From 1265bfbb3866a3bd1c966be6b7b744f96e3344fd Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Wed, 22 Apr 2020 20:15:29 +0200
Subject: [PATCH] Base: Begin with parser for ros2rag specification.
- changed compiler to accept two additional required parameters "inputGrammar" and "inputRos2Rag"
- update ros2rag grammar according to latest draft
- begin with parser (missing resolving amongst others)
- parsing in test kind of fails because of leading comment
---
ros2rag.base/build.gradle | 3 +-
ros2rag.base/src/main/jastadd/Preamble.parser | 1 +
.../jastadd/{RelAst.flex => Ros2Rag.flex} | 10 +++
ros2rag.base/src/main/jastadd/Ros2Rag.parser | 69 +++++++++++++++++++
ros2rag.base/src/main/jastadd/Ros2Rag.relast | 21 +++---
.../src/main/jastadd/backend/Aspect.jadd | 4 +-
.../jastadd/ros2rag/compiler/Compiler.java | 64 +++++++++++------
.../jastadd/ros2rag/compiler/SimpleMain.java | 2 +-
.../jastadd/ros2rag/tests/RosToRagTest.java | 11 +--
ros2rag.base/src/test/resources/Example.jadd | 47 +++++++++++++
.../src/test/resources/Example.relast | 13 ++++
.../src/test/resources/Example.ros2rag | 20 ++++++
.../src/test/resources/MinimalExample.relast | 14 ----
.../src/main/jastadd/Example.ros2rag | 4 +-
14 files changed, 230 insertions(+), 53 deletions(-)
rename ros2rag.base/src/main/jastadd/{RelAst.flex => Ros2Rag.flex} (82%)
create mode 100644 ros2rag.base/src/main/jastadd/Ros2Rag.parser
create mode 100644 ros2rag.base/src/test/resources/Example.jadd
create mode 100644 ros2rag.base/src/test/resources/Example.relast
create mode 100644 ros2rag.base/src/test/resources/Example.ros2rag
delete mode 100644 ros2rag.base/src/test/resources/MinimalExample.relast
diff --git a/ros2rag.base/build.gradle b/ros2rag.base/build.gradle
index f9afaaf..64d5ca7 100644
--- a/ros2rag.base/build.gradle
+++ b/ros2rag.base/build.gradle
@@ -109,12 +109,13 @@ jastadd {
}
scanner {
- include "src/main/jastadd/RelAst.flex"
+ include "src/main/jastadd/Ros2Rag.flex"
}
parser {
include "src/main/jastadd/Preamble.parser"
include "src/main/jastadd/RelAst.parser"
+ include "src/main/jastadd/Ros2Rag.parser"
}
}
}
diff --git a/ros2rag.base/src/main/jastadd/Preamble.parser b/ros2rag.base/src/main/jastadd/Preamble.parser
index 386489c..43fa51e 100644
--- a/ros2rag.base/src/main/jastadd/Preamble.parser
+++ b/ros2rag.base/src/main/jastadd/Preamble.parser
@@ -4,3 +4,4 @@ import org.jastadd.ros2rag.ast.*;
:};
%goal goal;
+%goal ros2rag;
diff --git a/ros2rag.base/src/main/jastadd/RelAst.flex b/ros2rag.base/src/main/jastadd/Ros2Rag.flex
similarity index 82%
rename from ros2rag.base/src/main/jastadd/RelAst.flex
rename to ros2rag.base/src/main/jastadd/Ros2Rag.flex
index b0a3fd2..9ef2f3e 100644
--- a/ros2rag.base/src/main/jastadd/RelAst.flex
+++ b/ros2rag.base/src/main/jastadd/Ros2Rag.flex
@@ -49,6 +49,14 @@ ID = [a-zA-Z$_][a-zA-Z0-9$_]*
"abstract" { return sym(Terminals.ABSTRACT); }
"rel" { return sym(Terminals.RELATION); }
+"read" { return sym(Terminals.READ); }
+"write" { return sym(Terminals.WRITE); }
+"using" { return sym(Terminals.USING); }
+"canDependOn" { return sym(Terminals.CAN_DEPEND_ON); }
+"maps" { return sym(Terminals.MAPS); }
+"to" { return sym(Terminals.TO); }
+"as" { return sym(Terminals.AS); }
+
";" { return sym(Terminals.SCOL); }
":" { return sym(Terminals.COL); }
"::=" { return sym(Terminals.ASSIGN); }
@@ -59,6 +67,8 @@ ID = [a-zA-Z$_][a-zA-Z0-9$_]*
">" { return sym(Terminals.GT); }
"[" { return sym(Terminals.LBRACKET); }
"]" { return sym(Terminals.RBRACKET); }
+"{" { return sym(Terminals.LB_CURLY); }
+"}" { return sym(Terminals.RB_CURLY); }
"/" { return sym(Terminals.SLASH); }
