diff --git a/ros2rag.base/.gitignore b/ragconnect.base/.gitignore
similarity index 100%
rename from ros2rag.base/.gitignore
rename to ragconnect.base/.gitignore
diff --git a/ros2rag.base/build.gradle b/ragconnect.base/build.gradle
similarity index 55%
rename from ros2rag.base/build.gradle
rename to ragconnect.base/build.gradle
index a6a7882eeee6db3cc34887d5b8cce3fe267905d5..7bfebcfe84f3d6f53a6ceb997eb0108610135e31 100644
--- a/ros2rag.base/build.gradle
+++ b/ragconnect.base/build.gradle
@@ -3,7 +3,7 @@ apply plugin: 'application'
sourceCompatibility = 1.8
-mainClassName = 'org.jastadd.ros2rag.compiler.Compiler'
+mainClassName = 'org.jastadd.ragconnect.compiler.Compiler'
repositories {
jcenter()
@@ -17,12 +17,32 @@ buildscript {
}
dependencies {
+ implementation project(':relast.preprocessor')
implementation group: 'com.github.spullara.mustache.java', name: 'compiler', version: '0.9.6'
implementation group: 'org.apache.logging.log4j', name: 'log4j-jul', version: '2.11.2'
runtime group: 'org.jastadd', name: 'jastadd', version: '2.3.4'
api group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
}
+def versionFile = 'src/main/resources/ragConnectVersion.properties'
+def oldProps = new Properties()
+
+try {
+ file(versionFile).withInputStream { stream -> oldProps.load(stream) }
+ version = oldProps['version']
+} catch (e) {
+ // this happens, if either the properties file is not present, or cannot be read from
+ throw new GradleException("File ${versionFile} not found or unreadable. Aborting.", e)
+}
+
+task newVersion() {
+ doFirst {
+ def props = new Properties()
+ props['version'] = value
+ props.store(file(versionFile).newWriter(), null)
+ }
+}
+
sourceSets {
main {
java.srcDir "src/gen/java"
@@ -37,7 +57,7 @@ test {
jar {
manifest {
- attributes "Main-Class": 'org.jastadd.ros2rag.compiler.Compiler'
+ attributes "Main-Class": 'org.jastadd.ragconnect.compiler.Compiler'
}
from {
@@ -51,47 +71,47 @@ task relast(type: JavaExec) {
doFirst {
delete "src/gen/jastadd/*.ast"
- delete "src/gen/jastadd/Ros2Rag.jadd"
- delete "src/gen/jastadd/Ros2RagRefResolver.jadd"
- delete "src/gen/jastadd/Ros2RagResolverStubs.jrag"
+ delete "src/gen/jastadd/RagConnect.jadd"
+ delete "src/gen/jastadd/RagConnectRefResolver.jadd"
+ delete "src/gen/jastadd/RagConnectResolverStubs.jrag"
mkdir "src/gen/jastadd/"
}
args = [
"../libs/relast.jar",
"../relast.preprocessor/src/main/jastadd/RelAst.relast",
- "./src/main/jastadd/Ros2Rag.relast",
+ "./src/main/jastadd/RagConnect.relast",
"./src/main/jastadd/MustacheNodes.relast",
"--listClass=java.util.ArrayList",
"--jastAddList=JastAddList",
"--useJastAddNames",
"--file",
"--resolverHelper",
- "--grammarName=./src/gen/jastadd/Ros2Rag"
+ "--grammarName=./src/gen/jastadd/RagConnect"
]
inputs.files file("../libs/relast.jar"),
file("../relast.preprocessor/src/main/jastadd/RelAST.relast"),
- file("./src/main/jastadd/Ros2Rag.relast")
+ file("./src/main/jastadd/RagConnect.relast")
file("./src/main/jastadd/MustacheNodes.relast")
- outputs.files file("./src/gen/jastadd/Ros2Rag.ast"),
- file("./src/gen/jastadd/Ros2Rag.jadd"),
- file("./src/gen/jastadd/Ros2RagRefResolver.jadd"),
- file('./src/gen/jastadd/Ros2RagResolverStubs.jrag')
+ outputs.files file("./src/gen/jastadd/RagConnect.ast"),
+ file("./src/gen/jastadd/RagConnect.jadd"),
+ file("./src/gen/jastadd/RagConnectRefResolver.jadd"),
+ file('./src/gen/jastadd/RagConnectResolverStubs.jrag')
}
jastadd {
configureModuleBuild()
modules {
//noinspection GroovyAssignabilityCheck
- module("Ros2Rag") {
+ module("RagConnect") {
java {
basedir ".."
include "relast.preprocessor/main/**/*.java"
include "relast.preprocessor/gen/**/*.java"
- include "ros2rag.base/src/main/**/*.java"
- include "ros2rag.base/src/gen/**/*.java"
+ include "ragconnect.base/src/main/**/*.java"
+ include "ragconnect.base/src/gen/**/*.java"
}
jastadd {
@@ -99,23 +119,23 @@ jastadd {
include "relast.preprocessor/src/main/jastadd/**/*.ast"
include "relast.preprocessor/src/main/jastadd/**/*.jadd"
include "relast.preprocessor/src/main/jastadd/**/*.jrag"
- include "ros2rag.base/src/main/jastadd/**/*.ast"
- include "ros2rag.base/src/main/jastadd/**/*.jadd"
- include "ros2rag.base/src/main/jastadd/**/*.jrag"
- include "ros2rag.base/src/gen/jastadd/**/*.ast"
- include "ros2rag.base/src/gen/jastadd/**/*.jadd"
- include "ros2rag.base/src/gen/jastadd/**/*.jrag"
+ include "ragconnect.base/src/main/jastadd/**/*.ast"
+ include "ragconnect.base/src/main/jastadd/**/*.jadd"
+ include "ragconnect.base/src/main/jastadd/**/*.jrag"
+ include "ragconnect.base/src/gen/jastadd/**/*.ast"
+ include "ragconnect.base/src/gen/jastadd/**/*.jadd"
+ include "ragconnect.base/src/gen/jastadd/**/*.jrag"
}
scanner {
basedir ".."
- include "ros2rag.base/src/main/jastadd/scanner/Header.flex", [-5]
+ include "ragconnect.base/src/main/jastadd/scanner/Header.flex", [-5]
include "relast.preprocessor/src/main/jastadd/scanner/Preamble.flex", [-4]
include "relast.preprocessor/src/main/jastadd/scanner/Macros.flex", [-3]
- include "ros2rag.base/src/main/jastadd/scanner/Macros.flex", [-3]
+ include "ragconnect.base/src/main/jastadd/scanner/Macros.flex", [-3]
include "relast.preprocessor/src/main/jastadd/scanner/RulesPreamble.flex", [-2]
- include "ros2rag.base/src/main/jastadd/scanner/MappingContent.flex", [-1]
- include "ros2rag.base/src/main/jastadd/scanner/Keywords.flex"
+ include "ragconnect.base/src/main/jastadd/scanner/MappingContent.flex", [-1]
+ include "ragconnect.base/src/main/jastadd/scanner/Keywords.flex"
include "relast.preprocessor/src/main/jastadd/scanner/Keywords.flex"
include "relast.preprocessor/src/main/jastadd/scanner/Symbols.flex", [1]
include "relast.preprocessor/src/main/jastadd/scanner/RulesPostamble.flex", [2]
@@ -123,8 +143,8 @@ jastadd {
parser {
basedir ".."
- include "ros2rag.base/src/main/jastadd/parser/Preamble.parser"
- include "ros2rag.base/src/main/jastadd/parser/Ros2Rag.parser"
+ include "ragconnect.base/src/main/jastadd/parser/Preamble.parser"
+ include "ragconnect.base/src/main/jastadd/parser/RagConnect.parser"
include "relast.preprocessor/src/main/jastadd/parser/RelAst.parser"
}
}
@@ -141,18 +161,18 @@ jastadd {
}
- module = "Ros2Rag"
+ module = "RagConnect"
- astPackage = 'org.jastadd.ros2rag.ast'
+ astPackage = 'org.jastadd.ragconnect.ast'
- parser.name = 'Ros2RagParser'
+ parser.name = 'RagConnectParser'
genDir = 'src/gen/java'
buildInfoDir = 'src/gen-res'
- scanner.genDir = "src/gen/java/org/jastadd/ros2rag/scanner"
- parser.genDir = "src/gen/java/org/jastadd/ros2rag/parser"
+ scanner.genDir = "src/gen/java/org/jastadd/ragconnect/scanner"
+ parser.genDir = "src/gen/java/org/jastadd/ragconnect/parser"
jastaddOptions = ["--lineColumnNumbers", "--List=JastAddList", "--safeLazy", "--visitCheck=true", "--rewrite=cnta", "--cache=all"]
}
diff --git a/ragconnect.base/src/main/jastadd/Analysis.jrag b/ragconnect.base/src/main/jastadd/Analysis.jrag
new file mode 100644
index 0000000000000000000000000000000000000000..623a3f0ad8c0457d8d0606bf70dea0adfea89ea4
--- /dev/null
+++ b/ragconnect.base/src/main/jastadd/Analysis.jrag
@@ -0,0 +1,27 @@
+aspect Analysis {
+ // --- lookupTokenEndpointDefinition ---
+ inh TokenEndpointDefinition TokenEndpointDefinition.lookupTokenEndpointDefinition(TokenComponent token);
+ eq RagConnect.getEndpointDefinition().lookupTokenEndpointDefinition(TokenComponent token) {
+ for (EndpointDefinition def : getEndpointDefinitionList()) {
+ if (def.isTokenEndpointDefinition() && def.asTokenEndpointDefinition().getToken().equals(token)) {
+ return def.asTokenEndpointDefinition();
+ }
+ }
+ return null;
+ }
+
+ // --- lookupDependencyDefinition ---
+ inh DependencyDefinition DependencyDefinition.lookupDependencyDefinition(TypeDecl source, String id);
+ eq RagConnect.getDependencyDefinition().lookupDependencyDefinition(TypeDecl source, String id) {
+ for (DependencyDefinition def : getDependencyDefinitionList()) {
+ if (def.getID().equals(id) && def.getSource().containingTypeDecl().equals(source)) {
+ return def;
+ }
+ }
+ return null;
+ }
+
+ // --- isAlreadyDefined ---
+ syn boolean TokenEndpointDefinition.isAlreadyDefined() = lookupTokenEndpointDefinition(getToken()) != this;
+ syn boolean DependencyDefinition.isAlreadyDefined() = lookupDependencyDefinition(getSource().containingTypeDecl(), getID()) != this;
+}
diff --git a/ros2rag.base/src/main/jastadd/Errors.jrag b/ragconnect.base/src/main/jastadd/Errors.jrag
similarity index 69%
rename from ros2rag.base/src/main/jastadd/Errors.jrag
rename to ragconnect.base/src/main/jastadd/Errors.jrag
index ef223a4081e169273555140a35a9f8b47876109d..bfee2545d4bee28223b04ce931ccd6a6429cf13f 100644
--- a/ros2rag.base/src/main/jastadd/Errors.jrag
+++ b/ragconnect.base/src/main/jastadd/Errors.jrag
@@ -3,50 +3,50 @@ import java.util.TreeSet;
import java.util.LinkedList;
aspect Errors {
- coll Set<ErrorMessage> Ros2Rag.errors()
+ coll Set<ErrorMessage> RagConnect.errors()
[new TreeSet<ErrorMessage>()]
- root Ros2Rag;
+ root RagConnect;
- ReadFromMqttDefinition contributes error("Read definition already defined for " + getToken().getName())
+ ReceiveFromMqttDefinition contributes error("Receive definition already defined for " + getToken().getName())
when isAlreadyDefined()
- to Ros2Rag.errors();
+ to RagConnect.errors();
- ReadFromMqttDefinition contributes error("Reading target token must not be an NTA token!")
+ ReceiveFromMqttDefinition contributes error("Receiving target token must not be an NTA token!")
when getToken().getNTA()
- to Ros2Rag.errors();
+ to RagConnect.errors();
// if first mapping is null, then suitableDefaultMapping() == null
- ReadFromMqttDefinition contributes error("No suitable default mapping found for type " +
+ ReceiveFromMqttDefinition contributes error("No suitable default mapping found for type " +
((getMappingList().isEmpty())
? getToken().getJavaTypeUse().prettyPrint()
: getMappingList().get(0).getFromType().prettyPrint()))
when effectiveMappings().get(0) == null
- to Ros2Rag.errors();
+ to RagConnect.errors();
- ReadFromMqttDefinition contributes error("to-type of last mapping must be type of the Token!")
+ ReceiveFromMqttDefinition contributes error("to-type of last mapping must be type of the Token!")
when getToken().getJavaTypeUse().prettyPrint().equals(
effectiveMappings().get(effectiveMappings().size() - 1))
- to Ros2Rag.errors();
+ to RagConnect.errors();
- WriteToMqttDefinition contributes error("Writing target token must be an NTA token!")
+ SendToMqttDefinition contributes error("Sending target token must be an NTA token!")
