diff --git a/ros2rag.base/build.gradle b/ros2rag.base/build.gradle
index afb6ee8d3a48638ddfae7a382219ec9cd3077ce4..7208baf967ee9a805e1a6582faeff527be28db64 100644
--- a/ros2rag.base/build.gradle
+++ b/ros2rag.base/build.gradle
@@ -20,6 +20,7 @@ dependencies {
implementation 'com.fasterxml.jackson.core:jackson-core:2.9.8'
implementation 'com.fasterxml.jackson.core:jackson-databind:2.9.8'
implementation 'com.github.spullara.mustache.java:compiler:0.9.6'
+ implementation group: 'org.apache.logging.log4j', name: 'log4j-jul', version: '2.11.2'
// api 'org.jastadd:jastadd:2.3.4'
runtime 'org.jastadd:jastadd:2.3.4'
api group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
diff --git a/ros2rag.base/src/main/jastadd/MustacheNodes.relast b/ros2rag.base/src/main/jastadd/MustacheNodes.relast
index d9181d0ca3d72c6b9597f2300bb3f10b0d2fa866..69d4280f9d9038c838e83767c6e72be9a8d6d5d8 100644
--- a/ros2rag.base/src/main/jastadd/MustacheNodes.relast
+++ b/ros2rag.base/src/main/jastadd/MustacheNodes.relast
@@ -1,7 +1,7 @@
//TypeComponentMustache ;
//rel TypeComponentMustache.TypeComponent -> TypeComponent ;
-MRos2Rag ::= ReadDefinition:MReadDefinition* WriteDefinition:MWriteDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeChildren:MTypeComponent* TokenComponent:MTokenComponent*;
+MRos2Rag ::= ReadDefinition:MReadDefinition* WriteDefinition:MWriteDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeComponent:MTypeComponent* TokenComponent:MTokenComponent*;
abstract MUpdateDefinition ::= InnerMappingDefinition:MInnerMappingDefinition*;
MReadDefinition : MUpdateDefinition;
MWriteDefinition : MUpdateDefinition;
diff --git a/ros2rag.base/src/main/jastadd/backend/Generation.jadd b/ros2rag.base/src/main/jastadd/backend/Generation.jadd
index 01cbb9a39e92ea4a68875d6c46a219be29ff340c..7aa915a421b4034ffa7f20406b22a041a0868bb9 100644
--- a/ros2rag.base/src/main/jastadd/backend/Generation.jadd
+++ b/ros2rag.base/src/main/jastadd/backend/Generation.jadd
@@ -27,6 +27,14 @@ aspect GenerationUtils {
aspect AttributesForMustache {
// --- MRos2Rag ---
+ eq MRos2Rag.getChild().mqttUpdaterAttribute() = mqttUpdaterAttribute();
+ eq MRos2Rag.getChild().mqttUpdaterField() = mqttUpdaterField();
+
+ syn String MRos2Rag.mqttUpdaterAttribute() = getRos2Rag().mqttUpdaterAttribute();
+ syn String MRos2Rag.mqttUpdaterField() = getRos2Rag().mqttUpdaterField();
+ syn String MRos2Rag.mqttSetHostMethod() = getRos2Rag().mqttSetHostMethod();
+ syn String MRos2Rag.mqttWaitUntilReadyMethod() = getRos2Rag().mqttWaitUntilReadyMethod();
+ syn String MRos2Rag.mqttCloseMethod() = getRos2Rag().mqttCloseMethod();
// --- MUpdateDefinition ---
syn String MUpdateDefinition.preemptiveExpectedValue();
@@ -34,12 +42,12 @@ aspect AttributesForMustache {
syn TokenUpdateDefinition MUpdateDefinition.updateDef();
syn String MUpdateDefinition.firstInputVarName();
- eq MUpdateDefinition.getInnerMappingDefinition(int i).isLast() = i == getNumInnerMappingDefinition();
+ eq MUpdateDefinition.getInnerMappingDefinition(int i).isLast() = i == getNumInnerMappingDefinition() - 1;
eq MUpdateDefinition.getInnerMappingDefinition().resultVarPrefix() = resultVarPrefix();
eq MUpdateDefinition.getInnerMappingDefinition(int i).inputVarName() = i == 0 ? firstInputVarName() : resultVarPrefix() + getInnerMappingDefinition(i - 1).getMappingDefinition().methodName();
- eq MRos2Rag.getChild().mqttUpdaterField() = getRos2Rag().mqttUpdaterField();
- syn String MUpdateDefinition.mqttUpdaterAttribute() = updateDef().mqttUpdaterAttribute();
+ inh String MUpdateDefinition.mqttUpdaterAttribute();
+
syn String MUpdateDefinition.connectMethod() = updateDef().connectMethod();
syn TokenComponent MUpdateDefinition.token() = updateDef().getToken();
syn boolean MUpdateDefinition.alwaysApply() = updateDef().getAlwaysApply();
@@ -47,7 +55,7 @@ aspect AttributesForMustache {