"?" { return sym(Terminals.QUESTION_MARK); }
"->" { return sym(Terminals.RIGHT); }
diff --git a/ros2rag.base/src/main/jastadd/Ros2Rag.parser b/ros2rag.base/src/main/jastadd/Ros2Rag.parser
new file mode 100644
index 0000000..44f2761
--- /dev/null
+++ b/ros2rag.base/src/main/jastadd/Ros2Rag.parser
@@ -0,0 +1,69 @@
+Ros2Rag ros2rag
+ = update_definition.d ros2rag.r {: r.getUpdateDefinitionList().insertChild(d, 0); return r; :}
+ | dependency_definition.d ros2rag.r {: r.getDependencyDefinitionList().insertChild(d, 0); return r; :}
+ | mapping_definition.d ros2rag.r {: r.getMappingDefinitionList().insertChild(d, 0); return r; :}
+ | {: return new Ros2Rag(); :}
+;
+
+// read Joint.CurrentPosition using LinkStateToIntPosition ;
+// write RobotArm._AppropriateSpeed using CreateSpeedMessage ;
+UpdateDefinition update_definition
+ = READ ID.type_name DOT ID.token_name SCOL
+ {:
+ ReadFromMqttDefinition result = new ReadFromMqttDefinition();
+ result.setToken(TokenComponent.createRef(type_name + "." + token_name));
+ return result;
+ :}
+ | READ ID.type_name DOT ID.token_name USING ID.mapping_def SCOL
+ {:
+ ReadFromMqttDefinition result = new ReadFromMqttDefinition();
+ result.setToken(TokenComponent.createRef(type_name + "." + token_name));
+ result.setMapping(MappingDefinition.createRef(mapping_def));
+ return result;
+ :}
+ | WRITE ID.type_name DOT ID.token_name SCOL
+ {:
+ WriteToMqttDefinition result = new WriteToMqttDefinition();
+ result.setToken(TokenComponent.createRef(type_name + "." + token_name));
+ return result;
+ :}
+ | WRITE ID.type_name DOT ID.token_name USING ID.mapping_def SCOL
+ {:
+ WriteToMqttDefinition result = new WriteToMqttDefinition();
+ result.setToken(TokenComponent.createRef(type_name + "." + token_name));
+ result.setMapping(MappingDefinition.createRef(mapping_def));
+ return result;
+ :}
+;
+
+// RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
+DependencyDefinition dependency_definition
+ = ID.target_type DOT ID.target_token CAN_DEPEND_ON ID.source_type DOT ID.source_token AS ID.id SCOL
+ {:
+ DependencyDefinition result = new DependencyDefinition();
+ result.setSource(TokenComponent.createRef(source_type + "." + source_token));
+ result.setTarget(TokenComponent.createRef(target_type + "." + target_token));
+ result.setID(id);
+ return result;
+ :}
+;
+
+//LinkStateToIntPosition maps protobuf panda.Linkstate.PandaLinkState x to IntPosition y {
+// panda.Linkstate.PandaLinkState.Position p = x.getPos();
+// y = IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ());
+//}
+MappingDefinition mapping_definition
+ = ID.id MAPS java_type_use.from_type ID.from_variable TO java_type_use.to_type ID.to_variable LB_CURLY mapping_def_content.content RB_CURLY
+ {:
+ MappingDefinition result = new MappingDefinition();
+ result.setID(id);
+ result.setFrom(from_type);
+ result.setFromVariable(from_variable);
+ result.setTo(to_type);
+ result.setToVariable(to_variable);
+ result.setContent(content);
+ return result;
+ :}
+;
+
+String mapping_def_content = ID ;
diff --git a/ros2rag.base/src/main/jastadd/Ros2Rag.relast b/ros2rag.base/src/main/jastadd/Ros2Rag.relast
index 75c8df8..6d13bd1 100644
--- a/ros2rag.base/src/main/jastadd/Ros2Rag.relast
+++ b/ros2rag.base/src/main/jastadd/Ros2Rag.relast
@@ -1,13 +1,18 @@
-Ros2Rag ::= MappingDefinition* SyncDefinition* Program;
+Ros2Rag ::= UpdateDefinition* DependencyDefinition* MappingDefinition* Program;
-abstract SyncDefinition ::= <AlwaysApply:Boolean> ;
+abstract UpdateDefinition ::= <AlwaysApply:Boolean> ;
-rel SyncDefinition.Mapping? -> MappingDefinition;
