diff --git a/src/main/jastadd/backend/Generation.jadd b/src/main/jastadd/backend/Generation.jadd
index 75be20c251f171af965eda685e00e489e3de023d..b74743d183fd56390537348e3be580090b77e3f3 100644
--- a/src/main/jastadd/backend/Generation.jadd
+++ b/src/main/jastadd/backend/Generation.jadd
@@ -50,15 +50,13 @@ aspect AspectGeneration {
public void Ros2Rag.generateMqttAspect(StringBuilder sb, TypeDecl rootNode) {
String rootNodeName = rootNode.getName();
sb.append("aspect MQTT {\n");
- sb.append(ind(1)).append("private static final int ")
- .append(rootNodeName).append("._MQTT_DEFAULT_PORT = 1883;\n");
sb.append(ind(1)).append("private MqttUpdater ").append(rootNodeName)
.append(".").append(mqttUpdaterField()).append(" = new MqttUpdater();\n");
// mqttSetHost(String host)
sb.append(ind(1)).append("public void ").append(rootNodeName).append(".")
.append(mqttSetHostMethod()).append("(String host) throws java.io.IOException {\n");
- sb.append(ind(2)).append("MqttSetHost(host, _MQTT_DEFAULT_PORT);\n");
+ sb.append(ind(2)).append(mqttUpdaterField()).append(".setHost(host);\n");
sb.append(ind(1)).append("}\n");
// mqttSetHost(String host, int port)
diff --git a/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java b/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
index 7cd97a36113ca9af2566321f77b59e929f70b0cd..af1076eb7ff423f9e6e4e2ac7715bb8668332d2a 100644
--- a/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
+++ b/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
@@ -24,6 +24,7 @@ public class Compiler {
private StringOption optionRootNode;
private StringOption optionInputRos2Rag;
private FlagOption optionHelp;
+ private FlagOption optionVerbose;
private ArrayList<Option<?>> options;
private CommandLine commandLine;
@@ -44,6 +45,19 @@ public class Compiler {
return;
}
+ if (optionVerbose.isSet()) {
+ try {
+ run();
+ } catch (CompilerException e) {
+ e.printStackTrace();
+ throw e;
+ }
+ } else {
+ run();
+ }
+ }
+
+ private void run() throws CompilerException {
String outputDir;
if (optionOutputDir.isSet()) {
outputDir = optionOutputDir.getValue();
@@ -129,6 +143,7 @@ public class Compiler {
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."));
+ optionVerbose = addOption(new FlagOption("verbose", "Print more messages."));
}
private <OptionType extends Option<?>> OptionType addOption(OptionType option) {
@@ -145,7 +160,9 @@ public class Compiler {
Ros2RagScanner scanner = new Ros2RagScanner(reader);
Ros2RagParser parser = new Ros2RagParser();
inputGrammar = (GrammarFile) parser.parse(scanner);
- inputGrammar.dumpTree(System.out);
+ if (optionVerbose.isSet()) {
+ inputGrammar.dumpTree(System.out);
+ }
program.addGrammarFile(inputGrammar);
inputGrammar.treeResolveAll();
} catch (IOException | Parser.Exception e) {
diff --git a/src/main/resources/MqttUpdater.jadd b/src/main/resources/MqttUpdater.jadd
index 6e986f2df4fc44f67e28b0015e524e1455f5e5fd..394735cc78595ad0ebe15b5ab1fa6e73ef435b13 100644
--- a/src/main/resources/MqttUpdater.jadd
+++ b/src/main/resources/MqttUpdater.jadd
@@ -1,9 +1,11 @@
+aspect MqttUpdater {
/**
* Helper class to receive updates via MQTT and use callbacks to handle those messages.
*
* @author rschoene - Initial contribution
*/
public class MqttUpdater {
+ private static final int DEFAULT_PORT = 1883;
private final org.apache.logging.log4j.Logger logger;
private final String name;
@@ -16,6 +18,7 @@ public class MqttUpdater {
private final java.util.concurrent.locks.Condition readyCondition;
private final java.util.concurrent.locks.Lock readyLock;
private boolean ready;
+ private boolean sendWelcomeMessage = true;
private org.fusesource.mqtt.client.QoS qos;
/** Dispatch knowledge */
private final java.util.Map<String, java.util.function.Consumer<byte[]>> callbacks;
@@ -34,16 +37,31 @@ public class MqttUpdater {
this.qos = org.fusesource.mqtt.client.QoS.AT_LEAST_ONCE;
}
+ public MqttUpdater dontSendWelcomeMessage() {
+ this.sendWelcomeMessage = false;
+ return this;
+ }
+
+ /**
+ * Sets the host (with default port) to receive messages from, and connects to it.
+ * @throws IOException if could not connect, or could not subscribe to a topic
+ * @return self
+ */
+ public MqttUpdater setHost(String host) throws java.io.IOException {
+ return setHost(host, DEFAULT_PORT);
+ }
+
/**
* Sets the host to receive messages from, and connects to it.
* @throws IOException if could not connect, or could not subscribe to a topic
* @return self
*/
public MqttUpdater setHost(String host, int port) throws java.io.IOException {
+ java.util.Objects.requireNonNull(host, "Host need to be set!");
+
this.host = java.net.URI.create("tcp://" + host + ":" + port);
logger.debug("Host for {} is {}", this.name, this.host);
- 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();
@@ -91,24 +109,22 @@ public class MqttUpdater {
connection.connect(new org.fusesource.mqtt.client.Callback<Void>() {
@Override
public void onSuccess(Void value) {
- 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");
- try {
- readyLock.lock();
- ready = true;
- readyCondition.signalAll();
- } finally {
- readyLock.unlock();
+ if (MqttUpdater.this.sendWelcomeMessage) {
+ 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");
+ setReady();
}
- }
- @Override
- public void onFailure(Throwable value) {
- logger.debug("failure sending welcome message", value);
- }
- });
+ @Override
+ public void onFailure(Throwable value) {
+ logger.debug("failure sending welcome message", value);
+ }
+ });
+ } else {
+ setReady();
+ }
}
@Override
@@ -125,6 +141,16 @@ public class MqttUpdater {
return host;
}
+ private void setReady() {
+ try {
+ readyLock.lock();
+ ready = true;
+ readyCondition.signalAll();
+ } finally {
+ readyLock.unlock();
+ }
+ }
+
private void throwIf(java.util.concurrent.atomic.AtomicReference<Throwable> error) throws java.io.IOException {
if (error.get() != null) {
throw new java.io.IOException(error.get());
@@ -220,3 +246,4 @@ public class MqttUpdater {
});
}
}
+}