diff --git a/build.gradle b/build.gradle
index 87e174cf6b7070f199f24805658fa691ce40db35..9e0bde27ffc2908022aa1a0148b6dc8acec2be35 100644
--- a/build.gradle
+++ b/build.gradle
@@ -157,5 +157,3 @@ jastadd {
}
generateAst.dependsOn relast
-
-apply from: 'test.build.gradle'
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java b/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
index 9fd90f037abad335414f1c54fea0a548c34b2909..a4f5bdc7f53251fecbd0aaf86d98faf017684259 100644
--- a/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
+++ b/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
@@ -71,12 +71,17 @@ public class Compiler {
printMessage("Writing output files");
// copy MqttUpdater into outputDir
+ final String mqttUpdaterFileName = "MqttUpdater.jadd";
try {
- Files.copy(Paths.get("src", "main", "resources", "MqttUpdater.jadd"),
- Paths.get(outputDir, "MqttUpdater.jadd"),
+ InputStream inputStream = Compiler.class.getClassLoader().getResourceAsStream(mqttUpdaterFileName);
+ if (inputStream == null) {
+ throw new CompilerException("Could not open " + mqttUpdaterFileName);
+ }
+ Files.copy(inputStream,
+ Paths.get(outputDir, mqttUpdaterFileName),
StandardCopyOption.REPLACE_EXISTING);
} catch (IOException e) {
- throw new CompilerException("Could not copy MqttUpdater.java", e);
+ throw new CompilerException("Could not copy " + mqttUpdaterFileName, e);
}
writeToFile(outputDir + "/Grammar.relast", ros2Rag.getProgram().generateAbstractGrammar());
writeToFile(outputDir + "/ROS2RAG.jadd", ros2Rag.generateAspect(optionRootNode.getValue()));
diff --git a/src/test/.gitignore b/src/test/.gitignore
deleted file mode 100644
index e372444da686be9b60c0a1ef74a2821d13fcb46f..0000000000000000000000000000000000000000
--- a/src/test/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-02-after-ros2rag/*
-03-after-relast/*
-java-gen/*
diff --git a/src/test/01-input/example/Example.jadd b/src/test/01-input/example/Example.jadd
deleted file mode 100644
index 1fd25492334984294171edab4f2e2ffae89ddc9c..0000000000000000000000000000000000000000
--- a/src/test/01-input/example/Example.jadd
+++ /dev/null
@@ -1,47 +0,0 @@
-aspect GrammarTypes {
- public class IntPosition {
- private final int x, y, z;
-
- private IntPosition(int x, int y, int z) {
- this.x = x;
- this.y = y;
- this.z = z;
- }
-
- public static IntPosition of(int x, int y, int z) {
- return new IntPosition(x, y, z);
- }
-
- public int getX() {
- return x;
- }
-
- public int getY() {
- return y;
- }
-
- public int getZ() {
- return z;
- }
-
- @Override
- public boolean equals(Object o) {
- if (this == o) return true;
- if (o == null || getClass() != o.getClass()) return false;
- IntPosition that = (IntPosition) o;
- return x == that.x &&
- y == that.y &&
- z == that.z;
- }
-
- @Override
- public int hashCode() {
- return java.util.Objects.hash(x, y, z);
- }
-
- @Override
- public String toString() {
- return "(" + x + ", " + y + ", " + z + ")";
- }
- }
-}
diff --git a/src/test/01-input/example/Example.relast b/src/test/01-input/example/Example.relast
deleted file mode 100644
index 5afeb2250283d049143a0134247fb1e374ac4296..0000000000000000000000000000000000000000
--- a/src/test/01-input/example/Example.relast
+++ /dev/null
@@ -1,13 +0,0 @@
-Model ::= RobotArm ZoneModel ;
-
-ZoneModel ::= <Size:IntPosition> SafetyZone:Zone* ;
-
-Zone ::= Coordinate* ;
-
-RobotArm ::= Joint* EndEffector <AttributeTestSource:int> /<AppropriateSpeed:double>/ ; // normally this would be: <AttributeTestSource:int> ;
-
-Joint ::= <Name:String> <CurrentPosition:IntPosition> ; // normally this would be: <CurrentPosition:IntPosition>
-
-EndEffector : Joint;
-
-Coordinate ::= <Position:IntPosition> ;