when !getToken().getNTA()
- to Ros2Rag.errors();
+ to RagConnect.errors();
- WriteToMqttDefinition contributes error("Write definition already defined for " + getToken().getName())
+ SendToMqttDefinition contributes error("Send definition already defined for " + getToken().getName())
when isAlreadyDefined()
- to Ros2Rag.errors();
+ to RagConnect.errors();
DependencyDefinition contributes error("Dependency definition already defined for " + getSource().containingTypeDecl().getName() + " with name " + getID())
when isAlreadyDefined()
- to Ros2Rag.errors();
+ to RagConnect.errors();
DependencyDefinition contributes error("The name of a dependency definition must not be equal to a list-node on the source")
when isAlreadyDefinedAsList()
- to Ros2Rag.errors();
+ to RagConnect.errors();
- DependencyDefinition contributes error("There must be a write update definition targeting " + getSource().parentTypeypeAndName() + " for dependency definition " + getID())
- when targetUpdateDefinition() == null
- to Ros2Rag.errors();
+ DependencyDefinition contributes error("There must be a send update definition targeting " + getSource().parentTypeypeAndName() + " for dependency definition " + getID())
+ when targetEndpointDefinition() == null
+ to RagConnect.errors();
}
aspect ErrorHelpers {
diff --git a/ragconnect.base/src/main/jastadd/MustacheNodes.relast b/ragconnect.base/src/main/jastadd/MustacheNodes.relast
new file mode 100644
index 0000000000000000000000000000000000000000..ce85caba554d1f582079b299f457d7675ab12dfa
--- /dev/null
+++ b/ragconnect.base/src/main/jastadd/MustacheNodes.relast
@@ -0,0 +1,22 @@
+//TypeComponentMustache ;
+//rel TypeComponentMustache.TypeComponent -> TypeComponent ;
+
+MRagConnect ::= ReceiveDefinition:MReceiveDefinition* SendDefinition:MSendDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeComponent:MTypeComponent* TokenComponent:MTokenComponent*;
+abstract MEndpointDefinition ::= InnerMappingDefinition:MInnerMappingDefinition*;
+MReceiveDefinition : MEndpointDefinition;
+MSendDefinition : MEndpointDefinition;
+MMappingDefinition;
+MInnerMappingDefinition;
+MDependencyDefinition;
+MTypeComponent;
+MTokenComponent;
+
+rel MRagConnect.RagConnect -> RagConnect;
+rel MInnerMappingDefinition.MappingDefinition -> MappingDefinition;
+rel MReceiveDefinition.ReceiveFromMqttDefinition -> ReceiveFromMqttDefinition;
+rel MSendDefinition.SendToMqttDefinition -> SendToMqttDefinition;
+rel MMappingDefinition.MappingDefinition -> MappingDefinition;
+rel MDependencyDefinition.DependencyDefinition -> DependencyDefinition;
+rel MTypeComponent.TypeComponent -> TypeComponent;
+rel MTokenComponent.TokenComponent -> TokenComponent;
+rel MTokenComponent.DependencyDefinition* -> MDependencyDefinition;
diff --git a/ros2rag.base/src/main/jastadd/NameResolution.jrag b/ragconnect.base/src/main/jastadd/NameResolution.jrag
similarity index 57%
rename from ros2rag.base/src/main/jastadd/NameResolution.jrag
rename to ragconnect.base/src/main/jastadd/NameResolution.jrag
index fc4485858d199f352c18fcd188914020666ef619..f282ba55983feeae814e12823ff31f1d6480b6a8 100644
--- a/ros2rag.base/src/main/jastadd/NameResolution.jrag
+++ b/ragconnect.base/src/main/jastadd/NameResolution.jrag
@@ -1,8 +1,8 @@
aspect NameResolution {
- refine RefResolverStubs eq UpdateDefinition.resolveMappingByToken(String id, int position) {
+ refine RefResolverStubs eq EndpointDefinition.resolveMappingByToken(String id, int position) {
// return a MappingDefinition
- for (MappingDefinition mappingDefinition : ros2rag().getMappingDefinitionList()) {
+ for (MappingDefinition mappingDefinition : ragconnect().getMappingDefinitionList()) {
if (mappingDefinition.getID().equals(id)) {
return mappingDefinition;
}
diff --git a/ragconnect.base/src/main/jastadd/Navigation.jrag b/ragconnect.base/src/main/jastadd/Navigation.jrag
new file mode 100644
index 0000000000000000000000000000000000000000..2314386eb9f74ecb5699d6fba91956e80f75fa63
--- /dev/null
+++ b/ragconnect.base/src/main/jastadd/Navigation.jrag
@@ -0,0 +1,54 @@
+aspect Navigation {
+
+ // --- program ---
+ eq RagConnect.getChild().program() = getProgram();
+ eq MRagConnect.getChild().program() = getRagConnect().program();
+
+ // --- ragconnect ---
+ inh RagConnect ASTNode.ragconnect();
+ eq RagConnect.getChild().ragconnect() = this;
+ eq MRagConnect.getChild().ragconnect() = getRagConnect();
+
+ // --- containedFile
+ eq RagConnect.getChild().containedFile() = null;
+
+ // --- containedFileName ---
+ eq RagConnect.getChild().containedFileName() = getFileName();
+ eq MRagConnect.getChild().containedFileName() = null;
+
+ // --- isTokenEndpointDefinition ---
+ syn boolean EndpointDefinition.isTokenEndpointDefinition() = false;
+ eq TokenEndpointDefinition.isTokenEndpointDefinition() = true;
+
+ // --- asTokenEndpointDefinition ---
+ syn TokenEndpointDefinition EndpointDefinition.asTokenEndpointDefinition() = null;
+ eq TokenEndpointDefinition.asTokenEndpointDefinition() = this;
+
+ // --- isSendToMqttDefinition ---
+ syn boolean EndpointDefinition.isSendToMqttDefinition() = false;
+ eq SendToMqttDefinition.isSendToMqttDefinition() = true;
+
+ // --- asSendToMqttDefinition ---
+ syn SendToMqttDefinition EndpointDefinition.asSendToMqttDefinition() = null;
+ eq SendToMqttDefinition.asSendToMqttDefinition() = this;
+
+ // --- asReceiveFromMqttDefinition ---
+ syn ReceiveFromMqttDefinition EndpointDefinition.asReceiveFromMqttDefinition() = null;
+ eq ReceiveFromMqttDefinition.asReceiveFromMqttDefinition() = this;
+
+ // --- targetEndpointDefinition ---
+ syn SendToMqttDefinition DependencyDefinition.targetEndpointDefinition() {
+ // resolve definition in here, as we do not need resolveMethod in any other place (yet)
+ for (EndpointDefinition endpointDefinition : ragconnect().getEndpointDefinitionList()) {
+ if (endpointDefinition.isSendToMqttDefinition() &&
+ endpointDefinition.asSendToMqttDefinition().getToken().equals(this.getTarget())) {
+ return endpointDefinition.asSendToMqttDefinition();
+ }
+ }
+ return null;
+ }
+
+ // --- isDefaultMappingDefinition ---
+ syn boolean MappingDefinition.isDefaultMappingDefinition() = false;
+ eq DefaultMappingDefinition.isDefaultMappingDefinition() = true;
+}
diff --git a/ros2rag.base/src/main/jastadd/Ros2Rag.relast b/ragconnect.base/src/main/jastadd/RagConnect.relast
similarity index 55%
rename from ros2rag.base/src/main/jastadd/Ros2Rag.relast
rename to ragconnect.base/src/main/jastadd/RagConnect.relast
index e1a84e8beac44fcbc23d09fc56ed536586bde4e8..d30116efae1a6735e88922e31f42f99911c6532a 100644
--- a/ros2rag.base/src/main/jastadd/Ros2Rag.relast
+++ b/ragconnect.base/src/main/jastadd/RagConnect.relast
@@ -1,14 +1,14 @@
-Ros2Rag ::= UpdateDefinition* DependencyDefinition* MappingDefinition* Program <FileName> ;
+RagConnect ::= EndpointDefinition* DependencyDefinition* MappingDefinition* Program <FileName> ;
-abstract UpdateDefinition ::= <AlwaysApply:boolean> ;
+abstract EndpointDefinition ::= <AlwaysApply:boolean> ;
-rel UpdateDefinition.Mapping* -> MappingDefinition;
+rel EndpointDefinition.Mapping* -> MappingDefinition;
-abstract TokenUpdateDefinition : UpdateDefinition;
-rel TokenUpdateDefinition.Token -> TokenComponent;
+abstract TokenEndpointDefinition : EndpointDefinition;
+rel TokenEndpointDefinition.Token -> TokenComponent;
-ReadFromMqttDefinition : TokenUpdateDefinition;
-WriteToMqttDefinition : TokenUpdateDefinition;
+ReceiveFromMqttDefinition : TokenEndpointDefinition;
+SendToMqttDefinition : TokenEndpointDefinition;
DependencyDefinition ::= <ID>;
rel DependencyDefinition.Source <-> TokenComponent.DependencySourceDefinition*;
diff --git a/ros2rag.base/src/main/jastadd/backend/Configuration.jadd b/ragconnect.base/src/main/jastadd/backend/Configuration.jadd
similarity index 100%
rename from ros2rag.base/src/main/jastadd/backend/Configuration.jadd
rename to ragconnect.base/src/main/jastadd/backend/Configuration.jadd
diff --git a/ros2rag.base/src/main/jastadd/backend/Generation.jadd b/ragconnect.base/src/main/jastadd/backend/Generation.jadd
similarity index 59%
rename from ros2rag.base/src/main/jastadd/backend/Generation.jadd
rename to ragconnect.base/src/main/jastadd/backend/Generation.jadd
index 9179b3d5ad520e4a3255a5b26c7ea86deaeef50b..067626ed42f12add896ca4eea7c65917309c0e2e 100644
--- a/ros2rag.base/src/main/jastadd/backend/Generation.jadd
+++ b/ragconnect.base/src/main/jastadd/backend/Generation.jadd
@@ -26,39 +26,40 @@ aspect GenerationUtils {
*/
aspect AttributesForMustache {
- // --- MRos2Rag ---
- eq MRos2Rag.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
- eq MRos2Rag.getChild().mqttHandlerField() = mqttHandlerField();
+ // --- MRagConnect ---
+ eq MRagConnect.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
+ eq MRagConnect.getChild().mqttHandlerField() = mqttHandlerField();
+ eq MRagConnect.getRootTypeComponent(int i).isFirst() = i == 0;
- syn String MRos2Rag.mqttHandlerAttribute() = getRos2Rag().mqttHandlerAttribute();
- syn String MRos2Rag.mqttHandlerField() = getRos2Rag().mqttHandlerField();
- syn String MRos2Rag.mqttSetHostMethod() = getRos2Rag().mqttSetHostMethod();
- syn String MRos2Rag.mqttWaitUntilReadyMethod() = getRos2Rag().mqttWaitUntilReadyMethod();
- syn String MRos2Rag.mqttCloseMethod() = getRos2Rag().mqttCloseMethod();
+ syn String MRagConnect.mqttHandlerAttribute() = getRagConnect().mqttHandlerAttribute();
+ syn String MRagConnect.mqttHandlerField() = getRagConnect().mqttHandlerField();
+ syn String MRagConnect.mqttSetHostMethod() = getRagConnect().mqttSetHostMethod();
+ syn String MRagConnect.mqttWaitUntilReadyMethod() = getRagConnect().mqttWaitUntilReadyMethod();
+ syn String MRagConnect.mqttCloseMethod() = getRagConnect().mqttCloseMethod();
- // --- MUpdateDefinition ---
- syn String MUpdateDefinition.preemptiveExpectedValue();
- syn String MUpdateDefinition.preemptiveReturn();
- syn TokenUpdateDefinition MUpdateDefinition.updateDef();
- syn String MUpdateDefinition.firstInputVarName();
+ // --- MEndpointDefinition ---
+ syn String MEndpointDefinition.preemptiveExpectedValue();
+ syn String MEndpointDefinition.preemptiveReturn();
+ syn TokenEndpointDefinition MEndpointDefinition.endpointDef();
+ syn String MEndpointDefinition.firstInputVarName();
- 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 MEndpointDefinition.getInnerMappingDefinition(int i).isLast() = i == getNumInnerMappingDefinition() - 1;
+ eq MEndpointDefinition.getInnerMappingDefinition().resultVarPrefix() = resultVarPrefix();
+ eq MEndpointDefinition.getInnerMappingDefinition(int i).inputVarName() = i == 0 ? firstInputVarName() : resultVarPrefix() + getInnerMappingDefinition(i - 1).getMappingDefinition().methodName();
- inh String MUpdateDefinition.mqttHandlerAttribute();
+ inh String MEndpointDefinition.mqttHandlerAttribute();
- syn String MUpdateDefinition.connectMethod() = updateDef().connectMethod();
- syn TokenComponent MUpdateDefinition.token() = updateDef().getToken();
- syn boolean MUpdateDefinition.alwaysApply() = updateDef().getAlwaysApply();
- syn String MUpdateDefinition.resultVarPrefix() = "result"; // we do not need "_" here, because methodName begins with one
- syn String MUpdateDefinition.parentTypeName() = token().containingTypeDecl().getName();
- syn String MUpdateDefinition.tokenName() = token().getName();
- syn MInnerMappingDefinition MUpdateDefinition.lastDefinition() = getInnerMappingDefinition(getNumInnerMappingDefinition() - 1);
- syn String MUpdateDefinition.lastDefinitionToType() = lastDefinition().ToType();
- syn String MUpdateDefinition.lastDefinitionName() = lastDefinition().methodName();
- syn String MUpdateDefinition.lastResult() = resultVarPrefix() + lastDefinitionName();
- syn String MUpdateDefinition.condition() {
+ syn String MEndpointDefinition.connectMethod() = endpointDef().connectMethod();
+ syn TokenComponent MEndpointDefinition.token() = endpointDef().getToken();
+ syn boolean MEndpointDefinition.alwaysApply() = endpointDef().getAlwaysApply();
+ syn String MEndpointDefinition.resultVarPrefix() = "result"; // we do not need "_" here, because methodName begins with one
+ syn String MEndpointDefinition.parentTypeName() = token().containingTypeDecl().getName();
+ syn String MEndpointDefinition.tokenName() = token().getName();
+ syn MInnerMappingDefinition MEndpointDefinition.lastDefinition() = getInnerMappingDefinition(getNumInnerMappingDefinition() - 1);
+ syn String MEndpointDefinition.lastDefinitionToType() = lastDefinition().ToType();
+ syn String MEndpointDefinition.lastDefinitionName() = lastDefinition().methodName();
+ syn String MEndpointDefinition.lastResult() = resultVarPrefix() + lastDefinitionName();
+ syn String MEndpointDefinition.condition() {
if (lastDefinition().getMappingDefinition().getToType().isArray()) {
return "java.util.Arrays.equals(" + preemptiveExpectedValue() + ", " + lastResult() + ")";
}
@@ -78,23 +79,23 @@ aspect AttributesForMustache {
syn String MInnerMappingDefinition.methodName() = getMappingDefinition().methodName();
inh String MInnerMappingDefinition.inputVarName();
- // --- MReadDefinition ---
- eq MReadDefinition.preemptiveExpectedValue() = "get" + tokenName() + "()";
- eq MReadDefinition.preemptiveReturn() = "return;";
- eq MReadDefinition.updateDef() = getReadFromMqttDefinition();
- eq MReadDefinition.firstInputVarName() = "message";
+ // --- MReceiveDefinition ---
+ eq MReceiveDefinition.preemptiveExpectedValue() = "get" + tokenName() + "()";
+ eq MReceiveDefinition.preemptiveReturn() = "return;";
+ eq MReceiveDefinition.endpointDef() = getReceiveFromMqttDefinition();
+ eq MReceiveDefinition.firstInputVarName() = "message";
- // --- MWriteDefinition ---
- eq MWriteDefinition.preemptiveExpectedValue() = lastValue();
- eq MWriteDefinition.preemptiveReturn() = "return false;";
- eq MWriteDefinition.updateDef() = getWriteToMqttDefinition();
- eq MWriteDefinition.firstInputVarName() = "get" + tokenName() + "()";
+ // --- MSendDefinition ---
+ eq MSendDefinition.preemptiveExpectedValue() = lastValue();
+ eq MSendDefinition.preemptiveReturn() = "return false;";
+ eq MSendDefinition.endpointDef() = getSendToMqttDefinition();
+ eq MSendDefinition.firstInputVarName() = "get" + tokenName() + "()";
- syn String MWriteDefinition.writeTopic() = getWriteToMqttDefinition().writeTopic();
- syn String MWriteDefinition.lastValue() = getWriteToMqttDefinition().lastValue();
- syn String MWriteDefinition.updateMethod() = getWriteToMqttDefinition().updateMethod();
- syn String MWriteDefinition.writeMethod() = getWriteToMqttDefinition().writeMethod();
- syn String MWriteDefinition.tokenResetMethod() = getWriteToMqttDefinition().tokenResetMethod();
+ syn String MSendDefinition.sendTopic() = getSendToMqttDefinition().sendTopic();
+ syn String MSendDefinition.lastValue() = getSendToMqttDefinition().lastValue();
+ syn String MSendDefinition.updateMethod() = getSendToMqttDefinition().updateMethod();