syn String MUpdateDefinition.parentTypeName() = token().containingTypeDecl().getName();
syn String MUpdateDefinition.tokenName() = token().getName();
syn MInnerMappingDefinition MUpdateDefinition.lastDefinition() = getInnerMappingDefinition(getNumInnerMappingDefinition() - 1);
- syn String MUpdateDefinition.lastDefinitionType() = lastDefinition().ToType();
+ syn String MUpdateDefinition.lastDefinitionToType() = lastDefinition().ToType();
syn String MUpdateDefinition.lastDefinitionName() = lastDefinition().methodName();
syn String MUpdateDefinition.lastResult() = resultVarPrefix() + lastDefinitionName();
syn String MUpdateDefinition.condition() {
@@ -133,11 +141,13 @@ aspect AttributesForMustache {
result.addDependencyDefinition(def.toMustache());
}
for (TokenComponent token : getProgram().allTokenComponents()) {
- result.addTokenComponent(token.toMustache());
+ if (!token.getDependencySourceDefinitionList().isEmpty()) {
+ result.addTokenComponent(token.toMustache());
+ }
}
for (Component child : rootNode.getComponentList()) {
if (child.isTypeComponent()) {
- result.addRootTypeChildren(child.asTypeComponent().toMustache());
+ result.addRootTypeComponent(child.asTypeComponent().toMustache());
}
}
return result;
@@ -220,242 +230,37 @@ aspect AspectGeneration {
inh String DependencyDefinition.mqttUpdaterAttribute();
eq Ros2Rag.getChild().mqttUpdaterAttribute() = mqttUpdaterAttribute();
- // --- mqttUpdaterField ---
-
// --- rootNodeName ---
syn String ASTNode.rootNodeName() = rootNode.getName();
- // mustache specific nodes
-// syn nta TypeComponentMustache TypeComponent.mustache() {
-// TypeComponentMustache result = new TypeComponentMustache();
-// result.setTypeComponent(this);
-// return result;
-// }
-// syn String TypeComponentMustache.name() = getTypeComponent().getName();
-// inh String TypeComponentMustache.mqttUpdaterAttribute();
-// inh String TypeComponentMustache.mqttUpdaterField();
-//
-// // mustache specific attributes
-// syn java.util.List<TypeComponentMustache> Ros2Rag.rootTypeChildren() {
-// java.util.List<TypeComponentMustache> result = new java.util.ArrayList<>();
-// for (Component child : rootNode.getComponentList()) {
-// if (child.isTypeComponent()){
-// result.add(child.asTypeComponent().mustache());
-// }
-// }
-// return result;
-// }
-
public String Ros2Rag.generateAspect(String rootNodeName) {
- StringBuilder sb = new StringBuilder();
rootNode = getProgram().resolveTypeDecl(rootNodeName);
- com.github.mustachejava.MustacheFactory mf = new com.github.mustachejava.DefaultMustacheFactory();
+ return toMustache().generateAspect();
+ }
+
+ public String MRos2Rag.generateAspect() {
+ StringBuilder sb = new StringBuilder();
+ com.github.mustachejava.reflect.ReflectionObjectHandler roh = new com.github.mustachejava.reflect.ReflectionObjectHandler() {
+ @Override
+ public com.github.mustachejava.Binding createBinding(String name, final com.github.mustachejava.TemplateContext tc, com.github.mustachejava.Code code) {
+ return new com.github.mustachejava.reflect.GuardedBinding(this, name, tc, code) {
+ @Override
+ protected synchronized com.github.mustachejava.util.Wrapper getWrapper(String name, java.util.List<Object> scopes) {
+ com.github.mustachejava.util.Wrapper wrapper = super.getWrapper(name, scopes);
+ if (wrapper instanceof com.github.mustachejava.reflect.MissingWrapper) {
+ throw new com.github.mustachejava.MustacheException(name + " not found in " + tc);
+ }
+ return wrapper;
+ }
+ };
+ }
+ };
+ com.github.mustachejava.DefaultMustacheFactory mf = new com.github.mustachejava.DefaultMustacheFactory();
+ mf.setObjectHandler(roh);
com.github.mustachejava.Mustache m = mf.compile("ros2rag.mustache");
m.execute(new java.io.PrintWriter(new org.jastadd.ros2rag.compiler.AppendableWriter(sb)), this);
-// generateMqttAspect(sb);