diff --git a/src/test/01-input/example/Example.ros2rag b/src/test/01-input/example/Example.ros2rag
deleted file mode 100644
index 9168da25b6d98b26784ef67b64c515be6cecf76c..0000000000000000000000000000000000000000
--- a/src/test/01-input/example/Example.ros2rag
+++ /dev/null
@@ -1,29 +0,0 @@
-/* Version 2020-04-17 */
-// --- update definitions ---
-read Joint.CurrentPosition using ParseLinkState, LinkStateToIntPosition ;
-write RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
-
-// --- dependency definitions ---
-RobotArm.AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
-RobotArm.AppropriateSpeed canDependOn RobotArm.AttributeTestSource as dependency2 ;
-
-// --- mapping definitions ---
-ParseLinkState maps byte[] bytes to panda.Linkstate.PandaLinkState {:
- return panda.Linkstate.PandaLinkState.parseFrom(bytes);
-:}
-
-SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
- return rc.toByteArray();
-:}
-
-LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
- panda.Linkstate.PandaLinkState.Position p = pls.getPos();
- { int i = 0; }
- return IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ());
-:}
-
-CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
- return config.Robotconfig.RobotConfig.newBuilder()
- .setSpeed(speed)
- .build();
-:}
diff --git a/src/test/01-input/example/linkstate.proto b/src/test/01-input/example/linkstate.proto
deleted file mode 100644
index dc95138ba49f35497f4bdf061496145168292c9d..0000000000000000000000000000000000000000
--- a/src/test/01-input/example/linkstate.proto
+++ /dev/null
@@ -1,38 +0,0 @@
-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
deleted file mode 100644
index c3e0862e0216e5ea00f79966dff8d5ce434f3dac..0000000000000000000000000000000000000000
--- a/src/test/01-input/example/robotconfig.proto
+++ /dev/null
@@ -1,16 +0,0 @@
-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
deleted file mode 100644
index 7b41810c351943775074c5fe1a0abd9e47a5afc6..0000000000000000000000000000000000000000
--- a/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
+++ /dev/null
@@ -1,58 +0,0 @@
-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
deleted file mode 100644
index adf19335a371d70a3b30efaf0d08a91a60360571..0000000000000000000000000000000000000000
--- a/src/test/java/org/jastadd/ros2rag/tests/RosToRagTest.java
+++ /dev/null
@@ -1,49 +0,0 @@
-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;
-import java.nio.file.Paths;
-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 {
-
- System.out.println(Paths.get(".").toAbsolutePath());
- assertTrue(Paths.get(inputGrammar).toFile().exists(), "input grammar does not exist");
-
- File outputDirFile = Paths.get(outputDir).toFile();
- if (outputDirFile.exists()) {
- assertTrue(outputDirFile.isDirectory());
- if (Objects.requireNonNull(outputDirFile.list(), "Could not read output directory").length != 0) {
- System.out.println("output directory is not empty!");
- }
- } else {
- assertTrue(outputDirFile.mkdir());
- }
-
- String[] args = {
- "--outputDir=" + outputDir,
- "--inputGrammar=" + inputGrammar,
- "--inputRos2Rag=" + inputRos2Rag,
- "--rootNode=" + rootNode
- };
-
- new Compiler().run(args);
- }
-
- @Test
- void transformMinimalExample() throws CommandLine.CommandLineException, Compiler.CompilerException {
- transform("src/test/resources/Example.relast",
- "src/test/resources/Example.ros2rag",
- "Model",
- "src/test/resources/out");
- }
-}
diff --git a/test.build.gradle b/test.build.gradle
deleted file mode 100644
index 04252f02b04ded4c49d6ff7860935f6dd480eef8..0000000000000000000000000000000000000000
--- a/test.build.gradle
+++ /dev/null
@@ -1,68 +0,0 @@
-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