+ syn String MSendDefinition.writeMethod() = getSendToMqttDefinition().writeMethod();
+ syn String MSendDefinition.tokenResetMethod() = getSendToMqttDefinition().tokenResetMethod();
// --- MMappingDefinition ---
syn String MMappingDefinition.toType() = getMappingDefinition().getToType().prettyPrint();
@@ -108,14 +109,15 @@ aspect AttributesForMustache {
syn String MDependencyDefinition.dependencyMethod() = getDependencyDefinition().dependencyMethod();
syn String MDependencyDefinition.sourceParentTypeName() = getDependencyDefinition().getSource().containingTypeDecl().getName();
syn String MDependencyDefinition.internalRelationPrefix() = getDependencyDefinition().internalRelationPrefix();
- syn nta MUpdateDefinition MDependencyDefinition.targetUpdateDefinition() {
- return getDependencyDefinition().targetUpdateDefinition().toMustache();
+ syn nta MEndpointDefinition MDependencyDefinition.targetEndpointDefinition() {
+ return getDependencyDefinition().targetEndpointDefinition().toMustache();
}
// --- MTypeComponent ---
syn String MTypeComponent.name() = getTypeComponent().getName();
inh String MTypeComponent.mqttHandlerAttribute();
inh String MTypeComponent.mqttHandlerField();
+ inh boolean MTypeComponent.isFirst();
// --- MTokenComponent ---
syn String MTokenComponent.parentTypeName() = getTokenComponent().containingTypeDecl().getName();
@@ -124,14 +126,14 @@ aspect AttributesForMustache {
syn String MTokenComponent.internalName() = getTokenComponent().internalName();
// --- toMustache ---
- syn lazy MRos2Rag Ros2Rag.toMustache() {
- MRos2Rag result = new MRos2Rag();
- result.setRos2Rag(this);
- for (UpdateDefinition def : getUpdateDefinitionList()) {
- if (def.isWriteToMqttDefinition()) {
- result.addWriteDefinition(def.asWriteToMqttDefinition().toMustache());
+ syn lazy MRagConnect RagConnect.toMustache() {
+ MRagConnect result = new MRagConnect();
+ result.setRagConnect(this);
+ for (EndpointDefinition def : getEndpointDefinitionList()) {
+ if (def.isSendToMqttDefinition()) {
+ result.addSendDefinition(def.asSendToMqttDefinition().toMustache());
} else {
- result.addReadDefinition(def.asReadFromMqttDefinition().toMustache());
+ result.addReceiveDefinition(def.asReceiveFromMqttDefinition().toMustache());
}
}
for (MappingDefinition def : allMappingDefinitions()) {
@@ -154,22 +156,22 @@ aspect AttributesForMustache {
}
//MInnerMappingDefinition.MappingDefinition -> MappingDefinition;
- protected void MUpdateDefinition.addInnerMappings() {
- for (MappingDefinition def : updateDef().effectiveMappings()) {
+ protected void MEndpointDefinition.addInnerMappings() {
+ for (MappingDefinition def : endpointDef().effectiveMappings()) {
MInnerMappingDefinition inner = new MInnerMappingDefinition();
inner.setMappingDefinition(def);
addInnerMappingDefinition(inner);
}
}
- syn lazy MReadDefinition ReadFromMqttDefinition.toMustache() {
- MReadDefinition result = new MReadDefinition();
- result.setReadFromMqttDefinition(this);
+ syn lazy MReceiveDefinition ReceiveFromMqttDefinition.toMustache() {
+ MReceiveDefinition result = new MReceiveDefinition();
+ result.setReceiveFromMqttDefinition(this);
result.addInnerMappings();
return result;
}
- syn lazy MWriteDefinition WriteToMqttDefinition.toMustache() {
- MWriteDefinition result = new MWriteDefinition();
- result.setWriteToMqttDefinition(this);
+ syn lazy MSendDefinition SendToMqttDefinition.toMustache() {
+ MSendDefinition result = new MSendDefinition();
+ result.setSendToMqttDefinition(this);
result.addInnerMappings();
return result;
}
@@ -203,12 +205,12 @@ aspect AspectGeneration {
syn String TokenComponent.internalName() = getDependencySourceDefinitionList().isEmpty() ? externalName() : "_internal_" + getName();
syn String TokenComponent.externalName() = getName();
- 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 TokenEndpointDefinition.connectMethod() = "connect" + getToken().getName();
+ syn String SendToMqttDefinition.sendTopic() = "_topic_" + getToken().getName();
+ syn String SendToMqttDefinition.lastValue() = "_lastValue" + getToken().getName();
+ syn String SendToMqttDefinition.updateMethod() = "_update_" + getToken().getName();
+ syn String SendToMqttDefinition.writeMethod() = "_writeLastValue_" + getToken().getName();
+ syn String SendToMqttDefinition.tokenResetMethod() = "get" + getToken().getName() + "_reset";
syn String MappingDefinition.methodName() = "_apply_" + getID();
syn String DependencyDefinition.dependencyMethod() = "add" +
Character.toUpperCase(getID().charAt(0)) +
@@ -216,29 +218,29 @@ aspect AspectGeneration {
syn String DependencyDefinition.internalRelationPrefix() = "_internal_" + getID();
syn String DependencyDefinition.internalTokenName() = getSource().internalName();
- syn String Ros2Rag.mqttHandlerAttribute() = "_mqttHandler";
- syn String Ros2Rag.mqttHandlerField() = "_mqttHandler";
+ syn String RagConnect.mqttHandlerAttribute() = "_mqttHandler";
+ syn String RagConnect.mqttHandlerField() = "_mqttHandler";
- syn String Ros2Rag.mqttSetHostMethod() = "MqttSetHost";
- syn String Ros2Rag.mqttWaitUntilReadyMethod() = "MqttWaitUntilReady";
- syn String Ros2Rag.mqttCloseMethod() = "MqttCloseConnections";
+ syn String RagConnect.mqttSetHostMethod() = "MqttSetHost";
+ syn String RagConnect.mqttWaitUntilReadyMethod() = "MqttWaitUntilReady";
+ syn String RagConnect.mqttCloseMethod() = "MqttCloseConnections";
// naming copy attributes
// --- mqttHandlerAttribute ---
- inh String UpdateDefinition.mqttHandlerAttribute();
+ inh String EndpointDefinition.mqttHandlerAttribute();
inh String MappingDefinition.mqttHandlerAttribute();
inh String DependencyDefinition.mqttHandlerAttribute();
- eq Ros2Rag.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
+ eq RagConnect.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
// --- rootNodeName ---
syn String ASTNode.rootNodeName() = rootNode.getName();
- public String Ros2Rag.generateAspect(String rootNodeName) {
+ public String RagConnect.generateAspect(String rootNodeName) {
rootNode = getProgram().resolveTypeDecl(rootNodeName);
return toMustache().generateAspect();
}
- public String MRos2Rag.generateAspect() {
+ public String MRagConnect.generateAspect() {
StringBuilder sb = new StringBuilder();
com.github.mustachejava.reflect.ReflectionObjectHandler roh = new com.github.mustachejava.reflect.ReflectionObjectHandler() {
@Override
@@ -257,14 +259,14 @@ aspect AspectGeneration {
};
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);
+ com.github.mustachejava.Mustache m = mf.compile("ragconnect.mustache");
+ m.execute(new java.io.PrintWriter(new org.jastadd.ragconnect.compiler.AppendableWriter(sb)), this);
return sb.toString();
}
}
aspect RelationGeneration {
- syn java.util.List<Relation> Ros2Rag.additionalRelations() {
+ syn java.util.List<Relation> RagConnect.additionalRelations() {
java.util.List<Relation> result = new java.util.ArrayList<>();
for (DependencyDefinition dd : getDependencyDefinitionList()) {
result.add(dd.getRelationToCreate());
@@ -280,6 +282,7 @@ aspect RelationGeneration {
right.setType(getSource().containingTypeDecl());
result.setLeft(left);
result.setRight(right);
+ result.addComment(new WhitespaceComment("\n"));
return result;
}
}
diff --git a/ros2rag.base/src/main/jastadd/backend/Mappings.jrag b/ragconnect.base/src/main/jastadd/backend/Mappings.jrag
similarity index 72%
rename from ros2rag.base/src/main/jastadd/backend/Mappings.jrag
rename to ragconnect.base/src/main/jastadd/backend/Mappings.jrag
index 600ce92ee064f45fe0f41860dd3ab0bc5e334bd3..07cbf5b81a531638ac092635f915ed856a65df4c 100644
--- a/ros2rag.base/src/main/jastadd/backend/Mappings.jrag
+++ b/ragconnect.base/src/main/jastadd/backend/Mappings.jrag
@@ -1,6 +1,6 @@
aspect DefaultMappings {
- private DefaultMappingDefinition Ros2Rag.baseDefaultMappingDefinitionFromBytes(String typeName) {
+ private DefaultMappingDefinition RagConnect.baseDefaultMappingDefinitionFromBytes(String typeName) {
DefaultMappingDefinition result = new DefaultMappingDefinition();
result.setID("_DefaultBytesTo" + Character.toUpperCase(typeName.charAt(0)) + typeName.substring(1) + "Mapping");
result.setFromType(new JavaArrayMappingDefinitionType(new SimpleJavaTypeUse("byte")));
@@ -9,7 +9,7 @@ aspect DefaultMappings {
return result;
}
- private DefaultMappingDefinition Ros2Rag.baseDefaultMappingDefinitionToBytes(String typeName) {
+ private DefaultMappingDefinition RagConnect.baseDefaultMappingDefinitionToBytes(String typeName) {
DefaultMappingDefinition result = new DefaultMappingDefinition();
result.setID("_Default" + Character.toUpperCase(typeName.charAt(0)) + typeName.substring(1) + "ToBytesMapping");
result.setFromType(new JavaMappingDefinitionType(new SimpleJavaTypeUse(typeName)));
@@ -18,85 +18,85 @@ aspect DefaultMappings {
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToIntMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToIntMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("int");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getInt();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToShortMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToShortMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("short");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getShort();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToLongMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToLongMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("long");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getLong();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToFloatMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToFloatMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("float");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getFloat();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToDoubleMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToDoubleMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("double");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getDouble();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToCharMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToCharMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("char");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getChar();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToStringMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToStringMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("String");
result.setContent("return new String(bytes);");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultIntToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultIntToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("int");
result.setContent("return java.nio.ByteBuffer.allocate(4).putInt(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultShortToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultShortToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("short");
result.setContent("return java.nio.ByteBuffer.allocate(2).putShort(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultLongToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultLongToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("long");
result.setContent("return java.nio.ByteBuffer.allocate(8).putLong(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultFloatToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultFloatToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("float");
result.setContent("return java.nio.ByteBuffer.allocate(4).putFloat(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultDoubleToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultDoubleToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("double");
result.setContent("return java.nio.ByteBuffer.allocate(8).putDouble(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultCharToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultCharToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("char");
result.setContent("return java.nio.ByteBuffer.allocate(2).putChar(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultStringToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultStringToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("String");
result.setContent("return input.getBytes();");
return result;
@@ -105,8 +105,8 @@ aspect DefaultMappings {
aspect Mappings {
// --- effectiveMappings ---
- syn java.util.List<MappingDefinition> UpdateDefinition.effectiveMappings();
- eq ReadFromMqttDefinition.effectiveMappings() {
+ syn java.util.List<MappingDefinition> EndpointDefinition.effectiveMappings();
+ eq ReceiveFromMqttDefinition.effectiveMappings() {
// if there is a first mapping, check if its input type is byte[].
// or if no mappings are specified.
// then prepend the suitable default mapping
@@ -120,7 +120,7 @@ aspect Mappings {
}
return result;
}
- eq WriteToMqttDefinition.effectiveMappings() {
+ eq SendToMqttDefinition.effectiveMappings() {
// if there is a mapping, check if the output type of the last mapping is byte[].
// or if no mappings are specified.
// then append the suitable default mapping
@@ -159,46 +159,46 @@ aspect Mappings {
eq JavaArrayMappingDefinitionType.isArray() = true;
// --- suitableDefaultMapping ---
- syn DefaultMappingDefinition UpdateDefinition.suitableDefaultMapping();
- eq ReadFromMqttDefinition.suitableDefaultMapping() {
+ syn DefaultMappingDefinition EndpointDefinition.suitableDefaultMapping();
+ eq ReceiveFromMqttDefinition.suitableDefaultMapping() {
String typeName = getMappingList().isEmpty() ?
getToken().getJavaTypeUse().getName() :
getMappingList().get(0).getFromType().prettyPrint();
switch(typeName) {
case "int":
- case "Integer": return ros2rag().defaultBytesToIntMapping();
+ case "Integer": return ragconnect().defaultBytesToIntMapping();
case "short":
- case "Short": return ros2rag().defaultBytesToShortMapping();
+ case "Short": return ragconnect().defaultBytesToShortMapping();
case "long":
- case "Long": return ros2rag().defaultBytesToLongMapping();
+ case "Long": return ragconnect().defaultBytesToLongMapping();
case "float":
- case "Float": return ros2rag().defaultBytesToFloatMapping();
+ case "Float": return ragconnect().defaultBytesToFloatMapping();
case "double":
- case "Double": return ros2rag().defaultBytesToDoubleMapping();
+ case "Double": return ragconnect().defaultBytesToDoubleMapping();
case "char":
- case "Character": return ros2rag().defaultBytesToCharMapping();
- case "String": return ros2rag().defaultBytesToStringMapping();
+ case "Character": return ragconnect().defaultBytesToCharMapping();
+ case "String": return ragconnect().defaultBytesToStringMapping();
default: return null;
}
}
- eq WriteToMqttDefinition.suitableDefaultMapping() {
+ eq SendToMqttDefinition.suitableDefaultMapping() {
String typeName = getMappingList().isEmpty() ?