+rel UpdateDefinition.Mapping? -> MappingDefinition;
-abstract TokenSyncDefinition : SyncDefinition;
-rel TokenSyncDefinition.token -> TokenComponent;
+abstract TokenUpdateDefinition : UpdateDefinition;
+rel TokenUpdateDefinition.Token -> TokenComponent;
-ReadFromMqttDefinition : TokenSyncDefinition;
-WriteToMqttDefinition : TokenSyncDefinition;
+ReadFromMqttDefinition : TokenUpdateDefinition;
+WriteToMqttDefinition : TokenUpdateDefinition;
-MappingDefinition ::= <ID> From:JavaTypeUse To:JavaTypeUse <Content> ;
+// example: RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1
+DependencyDefinition ::= <ID> ;
+rel DependencyDefinition.Source -> TokenComponent ;
+rel DependencyDefinition.Target -> TokenComponent ;
+
+MappingDefinition ::= <ID> From:JavaTypeUse <FromVariable> To:JavaTypeUse <ToVariable> <Content> ;
diff --git a/ros2rag.base/src/main/jastadd/backend/Aspect.jadd b/ros2rag.base/src/main/jastadd/backend/Aspect.jadd
index c63ec13..d403bbc 100644
--- a/ros2rag.base/src/main/jastadd/backend/Aspect.jadd
+++ b/ros2rag.base/src/main/jastadd/backend/Aspect.jadd
@@ -31,14 +31,14 @@ aspect Aspect {
public void Ros2Rag.generateAspect(StringBuilder sb) {
sb.append("aspect ROS2RAG {\n");
- for (SyncDefinition def : getSyncDefinitionList()) {
+ for (UpdateDefinition def : getUpdateDefinitionList()) {
def.generateAspect(sb);
}
sb.append("}\n");
}
- abstract void SyncDefinition.generateAspect(StringBuilder sb);
+ abstract void UpdateDefinition.generateAspect(StringBuilder sb);
// @Override
// void UpdateDefinition.generateAspect(StringBuilder sb) {
// // TODO
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
index 1ba4fbb..fac820c 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
+++ b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
@@ -10,12 +10,16 @@ import org.jastadd.ros2rag.parser.RelAstParser;
import org.jastadd.ros2rag.scanner.RelAstScanner;
import java.io.*;
+import java.nio.file.Files;
+import java.nio.file.Paths;
import java.util.ArrayList;
import java.util.List;
public class Compiler {
private StringOption optionOutputDir;
+ private StringOption optionInputGrammar;
+ private StringOption optionInputRos2Rag;
private ArrayList<Option<?>> options;
private CommandLine commandLine;
@@ -31,21 +35,28 @@ public class Compiler {
if (optionOutputDir.isSet()) {
outputDir = optionOutputDir.getValue();
} else {
- System.out.println("No output grammar name is set. Assuming output dir '" + outputDir + "'.");
+ System.out.println("No output output dir is set. Assuming '" + outputDir + "'.");
}
printMessage("Running ROS2RAG Preprocessor");
- if (commandLine.getArguments().size() < 1) {
- error("specify at least one input file");
+ if (!optionInputGrammar.isSet()) {
+ error("specify an input grammar");
}
- List<String> filenames = commandLine.getArguments();
- Program p = parseProgram(filenames);
+ if (!optionInputRos2Rag.isSet()) {
+ error("specify the ros2rag definition file");
+ }
- writeToFile(outputDir + "/Grammar.ast", p.generateAbstractGrammar());
- writeToFile(outputDir + "/ROS2RAG.jadd", p.generateAspect());
+ List<String> otherArgs = commandLine.getArguments();
+ if (!otherArgs.isEmpty()) {
+ printMessage("Superfluous arguments will be ignored: " + otherArgs);
+ }
+ Ros2Rag ros2Rag = parseProgram(optionInputGrammar.getValue(), optionInputRos2Rag.getValue());
+ printMessage("Writing output files");
+ writeToFile(outputDir + "/Grammar.relast", ros2Rag.getProgram().generateAbstractGrammar());
+ writeToFile(outputDir + "/ROS2RAG.jadd", ros2Rag.generateAspect());
}
@@ -75,6 +86,8 @@ public class Compiler {
private void addOptions() {
