Generation.jadd 13.7 KB
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aspect GenerationUtils {
  public static final String ASTNode.aspectIndent = "  ";

  public String ASTNode.ind(int n) {
    StringBuilder s = new StringBuilder();
    for (int i = 0; i < n; i++) {
      s.append(aspectIndent);
    }
    return s.toString();
  }
}

aspect AspectGeneration {
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  syn String TokenComponent.internalName() = getDependencySourceDefinitionList().isEmpty() ? externalName() : "_internal_" + getName();
  syn String TokenComponent.externalName() = getName();
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  // naming convention attributes
  syn String TokenUpdateDefinition.connectMethod() = "connect" + getToken().getName();
  syn String WriteToMqttDefinition.writeTopic() = "_topic_" + getToken().getName();
  syn String WriteToMqttDefinition.lastValue() = "_lastValue" + getToken().getName();
  syn String WriteToMqttDefinition.updateMethod() = "_update_" + getToken().getName();
  syn String WriteToMqttDefinition.writeMethod() = "_writeLastValue_" + getToken().getName();
  syn String WriteToMqttDefinition.tokenResetMethod() = "get" + getToken().getName() + "_reset";
  syn String MappingDefinition.methodName() = "_apply_" + getID();
  syn String DependencyDefinition.dependencyMethod() = "add" +
    Character.toUpperCase(getID().charAt(0)) +
    getID().substring(1);
  syn String DependencyDefinition.internalRelationPrefix() = "_internal_" + getID();
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  syn String DependencyDefinition.internalTokenName() = getSource().internalName();
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  inh String UpdateDefinition.mqttUpdaterAttribute();
  inh String MappingDefinition.mqttUpdaterAttribute();
  inh String DependencyDefinition.mqttUpdaterAttribute();
  eq Ros2Rag.getChild().mqttUpdaterAttribute() = mqttUpdaterAttribute();
  syn String Ros2Rag.mqttUpdaterAttribute() = "_mqttUpdater";
  syn String Ros2Rag.mqttUpdaterField() = "_mqttUpdater";

  syn String Ros2Rag.mqttSetHostMethod() = "MqttSetHost";
  syn String Ros2Rag.mqttWaitUntilReadyMethod() = "MqttWaitUntilReady";
  syn String Ros2Rag.mqttCloseMethod() = "MqttCloseConnections";

  public String Ros2Rag.generateAspect(String rootNodeName) {
    StringBuilder sb = new StringBuilder();
    TypeDecl rootNode = getProgram().resolveTypeDecl(rootNodeName);
    generateMqttAspect(sb, rootNode);
    generateGrammarExtension(sb);
    return sb.toString();
  }

  public void Ros2Rag.generateMqttAspect(StringBuilder sb, TypeDecl rootNode) {
    String rootNodeName = rootNode.getName();
    sb.append("aspect MQTT {\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");
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    sb.append(ind(2)).append(mqttUpdaterField()).append(".setHost(host);\n");
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    sb.append(ind(1)).append("}\n");

    // mqttSetHost(String host, int port)
    sb.append(ind(1)).append("public void ").append(rootNodeName).append(".")
      .append(mqttSetHostMethod()).append("(String host, int port) throws java.io.IOException {\n");
    sb.append(ind(2)).append(mqttUpdaterField()).append(".setHost(host, port);\n");
    sb.append(ind(1)).append("}\n\n");

    // mqttWaitUntilReady
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    sb.append(ind(1)).append("public boolean ").append(rootNodeName).append(".")
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      .append(mqttWaitUntilReadyMethod()).append("(long time, java.util.concurrent.TimeUnit unit) {\n");
    sb.append(ind(2)).append("return ").append(mqttUpdaterField()).append(".waitUntilReady(time, unit);\n");
    sb.append(ind(1)).append("}\n\n");

    // mqttClose
    sb.append(ind(1)).append("public void ").append(rootNodeName).append(".")
      .append(mqttCloseMethod()).append("() {\n");
    sb.append(ind(2)).append(mqttUpdaterField()).append(".close();\n");
    sb.append(ind(1)).append("}\n\n");

    // mqttUpdater
    sb.append(ind(1)).append("inh MqttUpdater ASTNode.").append(mqttUpdaterAttribute()).append("();\n");
    for (Component child : rootNode.getComponentList()) {
      if (child.isTypeComponent()) {
        sb.append(ind(1)).append("eq ").append(rootNodeName)
          .append(".get").append(child.getName()).append("().")
          .append(mqttUpdaterAttribute()).append("() = ").append(mqttUpdaterField()).append(";\n");
      }
    }
    sb.append("}\n\n");
  }

  public void Ros2Rag.generateGrammarExtension(StringBuilder sb) {
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    sb.append("aspect ROS2RAG {\n");
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    for (UpdateDefinition def : getUpdateDefinitionList()) {
      def.generateAspect(sb);
    }
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    for (MappingDefinition def : allMappingDefinitions()) {
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      def.generateAspect(sb);
    }
    for (DependencyDefinition def : getDependencyDefinitionList()) {
      def.generateAspect(sb);
    }

    sb.append("}\n");
  }

  abstract void UpdateDefinition.generateAspect(StringBuilder sb);

  String TokenUpdateDefinition.generateMappingApplication(StringBuilder sb, int indent,
      String initialInputVariableName) {
    final String resultVariablePrefix = "result";  // we do not need "_" here, because methodName begins with one
    String inputVariableName = initialInputVariableName;
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    // last variable need to be declared before begin of try
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    MappingDefinition lastDefinition = effectiveMappings().get(effectiveMappings().size() - 1);
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    sb.append(ind(indent)).append(lastDefinition.getToType().prettyPrint()).append(" ")
      .append(resultVariablePrefix).append(lastDefinition.methodName()).append(";\n");
    sb.append(ind(indent)).append("try {\n");
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    for (MappingDefinition mappingDefinition : effectiveMappings()) {
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      String resultVariableName = resultVariablePrefix + mappingDefinition.methodName();
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      sb.append(ind(indent + 1));
      if (mappingDefinition != lastDefinition) {
        sb.append(mappingDefinition.getToType().prettyPrint()).append(" ");
      }
      sb.append(resultVariablePrefix).append(mappingDefinition.methodName())
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        .append(" = ").append(mappingDefinition.methodName()).append("(")
        .append(inputVariableName).append(");\n");
      inputVariableName = resultVariableName;
    }
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    sb.append(ind(indent)).append("} catch (Exception e) {\n");
    sb.append(ind(indent + 1)).append("e.printStackTrace();\n");
    sb.append(ind(indent + 1)).append(preemptiveReturnStatement()).append("\n");
    sb.append(ind(indent)).append("}\n");
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    if (!getAlwaysApply()) {
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      sb.append(ind(indent)).append("if (").append(preemptiveExpectedValue());
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      if (getToken().isPrimitiveType()) {
        sb.append(" == ").append(inputVariableName);
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      } else if (effectiveMappings().get(effectiveMappings().size() - 1).isDefaultMappingDefinition()) {
        sb.append(" != null && ").append(preemptiveExpectedValue()).append(".equals(")
          .append(inputVariableName).append(")");
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      } else {
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        sb.append(" != null ? ").append(preemptiveExpectedValue()).append(".equals(")
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          .append(inputVariableName).append(")").append(" : ")
          .append(inputVariableName).append(" == null");
      }
      sb.append(") { ").append(preemptiveReturnStatement()).append(" }\n");
    }
    return inputVariableName;
  }

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  syn String TokenUpdateDefinition.preemptiveExpectedValue();
  eq ReadFromMqttDefinition.preemptiveExpectedValue() = "get" + getToken().getName() + "()";
  eq WriteToMqttDefinition.preemptiveExpectedValue() = lastValue();

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  syn String TokenUpdateDefinition.preemptiveReturnStatement();
  eq ReadFromMqttDefinition.preemptiveReturnStatement() = "return;";
  eq WriteToMqttDefinition.preemptiveReturnStatement() = "return false;";

  @Override
  void ReadFromMqttDefinition.generateAspect(StringBuilder sb) {
    sb.append(ind(1)).append("public void ").append(getToken().containingTypeDecl().getName()).append(".")
      .append(connectMethod()).append("(String topic) {\n");
    sb.append(ind(2)).append(mqttUpdaterAttribute()).append("().newConnection(topic, message -> {\n");
    String lastResult = generateMappingApplication(sb, 3, "message");
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    if (loggingEnabledForReads) {
      sb.append(ind(3)).append("System.out.println(\"[Read] \" + topic + \" -> ")
        .append(getToken().getName()).append(" = \" + ").append(lastResult)
        .append(");\n");
    }
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    sb.append(ind(3)).append("set").append(getToken().getName()).append("(").append(lastResult).append(");\n");
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    sb.append(ind(2)).append("});\n");
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    sb.append(ind(1)).append("}\n\n");
  }

  @Override
  void WriteToMqttDefinition.generateAspect(StringBuilder sb) {
    String parentTypeName = getToken().containingTypeDecl().getName();
    // fields
    sb.append(ind(1)).append("private String ").append(parentTypeName).append(".")
      .append(writeTopic()).append(" = null;\n");
    sb.append(ind(1)).append("private byte[] ").append(parentTypeName).append(".")
      .append(lastValue()).append(" = null;\n");

    // connect method
    sb.append(ind(1)).append("public void ").append(parentTypeName).append(".")
      .append(connectMethod()).append("(String topic, boolean writeCurrentValue) {\n");
    sb.append(ind(2)).append(writeTopic()).append(" = topic;\n");
    sb.append(ind(2)).append(updateMethod()).append("();\n");
    sb.append(ind(2)).append("if (writeCurrentValue) {\n");
    sb.append(ind(3)).append(writeMethod()).append("();\n");
    sb.append(ind(2)).append("}\n");
    sb.append(ind(1)).append("}\n\n");

    // update method
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    sb.append(ind(1)).append("protected boolean ").append(parentTypeName).append(".")
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      .append(updateMethod()).append("() {\n");
    sb.append(ind(2)).append(tokenResetMethod()).append("();\n");
    String lastResult = generateMappingApplication(sb, 2, "get" + getToken().getName() + "()");
    sb.append(ind(2)).append(lastValue()).append(" = ").append(lastResult).append(";\n");
    sb.append(ind(2)).append("return true;\n");
    sb.append(ind(1)).append("}\n\n");

    // write method
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    sb.append(ind(1)).append("protected void ").append(parentTypeName).append(".")
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      .append(writeMethod()).append("() {\n");
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    if (loggingEnabledForWrites) {
      sb.append(ind(2)).append("System.out.println(\"[Write] ").append(getToken().getName())
        .append(" = \" + ").append(lastValue()).append(" + \" -> ").append(writeTopic()).append("\");\n");
    }
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    // _mqttUpdater().publish(${writeTopic()}, ${lastValue()});
    sb.append(ind(2)).append(mqttUpdaterAttribute()).append("().publish(")
      .append(writeTopic()).append(", ").append(lastValue()).append(");\n");
    sb.append(ind(1)).append("}\n\n");
  }

  void MappingDefinition.generateAspect(StringBuilder sb) {
    sb.append(ind(1)).append("protected static ").append(getToType().prettyPrint())
      .append(" ASTNode.").append(methodName()).append("(")
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      .append(getFromType().prettyPrint()).append(" ").append(getFromVariableName())
      .append(") throws Exception {\n");
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    for (String line : getContent().split("\n")) {
      if (!line.trim().isEmpty()) {
        sb.append(ind(2)).append(line).append("\n");
      }
    }
    sb.append(ind(1)).append("}\n\n");
  }

  void DependencyDefinition.generateAspect(StringBuilder sb) {
    String targetParentTypeName = getTarget().containingTypeDecl().getName();
    String sourceParentTypeName = getSource().containingTypeDecl().getName();

    // dependency method
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    sb.append(ind(1)).append("public void ").append(targetParentTypeName).append(".")
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      .append(dependencyMethod()).append("(").append(sourceParentTypeName).append(" source) {\n");
    sb.append(ind(2)).append("add").append(internalRelationPrefix()).append("Source(source);\n");
    sb.append(ind(1)).append("}\n\n");

    // virtual setter
    sb.append(ind(1)).append("public ").append(sourceParentTypeName).append(" ")
      .append(sourceParentTypeName).append(".set").append(getSource().getName()).append("(");
    getSource().getJavaTypeUse().generateAbstractGrammar(sb);
    sb.append(" value) {\n");
    sb.append(ind(2)).append("set").append(internalTokenName()).append("(value);\n");
    sb.append(ind(2)).append("for (").append(targetParentTypeName).append(" target : get")
      .append(internalRelationPrefix()).append("TargetList()) {\n");
    sb.append(ind(3)).append("if (target.").append(targetUpdateDefinition().updateMethod()).append("()) {\n");
    sb.append(ind(4)).append("target.").append(targetUpdateDefinition().writeMethod()).append("();\n");
    sb.append(ind(3)).append("}\n");
    sb.append(ind(2)).append("}\n");
    sb.append(ind(2)).append("return this;\n");
    sb.append(ind(1)).append("}\n\n");

    // virtual getter
    sb.append(ind(1)).append("public ");
    getSource().getJavaTypeUse().generateAbstractGrammar(sb);
    sb.append(" ").append(sourceParentTypeName).append(".get").append(getSource().getName()).append("() {\n");
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    sb.append(ind(2)).append("return get").append(internalTokenName()).append("();\n");
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    sb.append(ind(1)).append("}\n\n");
  }
}
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aspect RelationGeneration {
  syn java.util.List<Relation> Ros2Rag.additionalRelations() {
    java.util.List<Relation> result = new java.util.ArrayList<>();
    for (DependencyDefinition dd : getDependencyDefinitionList()) {
      result.add(dd.getRelationToCreate());
    }
    return result;
  }

  syn nta Relation DependencyDefinition.getRelationToCreate() {
    BidirectionalRelation result = new BidirectionalRelation();
    NavigableRole left = new ListRole(internalRelationPrefix() + "Source");
    left.setType(getTarget().containingTypeDecl());
    NavigableRole right = new ListRole(internalRelationPrefix() + "Target");
    right.setType(getSource().containingTypeDecl());
    result.setLeft(left);
    result.setRight(right);
    return result;
  }
}

aspect GrammarExtension {
  refine BackendAbstractGrammar public void TokenComponent.generateAbstractGrammar(StringBuilder b) {
    if (getNTA()) {
      b.append("/");
    }
    b.append("<");
    if (!getName().equals("")) {
      b.append(internalName()).append(":");
    }
    getJavaTypeUse().generateAbstractGrammar(b);
    b.append(">");
    if (getNTA()) {
      b.append("/");
    }
  }
}