getToken().getJavaTypeUse().getName() :
getMappingList().get(getMappingList().size() - 1).getFromType().prettyPrint();
switch(typeName) {
case "int":
- case "Integer": return ros2rag().defaultIntToBytesMapping();
+ case "Integer": return ragconnect().defaultIntToBytesMapping();
case "short":
- case "Short": return ros2rag().defaultShortToBytesMapping();
+ case "Short": return ragconnect().defaultShortToBytesMapping();
case "long":
- case "Long": return ros2rag().defaultLongToBytesMapping();
+ case "Long": return ragconnect().defaultLongToBytesMapping();
case "float":
- case "Float": return ros2rag().defaultFloatToBytesMapping();
+ case "Float": return ragconnect().defaultFloatToBytesMapping();
case "double":
- case "Double": return ros2rag().defaultDoubleToBytesMapping();
+ case "Double": return ragconnect().defaultDoubleToBytesMapping();
case "char":
- case "Character": return ros2rag().defaultCharToBytesMapping();
- case "String": return ros2rag().defaultStringToBytesMapping();
+ case "Character": return ragconnect().defaultCharToBytesMapping();
+ case "String": return ragconnect().defaultStringToBytesMapping();
default: return null;
}
}
@@ -208,7 +208,7 @@ aspect Mappings {
eq JavaArrayMappingDefinitionType.isByteArray() = getType().getName().equals("byte");
// --- allMappingDefinitions ---
- syn java.util.List<MappingDefinition> Ros2Rag.allMappingDefinitions() {
+ syn java.util.List<MappingDefinition> RagConnect.allMappingDefinitions() {
java.util.List<MappingDefinition> result = new java.util.ArrayList<>();
getMappingDefinitionList().iterator().forEachRemaining(result::add);
result.add(defaultBytesToIntMapping());
diff --git a/ragconnect.base/src/main/jastadd/parser/Preamble.parser b/ragconnect.base/src/main/jastadd/parser/Preamble.parser
new file mode 100644
index 0000000000000000000000000000000000000000..d701db19d6edb6d6c616bc79fc0145ea59d2713d
--- /dev/null
+++ b/ragconnect.base/src/main/jastadd/parser/Preamble.parser
@@ -0,0 +1,7 @@
+%header {:
+package org.jastadd.ragconnect.parser;
+import org.jastadd.ragconnect.ast.*;
+:};
+
+%goal goal;
+%goal ragconnect;
diff --git a/ros2rag.base/src/main/jastadd/parser/Ros2Rag.parser b/ragconnect.base/src/main/jastadd/parser/RagConnect.parser
similarity index 70%
rename from ros2rag.base/src/main/jastadd/parser/Ros2Rag.parser
rename to ragconnect.base/src/main/jastadd/parser/RagConnect.parser
index 015b4e664950fd9f49601dbea53fc67225c41169..e2685c15555056c64d4f5e8bebdc458ecea981a3 100644
--- a/ros2rag.base/src/main/jastadd/parser/Ros2Rag.parser
+++ b/ragconnect.base/src/main/jastadd/parser/RagConnect.parser
@@ -1,9 +1,9 @@
-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; :}
- | comment ros2rag.r {: return r; :}
- | {: return new Ros2Rag(); :}
+RagConnect ragconnect
+ = endpoint_definition.d ragconnect.r {: r.getEndpointDefinitionList().insertChild(d, 0); return r; :}
+ | dependency_definition.d ragconnect.r {: r.getDependencyDefinitionList().insertChild(d, 0); return r; :}
+ | mapping_definition.d ragconnect.r {: r.getMappingDefinitionList().insertChild(d, 0); return r; :}
+ | comment ragconnect.r {: return r; :}
+ | {: return new RagConnect(); :}
;
%embed {:
@@ -12,31 +12,31 @@ Ros2Rag ros2rag
}
:} ;
-UpdateDefinition update_definition
- = READ ID.type_name DOT ID.token_name SCOL
+EndpointDefinition endpoint_definition
+ = RECEIVE ID.type_name DOT ID.token_name SCOL
{:
- ReadFromMqttDefinition result = new ReadFromMqttDefinition();
+ ReceiveFromMqttDefinition result = new ReceiveFromMqttDefinition();
result.setToken(TokenComponent.createRef(type_name + "." + token_name));
return result;
:}
- | READ ID.type_name DOT ID.token_name USING string_list.mapping_defs SCOL
+ | RECEIVE ID.type_name DOT ID.token_name USING string_list.mapping_defs SCOL
{:
- ReadFromMqttDefinition result = new ReadFromMqttDefinition();
+ ReceiveFromMqttDefinition result = new ReceiveFromMqttDefinition();
result.setToken(TokenComponent.createRef(type_name + "." + token_name));
for (String mapping_def : makeMappingDefs(mapping_defs)) {
result.addMapping(MappingDefinition.createRef(mapping_def));
}
return result;
:}
- | WRITE ID.type_name DOT ID.token_name SCOL
+ | SEND ID.type_name DOT ID.token_name SCOL
{:
- WriteToMqttDefinition result = new WriteToMqttDefinition();
+ SendToMqttDefinition result = new SendToMqttDefinition();
result.setToken(TokenComponent.createRef(type_name + "." + token_name));
return result;
:}
- | WRITE ID.type_name DOT ID.token_name USING string_list.mapping_defs SCOL
+ | SEND ID.type_name DOT ID.token_name USING string_list.mapping_defs SCOL
{:
- WriteToMqttDefinition result = new WriteToMqttDefinition();
+ SendToMqttDefinition result = new SendToMqttDefinition();
result.setToken(TokenComponent.createRef(type_name + "." + token_name));
for (String mapping_def : makeMappingDefs(mapping_defs)) {
result.addMapping(MappingDefinition.createRef(mapping_def));
diff --git a/ragconnect.base/src/main/jastadd/scanner/Header.flex b/ragconnect.base/src/main/jastadd/scanner/Header.flex
new file mode 100644
index 0000000000000000000000000000000000000000..f289a7e89438a572e3dd936548355cf600d3b8bd
--- /dev/null
+++ b/ragconnect.base/src/main/jastadd/scanner/Header.flex
@@ -0,0 +1,20 @@
+package org.jastadd.ragconnect.scanner;
+
+import org.jastadd.ragconnect.parser.RagConnectParser.Terminals;
+%%
+
+%public
+%final
+%class RagConnectScanner
+%extends beaver.Scanner
+
+%type beaver.Symbol
+%function nextToken
+%yylexthrow beaver.Scanner.Exception
+%scanerror RagConnectScanner.ScannerError
+
+%x COMMENT
+%s DECLARATION
+
+%line
+%column
diff --git a/ros2rag.base/src/main/jastadd/scanner/Keywords.flex b/ragconnect.base/src/main/jastadd/scanner/Keywords.flex
similarity index 62%
rename from ros2rag.base/src/main/jastadd/scanner/Keywords.flex
rename to ragconnect.base/src/main/jastadd/scanner/Keywords.flex
index 3f546823fd8e034f821c8e867d8777ef697effdd..5773118d8fda8ffdc536b504aa7056b8784ddfb3 100644
--- a/ros2rag.base/src/main/jastadd/scanner/Keywords.flex
+++ b/ragconnect.base/src/main/jastadd/scanner/Keywords.flex
@@ -1,5 +1,5 @@
-"read" { return sym(Terminals.READ); }
-"write" { return sym(Terminals.WRITE); }
+"receive" { yybegin(DECLARATION); return sym(Terminals.RECEIVE); }
+"send" { yybegin(DECLARATION); return sym(Terminals.SEND); }
"using" { return sym(Terminals.USING); }
"canDependOn" { return sym(Terminals.CAN_DEPEND_ON); }
"maps" { return sym(Terminals.MAPS); }
diff --git a/ros2rag.base/src/main/jastadd/scanner/Macros.flex b/ragconnect.base/src/main/jastadd/scanner/Macros.flex
similarity index 100%
rename from ros2rag.base/src/main/jastadd/scanner/Macros.flex
rename to ragconnect.base/src/main/jastadd/scanner/Macros.flex
diff --git a/ros2rag.base/src/main/jastadd/scanner/MappingContent.flex b/ragconnect.base/src/main/jastadd/scanner/MappingContent.flex
similarity index 100%
rename from ros2rag.base/src/main/jastadd/scanner/MappingContent.flex
rename to ragconnect.base/src/main/jastadd/scanner/MappingContent.flex
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
similarity index 93%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
index 97680b18dc4fd1d8af3df75f35221e059355e19e..55818dcda1c89948726065c9d11640fcb6601130 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler;
+package org.jastadd.ragconnect.compiler;
import java.io.IOException;
import java.io.Writer;
diff --git a/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
new file mode 100644
index 0000000000000000000000000000000000000000..8b33412c7994b5443088de6249273b9b83374414
--- /dev/null
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
@@ -0,0 +1,235 @@
+package org.jastadd.ragconnect.compiler;
+
+import beaver.Parser;
+import org.jastadd.option.BooleanOption;
+import org.jastadd.option.ValueOption;
+import org.jastadd.relast.compiler.AbstractCompiler;
+import org.jastadd.relast.compiler.CompilerException;
+import org.jastadd.ragconnect.ast.*;
+import org.jastadd.ragconnect.parser.RagConnectParser;
+import org.jastadd.ragconnect.scanner.RagConnectScanner;
+
+import java.io.*;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.nio.file.StandardCopyOption;
+import java.util.Collection;
+import java.util.MissingResourceException;
+import java.util.ResourceBundle;
+
+public class Compiler extends AbstractCompiler {
+
+// private ValueOption optionOutputDir;
+ private ValueOption optionRootNode;
+ private BooleanOption optionVerbose;
+ private BooleanOption optionLogReads;
+ private BooleanOption optionLogWrites;
+
+ public Compiler() {
+ super("ragconnect", true);
+ }
+
+ @Override
+ protected int compile() throws CompilerException {
+ if (getConfiguration().shouldPrintVersion()) {
+ System.out.println(readVersion());
+ return 0;
+ }
+ if (getConfiguration().shouldPrintHelp()) {
+ getConfiguration().printHelp(System.out);
+ return 0;
+ }
+
+ printMessage("Running RagConnect " + readVersion());
+
+ if (!getConfiguration().outputDir().exists()) {
+ try {
+ Files.createDirectories(getConfiguration().outputDir().toPath());
+ } catch (IOException e) {
+ throw new CompilerException("Error creating output dir " + getConfiguration().outputDir(), e);
+ }
+ }
+
+ RagConnect ragConnect = parseProgram(getConfiguration().getFiles());
+
+ if (!ragConnect.errors().isEmpty()) {
+ System.err.println("Errors:");
+ for (ErrorMessage e : ragConnect.errors()) {
+ System.err.println(e);
+ }
+ System.exit(1);
+ }
+
+ printMessage("Writing output files");
+ // copy MqttHandler into outputDir
+ final String mqttHandlerFileName = "MqttHandler.jadd";
+ try {
+ InputStream inputStream = Compiler.class.getClassLoader().getResourceAsStream(mqttHandlerFileName);
+ if (inputStream == null) {
+ throw new CompilerException("Could not open " + mqttHandlerFileName);
+ }
+ Files.copy(inputStream,
+ getConfiguration().outputDir().toPath().resolve(mqttHandlerFileName),
+ StandardCopyOption.REPLACE_EXISTING);
+ } catch (IOException e) {
+ throw new CompilerException("Could not copy " + mqttHandlerFileName, e);
+ }
+ for (GrammarFile grammarFile : ragConnect.getProgram().getGrammarFileList()) {
+ Path outputFile = getConfiguration().outputDir().toPath().resolve(grammarFile.getFileName());
+ sendToFile(outputFile, grammarFile.generateAbstractGrammar());
+ }
+ sendToFile(getConfiguration().outputDir().toPath().resolve("RagConnect.jadd"), ragConnect.generateAspect(optionRootNode.value()));
+ return 0;
+ }
+
+ public static void main(String[] args) {
+ System.setProperty("java.util.logging.manager", "org.apache.logging.log4j.jul.LogManager");
+ System.setProperty("mustache.debug", "true");
+ try {
+ new Compiler().run(args);
+ } catch (CompilerException e) {
+ System.err.println(e.getMessage());
+ System.exit(-1);
+ }
+ }
+
+ /**
+ * Reads the version string.
+ *
+ * The version string is read from the property file
+ * src/main/resources/Version.properties. This
+ * file should be generated during the build process. If it is missing
+ * then there is some problem in the build script.
+ *
+ * @author Jesper Öqvist <jesper.oqvist@cs.lth.se>
+ * @return the read version string, or <code>version ?</code>
+ */
+ private String readVersion() {
+ try {
+ ResourceBundle resources = ResourceBundle.getBundle("ragConnectVersion");
+ return resources.getString("version");
+ } catch (MissingResourceException e) {
+ return "version ?";
+ }
+ }
+
+ private void printMessage(String message) {
+ System.out.println(message);
+ }
+
+ private void sendToFile(Path path, String str) throws CompilerException {
+ try (BufferedWriter writer = Files.newBufferedWriter(path)) {
+ writer.append(str);
+ } catch (Exception e) {
+ throw new CompilerException("Could not write to file " + path.toAbsolutePath(), e);
+ }
+ }
+
+ protected void initOptions() {
+ super.initOptions();
+ optionRootNode = addOption(
+ new ValueOption("rootNode", "root node in the base grammar.")
+ .acceptAnyValue()
+ .needsValue(true));
+ optionVerbose = addOption(
+ new BooleanOption("verbose", "Print more messages while compiling.")
+ .defaultValue(false));
+ optionLogReads = addOption(
+ new BooleanOption("logReads", "Enable logging for every read.")
+ .defaultValue(false));
+ optionLogWrites = addOption(
+ new BooleanOption("logWrites", "Enable logging for every write.")
+ .defaultValue(false));
+ }
+
+ private RagConnect parseProgram(Collection<String> files) throws CompilerException {
+ Program program = new Program();
+
+ RagConnect ragConnect = new RagConnect();
+ ragConnect.setProgram(program);
+
+ GrammarFile ragConnectGrammarPart = new GrammarFile();
+ ragConnectGrammarPart.setFileName("RagConnect.relast");
+ program.addGrammarFile(ragConnectGrammarPart);
+
+ for (String filename : files) {
+ String extension = filename.substring(filename.lastIndexOf('.') + 1);
+ switch (extension) {
+ case "ast":
+ case "relast":
+ // processGrammar
+ parseGrammar(program, filename);
+ break;
+ case "connect":
+ // process ragConnect
+ RagConnect parsedRagConnect = parseRagConnect(program, filename);
+ mergeRagConnectDefinitions(ragConnect, parsedRagConnect);
+ break;
+ default:
+ throw new CompilerException("Unknown file extension in " + filename);
+ }
+ }
+ ragConnect.treeResolveAll();
+ ragConnect.additionalRelations().forEach(ragConnectGrammarPart::addDeclaration);
+ ASTNode.loggingEnabledForReads = optionLogReads.value();
+ ASTNode.loggingEnabledForWrites = optionLogWrites.value();
+ return ragConnect;
+ }
+
+ private void parseGrammar(Program program, String filename) throws CompilerException {
+ try (BufferedReader reader = Files.newBufferedReader(Paths.get(filename))) {
+ RagConnectScanner scanner = new RagConnectScanner(reader);
+ RagConnectParser parser = new RagConnectParser();
+ GrammarFile grammarFile = (GrammarFile) parser.parse(scanner);
+ if (optionVerbose.value()) {
+ grammarFile.dumpTree(System.out);
+ }
+ program.addGrammarFile(grammarFile);
+ grammarFile.treeResolveAll();
+ grammarFile.setFileName(toBaseName(filename));
+ } catch (IOException | Parser.Exception e) {
+ throw new CompilerException("Could not parse grammar file " + filename, e);
+ }
+ }
+
+ private RagConnect parseRagConnect(Program program, String filename) throws CompilerException {
+ try (BufferedReader reader = Files.newBufferedReader(Paths.get(filename))) {
+ RagConnectScanner scanner = new RagConnectScanner(reader);
+ RagConnectParser parser = new RagConnectParser();
+ RagConnect ragConnect = (RagConnect) parser.parse(scanner, RagConnectParser.AltGoals.ragconnect);
+ ragConnect.setProgram(program);
+ ragConnect.setFileName(toBaseName(filename));
+ return ragConnect;
+ } catch (IOException | Parser.Exception e) {
+ throw new CompilerException("Could not parse connect file " + filename, e);
+ }
+ }
+
+ /**
+ * Extracts the basename of the given file, with file extension
+ * @param filename the given filename
+ * @return the basename
+ */
+ private String toBaseName(String filename) {
+ return new File(filename).getName();