optionOutputDir = addOption(new StringOption("outputDir", "target directory for the generated files."));
+ optionInputGrammar = addOption(new StringOption("inputGrammar", "base grammar."));
+ optionInputRos2Rag = addOption(new StringOption("inputRos2Rag", "ros2rag definition file."));
}
private <OptionType extends Option<?>> OptionType addOption(OptionType option) {
@@ -82,23 +95,32 @@ public class Compiler {
return option;
}
- private Program parseProgram(List<String> fileNames) {
-
+ private Ros2Rag parseProgram(String inputGrammarFileName, String inputRos2RagFileName) {
Program program = new Program();
+ Ros2Rag ros2Rag;
+
+ try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputGrammarFileName))) {
+ RelAstScanner scanner = new RelAstScanner(reader);
+ RelAstParser parser = new RelAstParser();
+ GrammarFile inputGrammar = (GrammarFile) parser.parse(scanner);
+ program.addGrammarFile(inputGrammar);
+ } catch (IOException | Parser.Exception e) {
+ System.err.println(e.getMessage());
+ System.exit(1);
+ }
- for (String fileName : fileNames) {
- FileReader reader = null;
- try {
- reader = new FileReader(fileName);
- } catch (FileNotFoundException e) {
- System.err.println(e.getMessage());
- System.exit(1);
- }
-
- parse(program, reader, fileName);
+ try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputRos2RagFileName))) {
+ RelAstScanner scanner = new RelAstScanner(reader);
+ RelAstParser parser = new RelAstParser();
+ ros2Rag = (Ros2Rag) parser.parse(scanner, RelAstParser.AltGoals.ros2rag);
+ ros2Rag.setProgram(program);
+ } catch (IOException | Parser.Exception e) {
+ System.err.println(e.getMessage());
+ System.exit(2);
+ return null; // poor compiler does not know System.exit()
}
- program.treeResolveAll();
- return program;
+
+ return ros2Rag;
}
private void parse(Program program, Reader reader, String file) {
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
index e27a97e..7d528ac 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
+++ b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
@@ -64,7 +64,7 @@ public class SimpleMain {
readFromMqttDefinition.setAlwaysApply(false);
readFromMqttDefinition.setToken(TokenComponent.createRef("Joint.CurrentPosition"));
readFromMqttDefinition.setMapping(mappingDefinition);
- model.addSyncDefinition(readFromMqttDefinition);
+ model.addUpdateDefinition(readFromMqttDefinition);
model.treeResolveAll();
diff --git a/ros2rag.base/src/test/java/org/jastadd/ros2rag/tests/RosToRagTest.java b/ros2rag.base/src/test/java/org/jastadd/ros2rag/tests/RosToRagTest.java
index 52e1a4b..19ad7e5 100644
--- a/ros2rag.base/src/test/java/org/jastadd/ros2rag/tests/RosToRagTest.java
+++ b/ros2rag.base/src/test/java/org/jastadd/ros2rag/tests/RosToRagTest.java
@@ -11,10 +11,10 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
public class RosToRagTest {
- void transform(String inputFile, String outputDir) throws CommandLine.CommandLineException {
+ void transform(String inputGrammar, String inputRos2Rag, String outputDir) throws CommandLine.CommandLineException {
System.out.println(Paths.get(".").toAbsolutePath());
- assertTrue(Paths.get(inputFile).toFile().exists(), "input file does not exist");
+ assertTrue(Paths.get(inputGrammar).toFile().exists(), "input grammar does not exist");
File outputDirFile = Paths.get(outputDir).toFile();
if (outputDirFile.exists()) {
@@ -28,7 +28,8 @@ public class RosToRagTest {
String[] args = {
"--outputDir=" + outputDir,
- inputFile
+ "--inputGrammar=" + inputGrammar,
+ "--inputRos2Rag=" + inputRos2Rag
};
new Compiler(args);
@@ -36,6 +37,8 @@ public class RosToRagTest {
@Test