-// generateGrammarExtension(sb);
return sb.toString();
}
-//
-// public void Ros2Rag.generateMqttAspect(StringBuilder sb) {
-// String rootNodeName = rootNode.getName();
-// com.github.mustachejava.MustacheFactory mf = new com.github.mustachejava.DefaultMustacheFactory();
-// com.github.mustachejava.Mustache m = mf.compile("mqtt.mustache");
-// m.execute(new java.io.PrintWriter(new org.jastadd.ros2rag.compiler.AppendableWriter(sb)), this);
-// }
-//
-// public void Ros2Rag.generateGrammarExtension(StringBuilder sb) {
-// sb.append("aspect ROS2RAG {\n");
-//
-// for (UpdateDefinition def : getUpdateDefinitionList()) {
-// def.generateAspect(sb);
-// }
-// for (MappingDefinition def : allMappingDefinitions()) {
-// def.generateAspect(sb);
-// }
-// for (DependencyDefinition def : getDependencyDefinitionList()) {
-// def.generateAspect(sb);
-// }
-// for (TokenComponent token : getProgram().allTokenComponents()) {
-// token.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;
-// // last variable need to be declared before begin of try
-// MappingDefinition lastDefinition = effectiveMappings().get(effectiveMappings().size() - 1);
-// sb.append(ind(indent)).append(lastDefinition.getToType().prettyPrint()).append(" ")
-// .append(resultVariablePrefix).append(lastDefinition.methodName()).append(";\n");
-// sb.append(ind(indent)).append("try {\n");
-// for (MappingDefinition mappingDefinition : effectiveMappings()) {
-// String resultVariableName = resultVariablePrefix + mappingDefinition.methodName();
-// sb.append(ind(indent + 1));
-// if (mappingDefinition != lastDefinition) {
-// sb.append(mappingDefinition.getToType().prettyPrint()).append(" ");
-// }
-// sb.append(resultVariablePrefix).append(mappingDefinition.methodName())
-// .append(" = ").append(mappingDefinition.methodName()).append("(")
-// .append(inputVariableName).append(");\n");
-// inputVariableName = resultVariableName;
-// }
-// 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");
-// if (!getAlwaysApply()) {
-// MappingDefinition lastMapping = effectiveMappings().get(effectiveMappings().size() - 1);
-// sb.append(ind(indent)).append("if (");
-// if (lastMapping.getToType().isArray()) {
-// sb.append("java.util.Arrays.equals(").append(preemptiveExpectedValue())
-// .append(", ").append(inputVariableName).append(")");
-// } else {
-// sb.append(preemptiveExpectedValue());
-// if (getToken().isPrimitiveType() && lastMapping.getToType().isPrimitiveType()) {
-// sb.append(" == ").append(inputVariableName);
-// } else if (lastMapping.isDefaultMappingDefinition()) {
-// sb.append(" != null && ").append(preemptiveExpectedValue()).append(".equals(")
-// .append(inputVariableName).append(")");
-// } else {
-// sb.append(" != null ? ").append(preemptiveExpectedValue()).append(".equals(")
-// .append(inputVariableName).append(")").append(" : ")
-// .append(inputVariableName).append(" == null");
-// }
-// }
-// sb.append(") { ").append(preemptiveReturnStatement()).append(" }\n");
-// }
-// return inputVariableName;
-// }
-//
-// syn String TokenUpdateDefinition.preemptiveExpectedValue();
-// eq ReadFromMqttDefinition.preemptiveExpectedValue() = "get" + getToken().getName() + "()";
-// eq WriteToMqttDefinition.preemptiveExpectedValue() = lastValue();
-//
-// 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");
-// if (loggingEnabledForReads) {
-// sb.append(ind(3)).append("System.out.println(\"[Read] \" + topic + \" -> ")
-// .append(getToken().getName()).append(" = \" + ").append(lastResult)
-// .append(");\n");
-// }
-// sb.append(ind(3)).append("set").append(getToken().getName()).append("(").append(lastResult).append(");\n");
-// sb.append(ind(2)).append("});\n");
-// 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
-// sb.append(ind(1)).append("protected boolean ").append(parentTypeName).append(".")
-// .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
-// sb.append(ind(1)).append("protected void ").append(parentTypeName).append(".")
-// .append(writeMethod()).append("() {\n");
-// if (loggingEnabledForWrites) {
-// sb.append(ind(2)).append("System.out.println(\"[Write] ").append(getToken().getName())
-// .append(" = \" + ")
-// .append("get").append(getToken().getName()).append("() + \" -> \" + ")
-// .append(writeTopic()).append(");\n");
-// }
-// // _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("(")
-// .append(getFromType().prettyPrint()).append(" ").append(getFromVariableName())
-// .append(") throws Exception {\n");
-// 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
-// sb.append(ind(1)).append("public void ").append(targetParentTypeName).append(".")
-// .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");
-// }
-//
-// void TokenComponent.generateAspect(StringBuilder sb) {
-// if (getDependencySourceDefinitionList().isEmpty()) { return; }
-//
-// String parentTypeName = containingTypeDecl().getName();
-// // virtual setter
-// sb.append(ind(1)).append("public ").append(parentTypeName).append(" ")
-// .append(parentTypeName).append(".set").append(getName()).append("(")
-// .append(getJavaTypeUse().prettyPrint()).append(" value) {\n");
-// sb.append(ind(2)).append("set").append(internalName()).append("(value);\n");
-//
-// for (DependencyDefinition dependencyDefinition : getDependencySourceDefinitionList()) {
-// String targetParentTypeName = dependencyDefinition.getTarget().containingTypeDecl().getName();
-// sb.append(ind(2)).append("for (").append(targetParentTypeName).append(" target : get")
-// .append(dependencyDefinition.internalRelationPrefix()).append("TargetList()) {\n");
-// sb.append(ind(3)).append("if (target.")
-// .append(dependencyDefinition.targetUpdateDefinition().updateMethod())
-// .append("()) {\n");
-// sb.append(ind(4)).append("target.")
-// .append(dependencyDefinition.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 ").append(getJavaTypeUse().prettyPrint())
-// .append(" ").append(parentTypeName).append(".get").append(getName()).append("() {\n");
-// sb.append(ind(2)).append("return get").append(internalName()).append("();\n");
-// sb.append(ind(1)).append("}\n\n");
-// }
}
aspect RelationGeneration {
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 ee575b9495f53eca9925c6828ba96225734fe31a..8428bf27961070afa6410a349b3412e7bff729e6 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
@@ -37,6 +37,8 @@ public class Compiler {
}
public void run(String[] args) throws CommandLineException, CompilerException {
+ System.setProperty("java.util.logging.manager", "org.apache.logging.log4j.jul.LogManager");
+ System.setProperty("mustache.debug", "true");
options = new ArrayList<>();
addOptions();
commandLine = new CommandLine(options);
diff --git a/ros2rag.base/src/main/resources/mappingApplication.mustache b/ros2rag.base/src/main/resources/mappingApplication.mustache
index 61020400b11622dd09069118c50e6b42c166dcaf..95ce2fe29329d87f880497b37697d50c8c0687be 100644
--- a/ros2rag.base/src/main/resources/mappingApplication.mustache
+++ b/ros2rag.base/src/main/resources/mappingApplication.mustache
@@ -1,14 +1,14 @@
{{lastDefinitionToType}} {{resultVarPrefix}}{{lastDefinitionName}};