+ }
+
+ private void mergeRagConnectDefinitions(RagConnect ragConnect, RagConnect ragConnectToIntegrate) {
+ for (EndpointDefinition endpointDefinition : ragConnectToIntegrate.getEndpointDefinitionList()) {
+ ragConnect.addEndpointDefinition(endpointDefinition);
+ }
+ for (MappingDefinition mappingDefinition : ragConnectToIntegrate.getMappingDefinitionList()) {
+ ragConnect.addMappingDefinition(mappingDefinition);
+ }
+ for (DependencyDefinition dependencyDefinition : ragConnectToIntegrate.getDependencyDefinitionList()) {
+ ragConnect.addDependencyDefinition(dependencyDefinition);
+ }
+ }
+
+// protected void printUsage() {
+// System.out.println("Usage: java -jar ragconnect.jar [--option1] [--option2=value] ... <filename1> <filename2> ... ");
+// System.out.println("Options:");
+// System.out.print(commandLine.printOptionHelp());
+// }
+}
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
similarity index 75%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
index 74406f87a166732efedafbc772d114185f24e227..ac1109fef423ed58ebbbdfcaeacbdca42745e341 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
@@ -1,9 +1,9 @@
-package org.jastadd.ros2rag.compiler;
+package org.jastadd.ragconnect.compiler;
import beaver.Parser;
-import org.jastadd.ros2rag.ast.*;
-import org.jastadd.ros2rag.parser.Ros2RagParser;
-import org.jastadd.ros2rag.scanner.Ros2RagScanner;
+import org.jastadd.ragconnect.ast.*;
+import org.jastadd.ragconnect.parser.RagConnectParser;
+import org.jastadd.ragconnect.scanner.RagConnectScanner;
import java.io.BufferedReader;
import java.io.IOException;
@@ -102,18 +102,18 @@ public class SimpleMain {
}
public static void main(String[] args) {
- testing();
-// createManualAST();
+// testing();
+ createManualAST();
}
private static void createManualAST() {
- Ros2Rag model = new Ros2Rag();
- Program program = parseProgram(Paths.get("src", "test", "resources", "Example.relast"));
+ RagConnect model = new RagConnect();
+ Program program = parseProgram(Paths.get("ros2rag.starter","src", "main", "jastadd", "RobotModel.relast"));
model.setProgram(program);
MappingDefinition mappingDefinition = new MappingDefinition();
mappingDefinition.setID("PoseToPosition");
- mappingDefinition.setFromType(makeMappingDefinitionType("PBPose"));
+ mappingDefinition.setFromType(makeMappingDefinitionType("int"));
mappingDefinition.setFromVariableName("x");
mappingDefinition.setToType(makeMappingDefinitionType("Position"));
mappingDefinition.setContent(" pose.position.x += sqrt(.5 * size.x)\n" +
@@ -123,13 +123,16 @@ public class SimpleMain {
" ;");
model.addMappingDefinition(mappingDefinition);
- ReadFromMqttDefinition readFromMqttDefinition = new ReadFromMqttDefinition();
- readFromMqttDefinition.setAlwaysApply(false);
- readFromMqttDefinition.setToken(TokenComponent.createRef("Joint.CurrentPosition"));
- readFromMqttDefinition.addMapping(mappingDefinition);
- model.addUpdateDefinition(readFromMqttDefinition);
+ ReceiveFromMqttDefinition receiveFromMqttDefinition = new ReceiveFromMqttDefinition();
+ receiveFromMqttDefinition.setAlwaysApply(false);
+ receiveFromMqttDefinition.setToken(TokenComponent.createRef("Link.CurrentPosition"));
+ receiveFromMqttDefinition.addMapping(mappingDefinition);
+ model.addEndpointDefinition(receiveFromMqttDefinition);
model.treeResolveAll();
+ for (ErrorMessage error : model.errors()) {
+ System.err.println(error);
+ }
System.out.println(model.generateAspect("Model"));
}
@@ -142,9 +145,12 @@ public class SimpleMain {
private static Program parseProgram(Path path) {
try (BufferedReader reader = Files.newBufferedReader(path)) {
- Ros2RagScanner scanner = new Ros2RagScanner(reader);
- Ros2RagParser parser = new Ros2RagParser();
- return (Program) parser.parse(scanner);
+ RagConnectScanner scanner = new RagConnectScanner(reader);
+ RagConnectParser parser = new RagConnectParser();
+ GrammarFile grammarFile = (GrammarFile) parser.parse(scanner);
+ Program program = new Program();
+ program.addGrammarFile(grammarFile);
+ return program;
} catch (IOException | Parser.Exception e) {
e.printStackTrace();
}
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Utils.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Utils.java
similarity index 90%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Utils.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Utils.java
index 6a229cd7e9a2551578a87f1c7b5fcccfebd31ff7..c083fe1d912fa74cb4461fce5fcb839f5b88a40f 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Utils.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Utils.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler;
+package org.jastadd.ragconnect.compiler;
import java.util.*;
import java.util.function.Predicate;
diff --git a/ros2rag.base/src/main/resources/MqttHandler.jadd b/ragconnect.base/src/main/resources/MqttHandler.jadd
similarity index 99%
rename from ros2rag.base/src/main/resources/MqttHandler.jadd
rename to ragconnect.base/src/main/resources/MqttHandler.jadd
index c3e98dc89377e6217946fafa54a9eb7ab7594c61..493d8e4452e81c5dbfa45a522a6366345908cdcc 100644
--- a/ros2rag.base/src/main/resources/MqttHandler.jadd
+++ b/ragconnect.base/src/main/resources/MqttHandler.jadd
@@ -24,7 +24,7 @@ public class MqttHandler {
private final java.util.Map<String, java.util.List<java.util.function.Consumer<byte[]>>> callbacks;
public MqttHandler() {
- this("Ros2Rag");
+ this("RagConnect");
}
public MqttHandler(String name) {
diff --git a/ros2rag.base/src/main/resources/dependencyDefinition.mustache b/ragconnect.base/src/main/resources/dependencyDefinition.mustache
similarity index 100%
rename from ros2rag.base/src/main/resources/dependencyDefinition.mustache
rename to ragconnect.base/src/main/resources/dependencyDefinition.mustache
diff --git a/ros2rag.base/src/main/resources/log4j2.xml b/ragconnect.base/src/main/resources/log4j2.xml
similarity index 100%
rename from ros2rag.base/src/main/resources/log4j2.xml
rename to ragconnect.base/src/main/resources/log4j2.xml
diff --git a/ros2rag.base/src/main/resources/mappingApplication.mustache b/ragconnect.base/src/main/resources/mappingApplication.mustache
similarity index 100%
rename from ros2rag.base/src/main/resources/mappingApplication.mustache
rename to ragconnect.base/src/main/resources/mappingApplication.mustache
diff --git a/ros2rag.base/src/main/resources/mappingDefinition.mustache b/ragconnect.base/src/main/resources/mappingDefinition.mustache
similarity index 100%
rename from ros2rag.base/src/main/resources/mappingDefinition.mustache
rename to ragconnect.base/src/main/resources/mappingDefinition.mustache
diff --git a/ros2rag.base/src/main/resources/mqtt.mustache b/ragconnect.base/src/main/resources/mqtt.mustache
similarity index 92%
rename from ros2rag.base/src/main/resources/mqtt.mustache
rename to ragconnect.base/src/main/resources/mqtt.mustache
index d65ca944a9dc7e881ff75d89ea696d4bb1fe09fc..dbdb85e7954dbf50ae7e150ffc43dd4cbda0fd80 100644
--- a/ros2rag.base/src/main/resources/mqtt.mustache
+++ b/ragconnect.base/src/main/resources/mqtt.mustache
@@ -16,8 +16,8 @@ aspect MQTT {
{{mqttHandlerField}}.close();
}
- inh MqttHandler ASTNode.{{mqttHandlerAttribute}}();
{{#getRootTypeComponents}}
+ {{#first}}inh MqttHandler ASTNode.{{mqttHandlerAttribute}}();{{/first}}
eq {{rootNodeName}}.get{{name}}().{{mqttHandlerAttribute}}() = {{mqttHandlerField}};
{{/getRootTypeComponents}}
}
diff --git a/ragconnect.base/src/main/resources/ragConnectVersion.properties b/ragconnect.base/src/main/resources/ragConnectVersion.properties
new file mode 100644
index 0000000000000000000000000000000000000000..8ec441610d66cd3f793075302676eb132eea35c3
--- /dev/null
+++ b/ragconnect.base/src/main/resources/ragConnectVersion.properties
@@ -0,0 +1,2 @@
+#Wed Jul 29 16:29:05 CEST 2020
+version=0.2.0
diff --git a/ros2rag.base/src/main/resources/ros2rag.mustache b/ragconnect.base/src/main/resources/ragconnect.mustache
similarity index 64%
rename from ros2rag.base/src/main/resources/ros2rag.mustache
rename to ragconnect.base/src/main/resources/ragconnect.mustache
index dd5e73cf554e35cc20da014b2d83f0db1b88521b..0b455283977cf812a47b5266ee593c6597e97cc9 100644
--- a/ros2rag.base/src/main/resources/ros2rag.mustache
+++ b/ragconnect.base/src/main/resources/ragconnect.mustache
@@ -1,12 +1,12 @@
{{> mqtt}}
aspect ROS2RAG {
- {{#ReadDefinitions}}
- {{> readDefinition}}
- {{/ReadDefinitions}}
+ {{#ReceiveDefinitions}}
+ {{> receiveDefinition}}
+ {{/ReceiveDefinitions}}
- {{#WriteDefinitions}}
- {{> writeDefinition}}
- {{/WriteDefinitions}}
+ {{#SendDefinitions}}
+ {{> sendDefinition}}
+ {{/SendDefinitions}}
{{#MappingDefinitions}}
{{> mappingDefinition}}
diff --git a/ros2rag.base/src/main/resources/readDefinition.mustache b/ragconnect.base/src/main/resources/receiveDefinition.mustache
similarity index 68%
rename from ros2rag.base/src/main/resources/readDefinition.mustache
rename to ragconnect.base/src/main/resources/receiveDefinition.mustache
index 77235a277f5acdfee6c07dedf62e6bfa4e090055..e2df0433fe82b37df2c016887da52a11cfd2692b 100644
--- a/ros2rag.base/src/main/resources/readDefinition.mustache
+++ b/ragconnect.base/src/main/resources/receiveDefinition.mustache
@@ -2,7 +2,7 @@
{{mqttHandlerAttribute}}().newConnection(topic, message -> {
{{> mappingApplication}}
{{#loggingEnabledForReads}}
- System.out.println("[Read] " + topic + " -> {{tokenName}} = " + {{lastResult}});{{!lastResult has to be a new attribute}}
+ System.out.println("[Receive] " + topic + " -> {{tokenName}} = " + {{lastResult}});{{!lastResult has to be a new attribute}}
{{/loggingEnabledForReads}}
set{{tokenName}}({{lastResult}});
});
diff --git a/ros2rag.base/src/main/resources/writeDefinition.mustache b/ragconnect.base/src/main/resources/sendDefinition.mustache
similarity index 67%
rename from ros2rag.base/src/main/resources/writeDefinition.mustache
rename to ragconnect.base/src/main/resources/sendDefinition.mustache
index 6e2e18476424269bc10e9e03ccfdd6444ff55762..477dbc550132af842e53e8fed2cbbee0c8996296 100644
--- a/ros2rag.base/src/main/resources/writeDefinition.mustache
+++ b/ragconnect.base/src/main/resources/sendDefinition.mustache
@@ -1,8 +1,8 @@
- private String {{parentTypeName}}.{{writeTopic}} = null;
+ private String {{parentTypeName}}.{{sendTopic}} = null;
private byte[] {{parentTypeName}}.{{lastValue}} = null;
public void {{parentTypeName}}.{{connectMethod}}(String topic, boolean writeCurrentValue) {
- {{writeTopic}} = topic;
+ {{sendTopic}} = topic;
{{updateMethod}}();
if (writeCurrentValue) {
{{writeMethod}}();
@@ -18,7 +18,7 @@
protected void {{parentTypeName}}.{{writeMethod}}() {
{{#loggingEnabledForWrites}}
- System.out.println("[Write] {{tokenName}} = " + get{{tokenName}}() + " -> " + {{writeTopic}});
+ System.out.println("[Send] {{tokenName}} = " + get{{tokenName}}() + " -> " + {{sendTopic}});
{{/loggingEnabledForWrites}}
- {{mqttHandlerAttribute}}().publish({{writeTopic}}, {{lastValue}});
+ {{mqttHandlerAttribute}}().publish({{sendTopic}}, {{lastValue}});
}
diff --git a/ros2rag.base/src/main/resources/tokenComponent.mustache b/ragconnect.base/src/main/resources/tokenComponent.mustache
similarity index 86%
rename from ros2rag.base/src/main/resources/tokenComponent.mustache
rename to ragconnect.base/src/main/resources/tokenComponent.mustache
index a3615c4526e5725bdd49121b16a87a011562f0cd..e6a136d1c8de08b6dce9104fd46fafa5d91b67b6 100644
--- a/ros2rag.base/src/main/resources/tokenComponent.mustache
+++ b/ragconnect.base/src/main/resources/tokenComponent.mustache
@@ -2,11 +2,11 @@
set{{internalName}}(value);
{{#DependencyDefinitions}}
for ({{targetParentTypeName}} target : get{{internalRelationPrefix}}TargetList()) {
- {{#targetUpdateDefinition}}
+ {{#targetEndpointDefinition}}
if (target.{{updateMethod}}()) {
target.{{writeMethod}}();
}
- {{/targetUpdateDefinition}}
+ {{/targetEndpointDefinition}}
}
{{/DependencyDefinitions}}
return this;
diff --git a/ros2rag.starter/.gitignore b/ragconnect.tests/.gitignore
similarity index 100%
rename from ros2rag.starter/.gitignore
rename to ragconnect.tests/.gitignore
diff --git a/ros2rag.tests/README.md b/ragconnect.tests/README.md
similarity index 100%
rename from ros2rag.tests/README.md
rename to ragconnect.tests/README.md
diff --git a/ros2rag.tests/build.gradle b/ragconnect.tests/build.gradle
similarity index 51%
rename from ros2rag.tests/build.gradle
rename to ragconnect.tests/build.gradle
index efff9a553b1da39904b80933df36e4e4d809f526..d0a6997e48aac4caa7b4c5c0c249210c7276271d 100644
--- a/ros2rag.tests/build.gradle
+++ b/ragconnect.tests/build.gradle
@@ -1,6 +1,7 @@
import org.jastadd.relast.plugin.RelastPlugin
import org.jastadd.relast.plugin.RelastTest
apply plugin: 'jastadd'
+apply plugin: 'com.google.protobuf'
apply plugin: RelastPlugin
sourceCompatibility = 1.8
@@ -13,12 +14,12 @@ buildscript {
repositories.jcenter()
dependencies {
classpath 'org.jastadd:jastaddgradle:1.13.3'
+ classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.12'
}
}
dependencies {
- implementation project(':ros2rag.base')
- implementation project(':ros2rag.common')
+ implementation project(':ragconnect.base')
runtime group: 'org.jastadd', name: 'jastadd', version: '2.3.4'
testImplementation group: 'org.junit.jupiter', name: 'junit-jupiter-api', version: '5.4.0'
@@ -26,6 +27,7 @@ dependencies {
testImplementation group: 'org.assertj', name: 'assertj-core', version: '3.12.1'
testImplementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
testImplementation group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
+ api group: 'com.google.protobuf', name: 'protobuf-java', version: '3.0.0'
}
test {
@@ -36,6 +38,13 @@ test {
maxHeapSize = '1G'
}
+protobuf {
+ protoc {
+ // The artifact spec for the Protobuf Compiler
+ artifact = 'com.google.protobuf:protoc:3.0.0'
+ }
+}
+
task allTests(type: Test, dependsOn: testClasses) {
description = 'Run every test'
group = 'verification'
@@ -58,16 +67,16 @@ sourceSets {
// --- Test: Example ---
task preprocessExampleTest(type: JavaExec, group: 'verification') {
doFirst {
- delete 'src/test/02-after-ros2rag/example/Grammar.relast',
- 'src/test/02-after-ros2rag/example/MqttHandler.java',
- 'src/test/02-after-ros2rag/example/ROS2RAG.jadd'
+ delete 'src/test/02-after-ragconnect/example/Test.relast',
+ 'src/test/02-after-ragconnect/example/MqttHandler.java',
+ 'src/test/02-after-ragconnect/example/RagConnect.jadd'
}
classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ros2rag.compiler.Compiler'
- args '--outputDir=src/test/02-after-ros2rag/example',
- '--inputGrammar=src/test/01-input/example/Test.relast',
- '--inputRos2Rag=src/test/01-input/example/Test.ros2rag',
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ args '--o=src/test/02-after-ragconnect/example',
+ 'src/test/01-input/example/Test.relast',
+ 'src/test/01-input/example/Test.connect',
'--rootNode=Model',
'--logReads', '--logWrites'
}
@@ -75,12 +84,13 @@ task preprocessExampleTest(type: JavaExec, group: 'verification') {
task compileExampleTest(type: RelastTest) {
useJastAddNames = true
jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ros2rag/example/Grammar.relast'
+ relastFiles 'src/test/02-after-ragconnect/example/Test.relast',
+ 'src/test/02-after-ragconnect/example/RagConnect.relast'
grammarName = 'src/test/03-after-relast/example/example'
packageName = 'example.ast'
moreInputFiles 'src/test/01-input/example/Test.jadd',
- 'src/test/02-after-ros2rag/example/MqttHandler.jadd',
- 'src/test/02-after-ros2rag/example/ROS2RAG.jadd'
+ 'src/test/02-after-ragconnect/example/MqttHandler.jadd',
+ 'src/test/02-after-ragconnect/example/RagConnect.jadd'
}
testClasses.dependsOn compileExampleTest
@@ -89,16 +99,16 @@ compileExampleTest.dependsOn preprocessExampleTest
// --- Test: default-only-read ---
task preprocessDefaultOnlyReadTest(type: JavaExec, group: 'verification') {
doFirst {
- delete 'src/test/02-after-ros2rag/defaultOnlyRead/Grammar.relast',
- 'src/test/02-after-ros2rag/defaultOnlyRead/MqttHandler.java',
- 'src/test/02-after-ros2rag/defaultOnlyRead/ROS2RAG.jadd'
+ delete 'src/test/02-after-ragconnect/defaultOnlyRead/Test.relast',
+ 'src/test/02-after-ragconnect/defaultOnlyRead/MqttHandler.java',
+ 'src/test/02-after-ragconnect/defaultOnlyRead/RagConnect.jadd'
}
classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ros2rag.compiler.Compiler'
- args '--outputDir=src/test/02-after-ros2rag/defaultOnlyRead',
- '--inputGrammar=src/test/01-input/defaultOnlyRead/Test.relast',
- '--inputRos2Rag=src/test/01-input/defaultOnlyRead/Test.ros2rag',
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ args '--o=src/test/02-after-ragconnect/defaultOnlyRead',
+ 'src/test/01-input/defaultOnlyRead/Test.relast',
+ 'src/test/01-input/defaultOnlyRead/Test.connect',
'--rootNode=A',
'--verbose'
}
@@ -106,11 +116,12 @@ task preprocessDefaultOnlyReadTest(type: JavaExec, group: 'verification') {
task compileDefaultOnlyReadTest(type: RelastTest) {
useJastAddNames = true
jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ros2rag/defaultOnlyRead/Grammar.relast'
+ relastFiles 'src/test/02-after-ragconnect/defaultOnlyRead/Test.relast',
+ 'src/test/02-after-ragconnect/defaultOnlyRead/RagConnect.relast'
grammarName = 'src/test/03-after-relast/defaultOnlyRead/defaultOnlyRead'
packageName = 'defaultOnlyRead.ast'
- moreInputFiles 'src/test/02-after-ros2rag/defaultOnlyRead/MqttHandler.jadd',
- 'src/test/02-after-ros2rag/defaultOnlyRead/ROS2RAG.jadd'
+ moreInputFiles 'src/test/02-after-ragconnect/defaultOnlyRead/MqttHandler.jadd',
+ 'src/test/02-after-ragconnect/defaultOnlyRead/RagConnect.jadd'
}
testClasses.dependsOn compileDefaultOnlyReadTest
@@ -119,16 +130,16 @@ compileDefaultOnlyReadTest.dependsOn preprocessDefaultOnlyReadTest
// --- Test: default-only-write ---
task preprocessDefaultOnlyWriteTest(type: JavaExec, group: 'verification') {
doFirst {
- delete 'src/test/02-after-ros2rag/defaultOnlyWrite/Grammar.relast',
- 'src/test/02-after-ros2rag/defaultOnlyWrite/MqttHandler.java',
- 'src/test/02-after-ros2rag/defaultOnlyWrite/ROS2RAG.jadd'
+ delete 'src/test/02-after-ragconnect/defaultOnlyWrite/Test.relast',
+ 'src/test/02-after-ragconnect/defaultOnlyWrite/MqttHandler.java',
+ 'src/test/02-after-ragconnect/defaultOnlyWrite/RagConnect.jadd'
}
classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ros2rag.compiler.Compiler'
- args '--outputDir=src/test/02-after-ros2rag/defaultOnlyWrite',
- '--inputGrammar=src/test/01-input/defaultOnlyWrite/Test.relast',
- '--inputRos2Rag=src/test/01-input/defaultOnlyWrite/Test.ros2rag',
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ args '--o=src/test/02-after-ragconnect/defaultOnlyWrite',
+ 'src/test/01-input/defaultOnlyWrite/Test.relast',
+ 'src/test/01-input/defaultOnlyWrite/Test.connect',
'--rootNode=A',
'--verbose'
}
@@ -136,12 +147,13 @@ task preprocessDefaultOnlyWriteTest(type: JavaExec, group: 'verification') {
task compileDefaultOnlyWriteTest(type: RelastTest) {
useJastAddNames = true
jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ros2rag/defaultOnlyWrite/Grammar.relast'
+ relastFiles 'src/test/02-after-ragconnect/defaultOnlyWrite/Test.relast',
+ 'src/test/02-after-ragconnect/defaultOnlyWrite/RagConnect.relast'
grammarName = 'src/test/03-after-relast/defaultOnlyWrite/defaultOnlyWrite'
packageName = 'defaultOnlyWrite.ast'
moreInputFiles 'src/test/01-input/defaultOnlyWrite/Test.jadd',
- 'src/test/02-after-ros2rag/defaultOnlyWrite/MqttHandler.jadd',
- 'src/test/02-after-ros2rag/defaultOnlyWrite/ROS2RAG.jadd'
+ 'src/test/02-after-ragconnect/defaultOnlyWrite/MqttHandler.jadd',
+ 'src/test/02-after-ragconnect/defaultOnlyWrite/RagConnect.jadd'
}
testClasses.dependsOn compileDefaultOnlyWriteTest
@@ -150,16 +162,16 @@ compileDefaultOnlyWriteTest.dependsOn preprocessDefaultOnlyWriteTest
// --- Test: read1write2 ---
task preprocessRead1Write2Test(type: JavaExec, group: 'verification') {
doFirst {
- delete 'src/test/02-after-ros2rag/read1write2/Grammar.relast',
- 'src/test/02-after-ros2rag/read1write2/MqttHandler.java',
- 'src/test/02-after-ros2rag/read1write2/ROS2RAG.jadd'
+ delete 'src/test/02-after-ragconnect/read1write2/Test.relast',
+ 'src/test/02-after-ragconnect/read1write2/MqttHandler.java',
+ 'src/test/02-after-ragconnect/read1write2/RagConnect.jadd'
}
classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ros2rag.compiler.Compiler'
- args '--outputDir=src/test/02-after-ros2rag/read1write2',
- '--inputGrammar=src/test/01-input/read1write2/Test.relast',
- '--inputRos2Rag=src/test/01-input/read1write2/Test.ros2rag',
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ args '--o=src/test/02-after-ragconnect/read1write2',
+ 'src/test/01-input/read1write2/Test.relast',
+ 'src/test/01-input/read1write2/Test.connect',
'--rootNode=A',
'--logReads', '--logWrites'
}
@@ -167,12 +179,13 @@ task preprocessRead1Write2Test(type: JavaExec, group: 'verification') {
task compileRead1Write2Test(type: RelastTest) {
useJastAddNames = true
jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ros2rag/read1write2/Grammar.relast'
+ relastFiles 'src/test/02-after-ragconnect/read1write2/Test.relast',
+ 'src/test/02-after-ragconnect/read1write2/RagConnect.relast'
grammarName = 'src/test/03-after-relast/read1write2/read1write2'
packageName = 'read1write2.ast'
moreInputFiles 'src/test/01-input/read1write2/Test.jadd',
- 'src/test/02-after-ros2rag/read1write2/MqttHandler.jadd',
- 'src/test/02-after-ros2rag/read1write2/ROS2RAG.jadd'
+ 'src/test/02-after-ragconnect/read1write2/MqttHandler.jadd',
+ 'src/test/02-after-ragconnect/read1write2/RagConnect.jadd'
}
testClasses.dependsOn compileRead1Write2Test
@@ -181,16 +194,16 @@ compileRead1Write2Test.dependsOn preprocessRead1Write2Test
// --- Test: read2write1 ---
task preprocessRead2Write1Test(type: JavaExec, group: 'verification') {
doFirst {
- delete 'src/test/02-after-ros2rag/read2write1/Grammar.relast',
- 'src/test/02-after-ros2rag/read2write1/MqttHandler.java',
- 'src/test/02-after-ros2rag/read2write1/ROS2RAG.jadd'
+ delete 'src/test/02-after-ragconnect/read2write1/Test.relast',
+ 'src/test/02-after-ragconnect/read2write1/MqttHandler.java',
+ 'src/test/02-after-ragconnect/read2write1/RagConnect.jadd'
}
classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ros2rag.compiler.Compiler'
- args '--outputDir=src/test/02-after-ros2rag/read2write1',
- '--inputGrammar=src/test/01-input/read2write1/Test.relast',
- '--inputRos2Rag=src/test/01-input/read2write1/Test.ros2rag',
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ args '--o=src/test/02-after-ragconnect/read2write1',
+ 'src/test/01-input/read2write1/Test.relast',
+ 'src/test/01-input/read2write1/Test.connect',
'--rootNode=A', '--verbose',
'--logReads', '--logWrites'
}
@@ -198,17 +211,18 @@ task preprocessRead2Write1Test(type: JavaExec, group: 'verification') {
task compileRead2Write1Test(type: RelastTest) {
useJastAddNames = true
jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ros2rag/read2write1/Grammar.relast'
+ relastFiles 'src/test/02-after-ragconnect/read2write1/Test.relast',
+ 'src/test/02-after-ragconnect/read2write1/RagConnect.relast'
grammarName = 'src/test/03-after-relast/read2write1/read2write1'
packageName = 'read2write1.ast'
moreInputFiles 'src/test/01-input/read2write1/Test.jadd',
- 'src/test/02-after-ros2rag/read2write1/MqttHandler.jadd',
- 'src/test/02-after-ros2rag/read2write1/ROS2RAG.jadd'
+ 'src/test/02-after-ragconnect/read2write1/MqttHandler.jadd',
+ 'src/test/02-after-ragconnect/read2write1/RagConnect.jadd'
}
testClasses.dependsOn compileRead2Write1Test
compileRead2Write1Test.dependsOn preprocessRead2Write1Test
clean {
- delete 'src/test/02-after-ros2rag/*/', 'src/test/03-after-relast/*/', 'src/test/java-gen/*/'
+ delete 'src/test/02-after-ragconnect/*/', 'src/test/03-after-relast/*/', 'src/test/java-gen/*/'
}
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyRead/README.md b/ragconnect.tests/src/test/01-input/defaultOnlyRead/README.md
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyRead/README.md
rename to ragconnect.tests/src/test/01-input/defaultOnlyRead/README.md
diff --git a/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.connect b/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.connect
new file mode 100644
index 0000000000000000000000000000000000000000..e274994175513ff743409068375f419b6e3141fc
--- /dev/null
+++ b/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.connect
@@ -0,0 +1,15 @@
+// --- update definitions ---
+receive NativeTypes.IntValue;
+receive NativeTypes.ShortValue;
+receive NativeTypes.LongValue;
+receive NativeTypes.FloatValue;
+receive NativeTypes.DoubleValue;
+receive NativeTypes.CharValue;
+receive NativeTypes.StringValue;
+
+receive BoxedTypes.IntValue;
+receive BoxedTypes.ShortValue;
+receive BoxedTypes.LongValue;
+receive BoxedTypes.FloatValue;
+receive BoxedTypes.DoubleValue;
+receive BoxedTypes.CharValue;
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyRead/Test.relast b/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyRead/Test.relast
rename to ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.relast
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyWrite/README.md b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/README.md
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyWrite/README.md
rename to ragconnect.tests/src/test/01-input/defaultOnlyWrite/README.md
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.ros2rag b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.connect
similarity index 61%
rename from ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.ros2rag
rename to ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.connect
index 924cbe1732be63b1c75c05c75a86cd531fc0525d..a48f49f60f66c3358ee513e79f2bbeb43df8d5e9 100644
--- a/ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.ros2rag
+++ b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.connect
@@ -1,20 +1,20 @@
// --- update definitions ---
// native types, synthesized
-write NativeTypesSyn.IntValue;
-write NativeTypesSyn.ShortValue;
-write NativeTypesSyn.LongValue;
-write NativeTypesSyn.FloatValue;
-write NativeTypesSyn.DoubleValue;
-write NativeTypesSyn.CharValue;
-write NativeTypesSyn.StringValue;
+send NativeTypesSyn.IntValue;
+send NativeTypesSyn.ShortValue;
+send NativeTypesSyn.LongValue;
+send NativeTypesSyn.FloatValue;
+send NativeTypesSyn.DoubleValue;
+send NativeTypesSyn.CharValue;
+send NativeTypesSyn.StringValue;
// boxed types, synthesized
-write BoxedTypesSyn.IntValue;
-write BoxedTypesSyn.ShortValue;
-write BoxedTypesSyn.LongValue;
-write BoxedTypesSyn.FloatValue;
-write BoxedTypesSyn.DoubleValue;
-write BoxedTypesSyn.CharValue;
+send BoxedTypesSyn.IntValue;
+send BoxedTypesSyn.ShortValue;
+send BoxedTypesSyn.LongValue;
+send BoxedTypesSyn.FloatValue;
+send BoxedTypesSyn.DoubleValue;
+send BoxedTypesSyn.CharValue;
// --- dependency definitions ---
NativeTypesSyn.IntValue canDependOn NativeTypesSyn.DriverSyn as nativeIntDependency;
@@ -34,18 +34,18 @@ BoxedTypesSyn.CharValue canDependOn BoxedTypesSyn.DriverSyn as boxedCharDependen
// --- inherited attributes not supported ---
//// native types, inherited
-//write NativeTypesInh.IntValue;
-//write NativeTypesInh.ShortValue;
-//write NativeTypesInh.LongValue;
-//write NativeTypesInh.FloatValue;
-//write NativeTypesInh.DoubleValue;
-//write NativeTypesInh.CharValue;
-//write NativeTypesInh.StringValue;
+//send NativeTypesInh.IntValue;
+//send NativeTypesInh.ShortValue;
+//send NativeTypesInh.LongValue;
+//send NativeTypesInh.FloatValue;
+//send NativeTypesInh.DoubleValue;
+//send NativeTypesInh.CharValue;
+//send NativeTypesInh.StringValue;
//
//// boxed types, inherited
-//write BoxedTypesInh.IntValue;
-//write BoxedTypesInh.ShortValue;
-//write BoxedTypesInh.LongValue;
-//write BoxedTypesInh.FloatValue;
-//write BoxedTypesInh.DoubleValue;
-//write BoxedTypesInh.CharValue;
+//send BoxedTypesInh.IntValue;
+//send BoxedTypesInh.ShortValue;
+//send BoxedTypesInh.LongValue;
+//send BoxedTypesInh.FloatValue;
+//send BoxedTypesInh.DoubleValue;
+//send BoxedTypesInh.CharValue;
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.jadd b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.jadd
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.jadd
rename to ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.jadd
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.relast b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.relast
rename to ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.relast
diff --git a/ros2rag.tests/src/test/01-input/errors/Errors.ros2rag b/ragconnect.tests/src/test/01-input/errors/Errors.connect
similarity index 65%
rename from ros2rag.tests/src/test/01-input/errors/Errors.ros2rag
rename to ragconnect.tests/src/test/01-input/errors/Errors.connect
index f8c05f0abe2ebed89a98839949e6c8f2cf20f044..bd57822a6c70198cc36698f790fa90655ed4db73 100644
--- a/ros2rag.tests/src/test/01-input/errors/Errors.ros2rag
+++ b/ragconnect.tests/src/test/01-input/errors/Errors.connect
@@ -1,60 +1,60 @@
-// --- update read definitions ---
-// Error: there must not be two read definitions for the same token
-read B.DoubledValue ;
-read B.DoubledValue using IntToInt ;
+// --- update receive definitions ---
+// Error: there must not be two receive definitions for the same token
+receive B.DoubledValue ;
+receive B.DoubledValue using IntToInt ;
// NOT HANDLED \\ Error: the token must be resolvable within the parent type
-// NOT HANDLED \\ read B.NonExisting ;
+// NOT HANDLED \\ receive B.NonExisting ;
// Error: the Token must not be a TokenNTA (i.e., check for !Token.getNTA())
-read B.ErrorNTA ;
+receive B.ErrorNTA ;
// Error: from-type of first mapping must be byte[] or a supported primitive type
-read B.ErrorTypeOfFirstMapping using ListToList ;
+receive B.ErrorTypeOfFirstMapping using ListToList ;
// Error: to-type of last mapping must be type of the Token
-read B.ErrorTypeOfLastMapping using StringToList ;
+receive B.ErrorTypeOfLastMapping using StringToList ;
// Error: types of mappings must match (modulo inheritance)
-read B.ErrorTypeMismatch using StringToList, IntToInt ;
+receive B.ErrorTypeMismatch using StringToList, IntToInt ;
-// --- update write definitions ---
+// --- update send definitions ---
// NOT HANDLED \\ Error: the token must be resolvable within the parent type
-// NOT HANDLED \\ read C.NonExisting ;
+// NOT HANDLED \\ receive C.NonExisting ;
// Error: Token must be a TokenNTA (i.e., check for Token.getNTA())
-write C.ErrorNotNTA ;
+send C.ErrorNotNTA ;
// Error: from-type of first mapping must be type of Token
-write C.ErrorTypeOfFirstMapping using IntToInt ;
+send C.ErrorTypeOfFirstMapping using IntToInt ;
// Error: to-type of last mapping must be byte[] or a supported primitive type
-write C.ErrorTypeOfLastMapping1 using StringToList ;
-write C.ErrorTypeOfLastMapping2 ;
+send C.ErrorTypeOfLastMapping1 using StringToList ;
+send C.ErrorTypeOfLastMapping2 ;
// Error: types of mappings must match (modulo inheritance)
-write C.ErrorTypeMismatch using StringToList, IntToInt ;
+send C.ErrorTypeMismatch using StringToList, IntToInt ;
-// Error: no more than one write mapping for each TokenComponent
-write C.DoubledValue ;
-write C.DoubledValue using IntToInt ;
+// Error: no more than one send mapping for each TokenComponent
+send C.DoubledValue ;
+send C.DoubledValue using IntToInt ;
// --- dependency definitions ---
// NOT HANDLED \\ Error: Both, source and target must be resolvable within the parent type
// NOT HANDLED \\ D.SourceNonExistingTarget canDependOn D.NonExisting as NonExistingTarget ;
// NOT HANDLED \\ D.NonExisting canDependOn D.TargetNonExistingSource as NonExistingSource ;
-// Error: There must be a write update definition for the target token
+// Error: There must be a send update definition for the target token
D.SourceNoWriteDef canDependOn D.TargetNoWriteDef as NoWriteDef ;
// Error: The name of a dependency definition must not be equal to a list-node on the source
D.SourceSameAsListNode canDependOn D.TargetSameAsListNode as MyList ;
-write D.TargetSameAsListNode;
+send D.TargetSameAsListNode;
// Error: There must not be two dependency definitions with the same name
D.SourceDoubledValue canDependOn D.TargetDoubledValue as DoubledValue ;
D.SourceDoubledValue canDependOn D.TargetDoubledValue as DoubledValue ;
-write D.TargetDoubledValue;
+send D.TargetDoubledValue;
// --- mapping definitions ---
ListToList maps java.util.List<String> list to java.util.List<String> {:
diff --git a/ros2rag.tests/src/test/01-input/errors/Errors.expected b/ragconnect.tests/src/test/01-input/errors/Errors.expected
similarity index 100%
rename from ros2rag.tests/src/test/01-input/errors/Errors.expected
rename to ragconnect.tests/src/test/01-input/errors/Errors.expected
diff --git a/ros2rag.tests/src/test/01-input/errors/Errors.relast b/ragconnect.tests/src/test/01-input/errors/Errors.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/errors/Errors.relast
rename to ragconnect.tests/src/test/01-input/errors/Errors.relast
diff --git a/ros2rag.tests/src/test/01-input/errors/README.md b/ragconnect.tests/src/test/01-input/errors/README.md
similarity index 100%
rename from ros2rag.tests/src/test/01-input/errors/README.md
rename to ragconnect.tests/src/test/01-input/errors/README.md
diff --git a/ros2rag.tests/src/test/01-input/example/README.md b/ragconnect.tests/src/test/01-input/example/README.md
similarity index 100%
rename from ros2rag.tests/src/test/01-input/example/README.md
rename to ragconnect.tests/src/test/01-input/example/README.md
diff --git a/ros2rag.tests/src/test/01-input/example/Test.ros2rag b/ragconnect.tests/src/test/01-input/example/Test.connect
similarity index 87%
rename from ros2rag.tests/src/test/01-input/example/Test.ros2rag
rename to ragconnect.tests/src/test/01-input/example/Test.connect
index c916bfdca59f605ed090fa1171dc5e068fe23a8f..2a26051b743145ad8af6ad7b8ea84ad58ce1348f 100644
--- a/ros2rag.tests/src/test/01-input/example/Test.ros2rag
+++ b/ragconnect.tests/src/test/01-input/example/Test.connect
@@ -1,7 +1,7 @@
/* Version 2020-07-15 */
// --- update definitions ---
-read Link.CurrentPosition using ParseRobotState, RobotStateToIntPosition ;
-write RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
+receive Link.CurrentPosition using ParseRobotState, RobotStateToIntPosition ;
+send RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
// --- dependency definitions ---
RobotArm.AppropriateSpeed canDependOn Link.CurrentPosition as dependency1 ;
diff --git a/ros2rag.tests/src/test/01-input/example/Test.jadd b/ragconnect.tests/src/test/01-input/example/Test.jadd
similarity index 100%
rename from ros2rag.tests/src/test/01-input/example/Test.jadd
rename to ragconnect.tests/src/test/01-input/example/Test.jadd
diff --git a/ros2rag.tests/src/test/01-input/example/Test.relast b/ragconnect.tests/src/test/01-input/example/Test.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/example/Test.relast
rename to ragconnect.tests/src/test/01-input/example/Test.relast
diff --git a/ragconnect.tests/src/test/01-input/example/config.json b/ragconnect.tests/src/test/01-input/example/config.json
new file mode 100644
index 0000000000000000000000000000000000000000..02843152a51197a04bce4e8e54ad4ec0f703eca5
--- /dev/null
+++ b/ragconnect.tests/src/test/01-input/example/config.json
@@ -0,0 +1,9 @@
+{
+ "joints": [
+ {"name": "Joint1", "topic": "robot/arm/joint1"},
+ {"name": "Joint2", "topic": "robot/arm/joint2"},
+ {"name": "EndEffector", "topic": "-", "isEndEffector": true}
+ ],
+ "robotConfigTopic": "robot/config",
+ "dataConfigTopic": "-"
+}
diff --git a/ros2rag.tests/src/test/01-input/read1write2/README.md b/ragconnect.tests/src/test/01-input/read1write2/README.md
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read1write2/README.md
rename to ragconnect.tests/src/test/01-input/read1write2/README.md
diff --git a/ros2rag.tests/src/test/01-input/read1write2/Test.ros2rag b/ragconnect.tests/src/test/01-input/read1write2/Test.connect
similarity index 71%
rename from ros2rag.tests/src/test/01-input/read1write2/Test.ros2rag
rename to ragconnect.tests/src/test/01-input/read1write2/Test.connect
index fbf9489f07114a3439e89e6a9f6654fe33392380..e826f1d040d1668ae5d5d56a83e5b4e5e96a7290 100644
--- a/ros2rag.tests/src/test/01-input/read1write2/Test.ros2rag
+++ b/ragconnect.tests/src/test/01-input/read1write2/Test.connect
@@ -1,13 +1,13 @@
// --- update definitions ---
// OnSameNonterminal
-read OnSameNonterminal.Input;
-write OnSameNonterminal.OutInteger;
-write OnSameNonterminal.OutString;
+receive OnSameNonterminal.Input;
+send OnSameNonterminal.OutInteger;
+send OnSameNonterminal.OutString;
// OnDifferentNonterminal
-read OnDifferentNonterminal.Input;
-write TheOther.OutInteger;
-write TheOther.OutString;
+receive OnDifferentNonterminal.Input;
+send TheOther.OutInteger;
+send TheOther.OutString;
// --- dependency definitions ---
// OnSameNonterminal
diff --git a/ros2rag.tests/src/test/01-input/read1write2/Test.jadd b/ragconnect.tests/src/test/01-input/read1write2/Test.jadd
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read1write2/Test.jadd
rename to ragconnect.tests/src/test/01-input/read1write2/Test.jadd
diff --git a/ros2rag.tests/src/test/01-input/read1write2/Test.relast b/ragconnect.tests/src/test/01-input/read1write2/Test.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read1write2/Test.relast
rename to ragconnect.tests/src/test/01-input/read1write2/Test.relast
diff --git a/ros2rag.tests/src/test/01-input/read2write1/Test.ros2rag b/ragconnect.tests/src/test/01-input/read2write1/Test.connect
similarity index 70%
rename from ros2rag.tests/src/test/01-input/read2write1/Test.ros2rag
rename to ragconnect.tests/src/test/01-input/read2write1/Test.connect
index 4575a5b547366d8c9737d5c8478e1a4fb821e9a6..4c2a9b237acb5b42f274a2f095fcb74b4132a49d 100644
--- a/ros2rag.tests/src/test/01-input/read2write1/Test.ros2rag
+++ b/ragconnect.tests/src/test/01-input/read2write1/Test.connect
@@ -1,13 +1,13 @@
// --- update definitions ---
// OnSameNonterminal
-read OnSameNonterminal.Input1;
-read OnSameNonterminal.Input2;
-write OnSameNonterminal.OutInteger;
+receive OnSameNonterminal.Input1;
+receive OnSameNonterminal.Input2;
+send OnSameNonterminal.OutInteger;
// OnDifferentNonterminal
-read OnDifferentNonterminal.Input1;
-read OnDifferentNonterminal.Input2;
-write TheOther.OutInteger;
+receive OnDifferentNonterminal.Input1;
+receive OnDifferentNonterminal.Input2;
+send TheOther.OutInteger;
// --- dependency definitions ---
// OnSameNonterminal
diff --git a/ros2rag.tests/src/test/01-input/read2write1/Test.jadd b/ragconnect.tests/src/test/01-input/read2write1/Test.jadd
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read2write1/Test.jadd
rename to ragconnect.tests/src/test/01-input/read2write1/Test.jadd
diff --git a/ros2rag.tests/src/test/01-input/read2write1/Test.relast b/ragconnect.tests/src/test/01-input/read2write1/Test.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read2write1/Test.relast
rename to ragconnect.tests/src/test/01-input/read2write1/Test.relast
diff --git a/ros2rag.tests/src/test/02-after-ros2rag/.gitignore b/ragconnect.tests/src/test/02-after-ragconnect/.gitignore
similarity index 100%
rename from ros2rag.tests/src/test/02-after-ros2rag/.gitignore
rename to ragconnect.tests/src/test/02-after-ragconnect/.gitignore
diff --git a/ros2rag.tests/src/test/03-after-relast/.gitignore b/ragconnect.tests/src/test/03-after-relast/.gitignore
similarity index 100%
rename from ros2rag.tests/src/test/03-after-relast/.gitignore
rename to ragconnect.tests/src/test/03-after-relast/.gitignore
diff --git a/ros2rag.tests/src/test/java-gen/.gitignore b/ragconnect.tests/src/test/java-gen/.gitignore
similarity index 100%
rename from ros2rag.tests/src/test/java-gen/.gitignore
rename to ragconnect.tests/src/test/java-gen/.gitignore
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/AbstractMqttTest.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/AbstractMqttTest.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/AbstractMqttTest.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/AbstractMqttTest.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java
similarity index 98%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java
index a0fd5e7682f1accef3333eaf72261a6593e1c4d6..be45a8080cc251191c62fcbc3b1793129a45dee3 100644
--- a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java
+++ b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java
@@ -2,7 +2,7 @@ package org.jastadd.ros2rag.tests;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
-import org.jastadd.ros2rag.compiler.Compiler;
+import org.jastadd.ragconnect.compiler.Compiler;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
diff --git a/ragconnect.tests/src/test/proto/config.proto b/ragconnect.tests/src/test/proto/config.proto
new file mode 100644
index 0000000000000000000000000000000000000000..38cb5d0a25b02c96dcbdf30f685212ea972feee6
--- /dev/null
+++ b/ragconnect.tests/src/test/proto/config.proto
@@ -0,0 +1,7 @@
+syntax = "proto3";
+
+package config;
+
+message RobotConfig {
+ double speed = 1;
+}
\ No newline at end of file
diff --git a/ragconnect.tests/src/test/proto/robot_state.proto b/ragconnect.tests/src/test/proto/robot_state.proto
new file mode 100644
index 0000000000000000000000000000000000000000..6630631f16e00493be3f50307c9092e56184e9c6
--- /dev/null
+++ b/ragconnect.tests/src/test/proto/robot_state.proto
@@ -0,0 +1,37 @@
+syntax = "proto3";
+
+package robot;
+
+message RobotState {
+
+ message Position {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ }
+
+ message Orientation {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ double w = 4;
+ }
+
+ message LinearTwist {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ }
+
+ message AngularTwist {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ }
+
+ string name = 1;
+ Position position = 2;
+ Orientation orientation = 3;
+ LinearTwist linear_twist = 4;
+ AngularTwist angular_twist = 5;
+}
\ No newline at end of file
diff --git a/ragconnect.tests/src/test/proto/trajectory.proto b/ragconnect.tests/src/test/proto/trajectory.proto
new file mode 100644
index 0000000000000000000000000000000000000000..4a7f375e1ae37ba386f45e1149dc38990d0c7a0e
--- /dev/null
+++ b/ragconnect.tests/src/test/proto/trajectory.proto
@@ -0,0 +1,33 @@
+syntax = "proto3";
+
+package plan;
+
+message Trajectory {
+
+ message Position {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ }
+
+ message Orientation {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ double w = 4;
+ }
+
+ enum PlanningMode {
+ FLUID = 0;
+ CARTESIAN = 1;
+ }
+
+ message Pose {
+ Position position = 1;
+ Orientation orientation = 2;
+ PlanningMode mode = 3;
+ }
+
+ repeated Pose pose = 1;
+ bool loop = 2;
+}
diff --git a/relast.preprocessor b/relast.preprocessor
index 54af6737685fab0be452f446b70b9842aba89e42..79d237fda220364ffebf77dc7de0a7b29635e360 160000
--- a/relast.preprocessor
+++ b/relast.preprocessor
@@ -1 +1 @@
-Subproject commit 54af6737685fab0be452f446b70b9842aba89e42
+Subproject commit 79d237fda220364ffebf77dc7de0a7b29635e360
diff --git a/ros2rag.base/src/main/jastadd/Analysis.jrag b/ros2rag.base/src/main/jastadd/Analysis.jrag
deleted file mode 100644
index 228a3479df5be9d24998479bc3b48bd1626775aa..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/jastadd/Analysis.jrag
+++ /dev/null
@@ -1,27 +0,0 @@
-aspect Analysis {
- // --- lookupTokenUpdateDefinition ---
- inh TokenUpdateDefinition TokenUpdateDefinition.lookupTokenUpdateDefinition(TokenComponent token);
- eq Ros2Rag.getUpdateDefinition().lookupTokenUpdateDefinition(TokenComponent token) {
- for (UpdateDefinition def : getUpdateDefinitionList()) {
- if (def.isTokenUpdateDefinition() && def.asTokenUpdateDefinition().getToken().equals(token)) {
- return def.asTokenUpdateDefinition();
- }
- }
- return null;
- }
-
- // --- lookupDependencyDefinition ---
- inh DependencyDefinition DependencyDefinition.lookupDependencyDefinition(TypeDecl source, String id);
- eq Ros2Rag.getDependencyDefinition().lookupDependencyDefinition(TypeDecl source, String id) {
- for (DependencyDefinition def : getDependencyDefinitionList()) {
- if (def.getID().equals(id) && def.getSource().containingTypeDecl().equals(source)) {
- return def;
- }
- }
- return null;
- }
-
- // --- isAlreadyDefined ---
- syn boolean TokenUpdateDefinition.isAlreadyDefined() = lookupTokenUpdateDefinition(getToken()) != this;
- syn boolean DependencyDefinition.isAlreadyDefined() = lookupDependencyDefinition(getSource().containingTypeDecl(), getID()) != this;
-}
diff --git a/ros2rag.base/src/main/jastadd/MustacheNodes.relast b/ros2rag.base/src/main/jastadd/MustacheNodes.relast
