMappingDefinition() = true;
}
diff --git a/src/main/jastadd/backend/Generation.jadd b/src/main/jastadd/backend/Generation.jadd
index b74743d183fd56390537348e3be580090b77e3f3..e827c68c947baf50b43bf8abfc2651dfc7bced2c 100644
--- a/src/main/jastadd/backend/Generation.jadd
+++ b/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(" : ")
diff --git a/src/main/jastadd/backend/Mappings.jrag b/src/main/jastadd/backend/Mappings.jrag
new file mode 100644
index 0000000000000000000000000000000000000000..4bfe070a81b49e63996ba8f9a32a43eb13af6d1f
--- /dev/null
+++ b/src/main/jastadd/backend/Mappings.jrag
@@ -0,0 +1,204 @@
+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;
+ }
+}
diff --git a/src/main/jastadd/parser/Ros2Rag.parser b/src/main/jastadd/parser/Ros2Rag.parser
index f2ab264c5b39a53d2dd37634b30b0d11c899dce1..015b4e664950fd9f49601dbea53fc67225c41169 100644
--- a/src/main/jastadd/parser/Ros2Rag.parser
+++ b/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
{: