Ros2Rag.relast 832 Bytes
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Ros2Rag ::= UpdateDefinition* DependencyDefinition* MappingDefinition* Program;
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abstract UpdateDefinition ::= <AlwaysApply:Boolean> ;
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rel UpdateDefinition.Mapping? -> MappingDefinition;
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abstract TokenUpdateDefinition : UpdateDefinition;
rel TokenUpdateDefinition.Token -> TokenComponent;
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ReadFromMqttDefinition : TokenUpdateDefinition;
WriteToMqttDefinition  : TokenUpdateDefinition;
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// example: RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1
DependencyDefinition ::= <ID> ;
rel DependencyDefinition.Source -> TokenComponent ;
rel DependencyDefinition.Target -> TokenComponent ;

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MappingDefinition ::= <ID> From:MappingDefinitionType To:MappingDefinitionType <Content> ;
MappingDefinitionType ::= Type:JavaTypeUse <VariableName> <SerializationMethodName> ;  // SerializationMethodName may be empty