Ros2Rag.relast 993 Bytes
Newer Older
1
Ros2Rag ::= UpdateDefinition* DependencyDefinition* MappingDefinition* Program;
2

René Schöne's avatar
René Schöne committed
3
abstract UpdateDefinition ::= <AlwaysApply:boolean> ;
4

5
rel UpdateDefinition.Mapping* -> MappingDefinition;
6

7
8
abstract TokenUpdateDefinition : UpdateDefinition;
rel TokenUpdateDefinition.Token -> TokenComponent;
9

10
11
ReadFromMqttDefinition : TokenUpdateDefinition;
WriteToMqttDefinition  : TokenUpdateDefinition;
12

13
// example: RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1
14
15
16
DependencyDefinition ::= <ID>;
rel DependencyDefinition.Source <-> TokenComponent.DependencySourceDefinition*;
rel DependencyDefinition.Target -> TokenComponent;
17

18
19
20
21
MappingDefinition ::= <ID> FromType:MappingDefinitionType <FromVariableName> ToType:MappingDefinitionType <Content> ;
abstract MappingDefinitionType ::= ;
JavaMappingDefinitionType : MappingDefinitionType ::= Type:JavaTypeUse ;
JavaArrayMappingDefinitionType : MappingDefinitionType ::= Type:JavaTypeUse ;
22
DefaultMappingDefinition : MappingDefinition ;