void transformMinimalExample() throws CommandLine.CommandLineException {
- transform("src/test/resources/MinimalExample.relast", "src/test/resources/out");
+ transform("src/test/resources/Example.relast",
+ "src/test/resources/Example.ros2rag",
+ "src/test/resources/out");
}
}
diff --git a/ros2rag.base/src/test/resources/Example.jadd b/ros2rag.base/src/test/resources/Example.jadd
new file mode 100644
index 0000000..1fd2549
--- /dev/null
+++ b/ros2rag.base/src/test/resources/Example.jadd
@@ -0,0 +1,47 @@
+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/ros2rag.base/src/test/resources/Example.relast b/ros2rag.base/src/test/resources/Example.relast
new file mode 100644
index 0000000..f4b2aa0
--- /dev/null
+++ b/ros2rag.base/src/test/resources/Example.relast
@@ -0,0 +1,13 @@
+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> <_CurrentPosition:IntPosition> ; // normally this would be: <CurrentPosition:IntPosition>
+
+EndEffector : Joint;
+
+Coordinate ::= <Position:IntPosition> ;
diff --git a/ros2rag.base/src/test/resources/Example.ros2rag b/ros2rag.base/src/test/resources/Example.ros2rag
new file mode 100644
index 0000000..26702ca
--- /dev/null
+++ b/ros2rag.base/src/test/resources/Example.ros2rag
@@ -0,0 +1,20 @@
+/* Version 2020-04-17 */
+// --- update definitions ---
+read Joint.CurrentPosition using LinkStateToIntPosition ;
+write RobotArm._AppropriateSpeed using CreateSpeedMessage ;
+
+// --- dependency definitions ---
+RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
+RobotArm._AppropriateSpeed canDependOn RobotArm._AttributeTestSource as dependency2 ;
+
+// --- mapping definitions ---
+LinkStateToIntPosition: map protobuf panda.Linkstate.PandaLinkState x to IntPosition y {
+ panda.Linkstate.PandaLinkState.Position p = x.getPos();
+ y = IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ());
+}
+
+CreateSpeedMessage: map double x to protobuf config.Robotconfig.RobotConfig y {
+ y = config.Robotconfig.RobotConfig.newBuilder()
+ .setSpeed(x)
+ .build();
+}
diff --git a/ros2rag.base/src/test/resources/MinimalExample.relast b/ros2rag.base/src/test/resources/MinimalExample.relast
deleted file mode 100644
index 7152bd1..0000000
--- a/ros2rag.base/src/test/resources/MinimalExample.relast
+++ /dev/null
@@ -1,14 +0,0 @@
-Model ::= RobotArm ZoneModel ;
-
-ZoneModel ::= Size:Position SafetyZone:Zone*;
-
-Zone ::= Position*;
-
-RobotArm ::= Joint* EndEffector /<ShouldUseLowSpeed:Boolean>/ ;
-
-Joint ::= <Name> ;
-rel Joint.CurrentPosition -> Position ;
-
-EndEffector : Joint;
-
-Position ::= <x:int> <y:int> <z:int> ;
diff --git a/ros2rag.example/src/main/jastadd/Example.ros2rag b/ros2rag.example/src/main/jastadd/Example.ros2rag
index f6b49f2..e65c535 100644
--- a/ros2rag.example/src/main/jastadd/Example.ros2rag
+++ b/ros2rag.example/src/main/jastadd/Example.ros2rag
@@ -10,12 +10,12 @@ RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
RobotArm._AppropriateSpeed canDependOn RobotArm._AttributeTestSource as dependency2 ;
// --- mapping definitions ---
-LinkStateToIntPosition: map protobuf panda.Linkstate.PandaLinkState x to IntPosition y {
+LinkStateToIntPosition maps protobuf panda.Linkstate.PandaLinkState x to IntPosition y {
panda.Linkstate.PandaLinkState.Position p = x.getPos();
y = IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ());
}
-CreateSpeedMessage: map double x to protobuf config.Robotconfig.RobotConfig y {
+CreateSpeedMessage maps double x to protobuf config.Robotconfig.RobotConfig y {
y = config.Robotconfig.RobotConfig.newBuilder()
.setSpeed(x)
.build();
--
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