try {
{{#InnerMappingDefinitions}}
- {{^isLast}}{{ToType}} {{/isLast}}{{resultVarPrefix}}{{methodName}} = {{methodName}}({{inputVarName}});{{!inputVarName has to be computed beforehand}}
+ {{^last}}{{ToType}} {{/last}}{{resultVarPrefix}}{{methodName}} = {{methodName}}({{inputVarName}});{{!inputVarName has to be computed beforehand}}
{{/InnerMappingDefinitions}}
} catch (Exception e) {
e.printStackTrace();
{{preemptiveReturn}}
}
{{^alwaysApply}}
-if ({{condition}}) {
+if ({{{condition}}}) {
{{preemptiveReturn}}
}
{{/alwaysApply}}
diff --git a/ros2rag.base/src/main/resources/mappingDefinition.mustache b/ros2rag.base/src/main/resources/mappingDefinition.mustache
index 5cc1580a724bc75a15bbdf896974b7dcaa8c926a..920c5a610b0ce0cff1687122c97b6e18ce63bf7f 100644
--- a/ros2rag.base/src/main/resources/mappingDefinition.mustache
+++ b/ros2rag.base/src/main/resources/mappingDefinition.mustache
@@ -1,3 +1,3 @@
protected static {{toType}} ASTNode.{{methodName}}({{fromType}} {{fromVariableName}}) throws Exception {
- {{content}}{{!maybe print line by line to get better indentation}}
+ {{{content}}}{{!maybe print line by line to get better indentation}}
}
diff --git a/ros2rag.base/src/main/resources/mqtt.mustache b/ros2rag.base/src/main/resources/mqtt.mustache
index 3386b2ee72e5648ad8c1e4a1cadb524eca38f97d..2474e16525f6058540c3d73191369f4d2d056c4f 100644
--- a/ros2rag.base/src/main/resources/mqtt.mustache
+++ b/ros2rag.base/src/main/resources/mqtt.mustache
@@ -16,7 +16,7 @@ aspect MQTT {
}
inh MqttUpdater ASTNode.{{mqttUpdaterAttribute}}();
- {{#RootTypeChildren}}
+ {{#getRootTypeComponents}}
eq {{rootNodeName}}.get{{name}}().{{mqttUpdaterAttribute}}() = {{mqttUpdaterField}};
- {{/RootTypeChildren}}
+ {{/getRootTypeComponents}}
}
diff --git a/ros2rag.base/src/main/resources/tokenComponent.mustache b/ros2rag.base/src/main/resources/tokenComponent.mustache
index 1e58287748affc8405e4daf47ff1b54d3f19f12e..a3615c4526e5725bdd49121b16a87a011562f0cd 100644
--- a/ros2rag.base/src/main/resources/tokenComponent.mustache
+++ b/ros2rag.base/src/main/resources/tokenComponent.mustache
@@ -1,7 +1,7 @@
public {{parentTypeName}} {{parentTypeName}}.set{{name}}({{javaType}} value) {
set{{internalName}}(value);
{{#DependencyDefinitions}}
- for ({{targetParentType}} target : get{{internalRelationPrefix}}TargetList) {
+ for ({{targetParentTypeName}} target : get{{internalRelationPrefix}}TargetList()) {
{{#targetUpdateDefinition}}
if (target.{{updateMethod}}()) {
target.{{writeMethod}}();
diff --git a/ros2rag.base/src/main/resources/writeDefinition.mustache b/ros2rag.base/src/main/resources/writeDefinition.mustache
index 81ed5f55403e2340a97b79c451fa1f841c85b1f7..3d8aab888ed0a39131f5cf00b20cfa2e9ade9048 100644
--- a/ros2rag.base/src/main/resources/writeDefinition.mustache
+++ b/ros2rag.base/src/main/resources/writeDefinition.mustache
@@ -18,7 +18,7 @@
protected void {{parentTypeName}}.{{writeMethod}}() {
{{#loggingEnabledForWrites}}
- System.out.println("[Write] {{tokenName}} = " + get{{tokenName}}() + " -> {{writeTopic}});
+ System.out.println("[Write] {{tokenName}} = " + get{{tokenName}}() + " -> " + {{writeTopic}});
{{/loggingEnabledForWrites}}
- {{mqttUpdateAttribute}}().publish({{writeTopic}}, {{lastValue}});
+ {{mqttUpdaterAttribute}}().publish({{writeTopic}}, {{lastValue}});
}