deleted file mode 100644
index 69d4280f9d9038c838e83767c6e72be9a8d6d5d8..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/jastadd/MustacheNodes.relast
+++ /dev/null
@@ -1,22 +0,0 @@
-//TypeComponentMustache ;
-//rel TypeComponentMustache.TypeComponent -> TypeComponent ;
-
-MRos2Rag ::= ReadDefinition:MReadDefinition* WriteDefinition:MWriteDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeComponent:MTypeComponent* TokenComponent:MTokenComponent*;
-abstract MUpdateDefinition ::= InnerMappingDefinition:MInnerMappingDefinition*;
-MReadDefinition : MUpdateDefinition;
-MWriteDefinition : MUpdateDefinition;
-MMappingDefinition;
-MInnerMappingDefinition;
-MDependencyDefinition;
-MTypeComponent;
-MTokenComponent;
-
-rel MRos2Rag.Ros2Rag -> Ros2Rag;
-rel MInnerMappingDefinition.MappingDefinition -> MappingDefinition;
-rel MReadDefinition.ReadFromMqttDefinition -> ReadFromMqttDefinition;
-rel MWriteDefinition.WriteToMqttDefinition -> WriteToMqttDefinition;
-rel MMappingDefinition.MappingDefinition -> MappingDefinition;
-rel MDependencyDefinition.DependencyDefinition -> DependencyDefinition;
-rel MTypeComponent.TypeComponent -> TypeComponent;
-rel MTokenComponent.TokenComponent -> TokenComponent;
-rel MTokenComponent.DependencyDefinition* -> MDependencyDefinition;
diff --git a/ros2rag.base/src/main/jastadd/Navigation.jrag b/ros2rag.base/src/main/jastadd/Navigation.jrag
deleted file mode 100644
index a4f21e6e8d79c549a63d54474792382457bf74fd..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/jastadd/Navigation.jrag
+++ /dev/null
@@ -1,80 +0,0 @@
-aspect Navigation {
-
- // --- program ---
- eq Ros2Rag.getChild().program() = getProgram();
- eq MRos2Rag.getChild().program() = getRos2Rag().program();
-
- // --- ros2rag ---
- inh Ros2Rag ASTNode.ros2rag();
- eq Ros2Rag.getChild().ros2rag() = this;
- eq MRos2Rag.getChild().ros2rag() = getRos2Rag();
-
- // --- containedFile (first equation should be in preprocessor) ---
- eq Program.getChild().containedFile() = null;
- eq Ros2Rag.getChild().containedFile() = null;
-
- // --- isTypeComponent (should be in preprocessor) ---
- syn boolean Component.isTypeComponent() = false;
- eq TypeComponent.isTypeComponent() = true;
-
- // --- asTypeComponent (should be in preprocessor) ---
- syn TypeComponent Component.asTypeComponent() = null;
- eq TypeComponent.asTypeComponent() = this;
-
- // --- isListComponent (should be in preprocessor) ---
- syn boolean Component.isListComponent() = false;
- eq ListComponent.isListComponent() = true;
-
- // --- asListComponent (should be in preprocessor) ---
- syn ListComponent Component.asListComponent() = null;
- eq ListComponent.asListComponent() = this;
-
- // --- containedFileName (should replace containedFile in preprocessor) ---
- inh String ASTNode.containedFileName();
- eq GrammarFile.getChild().containedFileName() = getFileName();
- eq Ros2Rag.getChild().containedFileName() = getFileName();
- eq Program.getChild().containedFileName() = null;
- eq MRos2Rag.getChild().containedFileName() = null;
-
- // --- isTokenUpdateDefinition ---
- syn boolean UpdateDefinition.isTokenUpdateDefinition() = false;
- eq TokenUpdateDefinition.isTokenUpdateDefinition() = true;
-
- // --- asTokenUpdateDefinition ---
- syn TokenUpdateDefinition UpdateDefinition.asTokenUpdateDefinition() = null;
- eq TokenUpdateDefinition.asTokenUpdateDefinition() = this;
-
- // --- isWriteToMqttDefinition ---
- syn boolean UpdateDefinition.isWriteToMqttDefinition() = false;
- eq WriteToMqttDefinition.isWriteToMqttDefinition() = true;
-
- // --- asWriteToMqttDefinition ---
- syn WriteToMqttDefinition UpdateDefinition.asWriteToMqttDefinition() = null;
- eq WriteToMqttDefinition.asWriteToMqttDefinition() = this;
-
- // --- asReadFromMqttDefinition ---
- syn ReadFromMqttDefinition UpdateDefinition.asReadFromMqttDefinition() = null;
- eq ReadFromMqttDefinition.asReadFromMqttDefinition() = this;
-
- // --- targetUpdateDefinition ---
- syn WriteToMqttDefinition DependencyDefinition.targetUpdateDefinition() {
- // resolve definition in here, as we do not need resolveMethod in any other place (yet)
- for (UpdateDefinition updateDefinition : ros2rag().getUpdateDefinitionList()) {
- if (updateDefinition.isWriteToMqttDefinition() &&
- updateDefinition.asWriteToMqttDefinition().getToken().equals(this.getTarget())) {
- return updateDefinition.asWriteToMqttDefinition();
- }
- }
- return null;
- }
-
- // --- isDefaultMappingDefinition ---
- syn boolean MappingDefinition.isDefaultMappingDefinition() = false;
- eq DefaultMappingDefinition.isDefaultMappingDefinition() = true;
-
- // --- allTokenComponents ---
- coll java.util.Set<TokenComponent> Program.allTokenComponents() [new java.util.HashSet<>()] root Program;
- TokenComponent contributes this
- to Program.allTokenComponents()
- for program();
-}
diff --git a/ros2rag.base/src/main/jastadd/parser/Preamble.parser b/ros2rag.base/src/main/jastadd/parser/Preamble.parser
deleted file mode 100644
index 43fa51e769eed054371cecae2cde354b44e115a3..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/jastadd/parser/Preamble.parser
+++ /dev/null
@@ -1,7 +0,0 @@
-%header {:
-package org.jastadd.ros2rag.parser;
-import org.jastadd.ros2rag.ast.*;
-:};
-
-%goal goal;
-%goal ros2rag;
diff --git a/ros2rag.base/src/main/jastadd/scanner/Header.flex b/ros2rag.base/src/main/jastadd/scanner/Header.flex
deleted file mode 100644
index 974aa01fe70d15edbd4c80ac67169a18fe95f9e8..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/jastadd/scanner/Header.flex
+++ /dev/null
@@ -1,17 +0,0 @@
-package org.jastadd.ros2rag.scanner;
-
-import org.jastadd.ros2rag.parser.Ros2RagParser.Terminals;
-%%
-
-%public
-%final
-%class Ros2RagScanner
-%extends beaver.Scanner
-
-%type beaver.Symbol
-%function nextToken
-%yylexthrow beaver.Scanner.Exception
-%scanerror Ros2RagScanner.ScannerError
-
-%line
-%column
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
deleted file mode 100644
index b6331130a7b338ef1bf37f6ac372d612cb1754f1..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
+++ /dev/null
@@ -1,217 +0,0 @@
-package org.jastadd.ros2rag.compiler;
-
-import beaver.Parser;
-import org.jastadd.ros2rag.ast.*;
-import org.jastadd.ros2rag.compiler.options.CommandLine;
-import org.jastadd.ros2rag.compiler.options.CommandLine.CommandLineException;
-import org.jastadd.ros2rag.compiler.options.FlagOption;
-import org.jastadd.ros2rag.compiler.options.Option;
-import org.jastadd.ros2rag.compiler.options.StringOption;
-import org.jastadd.ros2rag.parser.Ros2RagParser;
-import org.jastadd.ros2rag.scanner.Ros2RagScanner;
-
-import java.io.*;
-import java.nio.file.Files;
-import java.nio.file.Paths;
-import java.nio.file.StandardCopyOption;
-import java.util.ArrayList;
-import java.util.List;
-
-public class Compiler {
-
- private StringOption optionOutputDir;
- private StringOption optionInputGrammar;
- private StringOption optionRootNode;
- private StringOption optionInputRos2Rag;
- private FlagOption optionHelp;
- private FlagOption optionVerbose;
- private FlagOption optionLogReads;
- private FlagOption optionLogWrites;
-
- private ArrayList<Option<?>> options;
- private CommandLine commandLine;
-
- public Compiler() {
- options = new ArrayList<>();
- addOptions();
- }
-
- 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);
- commandLine.parse(args);
-
- if (optionHelp.isSet()) {
- printUsage();
- return;
- }
-
- if (optionVerbose.isSet()) {
- try {
- run();
- } catch (CompilerException e) {
- e.printStackTrace();
- throw e;
- }
- } else {
- run();
- }
- }
-
- private void run() throws CompilerException {
- String outputDir;
- if (optionOutputDir.isSet()) {
- outputDir = optionOutputDir.getValue();
- } else {
- outputDir = "gen";
- System.out.println("No output output dir is set. Assuming '" + outputDir + "'.");
- }
- try {
- Files.createDirectories(Paths.get(outputDir));
- } catch (IOException e) {
- throw new CompilerException("Error creating output dir " + outputDir, e);
- }
-
- printMessage("Running Ros2Rag Preprocessor");
-
- if (anyRequiredOptionIsUnset()) {
- throw new CompilerException("Aborting due to missing values for required options.");
- }
-
- List<String> otherArgs = commandLine.getArguments();
- if (!otherArgs.isEmpty()) {
- printMessage("Superfluous arguments will be ignored: " + otherArgs);
- }
- Ros2Rag ros2Rag = parseProgram(optionInputGrammar.getValue(), optionInputRos2Rag.getValue());
-
- if (!ros2Rag.errors().isEmpty()) {
- System.err.println("Errors:");
- for (ErrorMessage e : ros2Rag.errors()) {
- System.err.println(e);
- }
- System.exit(1);
- }
-
- printMessage("Writing output files");
- // copy MqttHandler into outputDir
- final String mqttHandlerFileName = "MqttHandler.jadd";
- try {
- InputStream inputStream = Compiler.class.getClassLoader().getResourceAsStream(mqttHandlerFileName);
- if (inputStream == null) {
- throw new CompilerException("Could not open " + mqttHandlerFileName);
- }
- Files.copy(inputStream,
- Paths.get(outputDir, mqttHandlerFileName),
- StandardCopyOption.REPLACE_EXISTING);
- } catch (IOException e) {
- throw new CompilerException("Could not copy " + mqttHandlerFileName, e);
- }
- writeToFile(outputDir + "/Grammar.relast", ros2Rag.getProgram().generateAbstractGrammar());
- writeToFile(outputDir + "/ROS2RAG.jadd", ros2Rag.generateAspect(optionRootNode.getValue()));
- }
-
- private boolean anyRequiredOptionIsUnset() {
- boolean foundError = false;
- for (Option<?> option : options) {
- if (option.hasArgument() == Option.HasArgument.YES && !option.isSet()) {
- System.err.println("Option '" + option.getName() +
- "' (" + option.getDescription() + ") is required but unset!");
- foundError = true;
- }
- }
- return foundError;
- }
-
-
- public static void main(String[] args) {
- try {
- new Compiler().run(args);
- } catch (CommandLineException | CompilerException e) {
- System.err.println(e.getMessage());
- System.exit(-1);
- }
- }
-
- private void printMessage(String message) {
- System.out.println(message);
- }
-
- private void writeToFile(String filename, String str) throws CompilerException {
- try {
- PrintWriter writer = new PrintWriter(filename);
- writer.print(str);
- writer.close();
- } catch (Exception e) {
- throw new CompilerException("Could not write to file " + filename, e);
- }
- }
-
- private void addOptions() {
- optionOutputDir = addOption(new StringOption("outputDir", "target directory for the generated files."));
- optionInputGrammar = addOption(new StringOption("inputGrammar", "base grammar."));
- optionRootNode = addOption(new StringOption("rootNode", "root node in the base grammar."));
- optionInputRos2Rag = addOption(new StringOption("inputRos2Rag", "ros2rag definition file."));
- optionHelp = addOption(new FlagOption("help", "Print usage and exit."));
- optionVerbose = addOption(new FlagOption("verbose", "Print more messages while compiling."));
- optionLogReads = addOption(new FlagOption("logReads", "Enable logging for every read."));
- optionLogWrites = addOption(new FlagOption("logWrites", "Enable logging for every write."));
- }
-
- private <OptionType extends Option<?>> OptionType addOption(OptionType option) {
- options.add(option);
- return option;
- }
-
- private Ros2Rag parseProgram(String inputGrammarFileName, String inputRos2RagFileName) throws CompilerException {
- Program program = new Program();
- Ros2Rag ros2Rag;
- GrammarFile inputGrammar;
-
- try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputGrammarFileName))) {
- Ros2RagScanner scanner = new Ros2RagScanner(reader);
- Ros2RagParser parser = new Ros2RagParser();
- inputGrammar = (GrammarFile) parser.parse(scanner);
- if (optionVerbose.isSet()) {
- inputGrammar.dumpTree(System.out);
- }
- program.addGrammarFile(inputGrammar);
- inputGrammar.treeResolveAll();
- inputGrammar.setFileName(inputGrammarFileName);
- } catch (IOException | Parser.Exception e) {
- throw new CompilerException("Could not parse grammar file " + inputGrammarFileName, e);
- }
-
- try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputRos2RagFileName))) {
- Ros2RagScanner scanner = new Ros2RagScanner(reader);
- Ros2RagParser parser = new Ros2RagParser();
- ros2Rag = (Ros2Rag) parser.parse(scanner, Ros2RagParser.AltGoals.ros2rag);
- ros2Rag.setProgram(program);
- ros2Rag.setFileName(inputRos2RagFileName);
- } catch (IOException | Parser.Exception e) {
- throw new CompilerException("Could not parse ros2rag file " + inputRos2RagFileName, e);
- }
- ros2Rag.treeResolveAll();
- ros2Rag.additionalRelations().forEach(inputGrammar::addDeclaration);
- ASTNode.loggingEnabledForReads = optionLogReads.isSet();
- ASTNode.loggingEnabledForWrites = optionLogWrites.isSet();
- return ros2Rag;
- }
-
- protected void printUsage() {
- System.out.println("Usage: java -jar ros2rag.jar [--option1] [--option2=value] ... <filename1> <filename2> ... ");
- System.out.println("Options:");
- System.out.print(commandLine.printOptionHelp());
- }
-
- public static class CompilerException extends Exception {
- CompilerException(String message) {
- super(message);
- }
- CompilerException(String message, Throwable cause) {
- super(message, cause);
- }
- }
-}
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/CommandLine.java b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/CommandLine.java
deleted file mode 100644
index 89a1335c5440cc88fc8ee7c0c22552fffd86c13b..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/CommandLine.java
+++ /dev/null
@@ -1,97 +0,0 @@
-package org.jastadd.ros2rag.compiler.options;
-
-import java.util.*;
-
-public class CommandLine {
- private final Collection<Option<?>> options;
- private final Map<String, Option<?>> mapping;
- private final List<String> arguments;
-
- public CommandLine(Collection<Option<?>> options) {
- this.options = options;
- this.mapping = new HashMap<>();
- for (Option<?> option : options) {
- mapping.put(option.getName(), option);
- }
- this.arguments = new ArrayList<>();
- }
-
- public void parse(String[] args) throws CommandLineException {
- int i = 0;
- while (i < args.length) {
- if (args[i].startsWith(Option.PREFIX)) {
- int argumentIndex = args[i].indexOf("=");
- String name;
- String argument = null;
- if (argumentIndex > 0) {
- name = args[i].substring(2, argumentIndex);
- argument = args[i].substring(argumentIndex + 1);
- } else {
- name = args[i].substring(2);
- }
- Option<?> option = mapping.get(name);
- if (option == null) {
- throw new CommandLineException("Option " + Option.PREFIX + name + " not found");
- }
- match(option, argument);
- } else {
- arguments.add(args[i]);
- }
- i++;
- }
- }
-
- public void match(Option<?> option, String argument) throws CommandLineException {
- try {
- switch (option.hasArgument()) {
- case NO:
- if (argument == null) {
- option.match(null);
- } else {
- throw new CommandLineException("Option " + option + " is not allowed to have an argument");
- }
- break;
- case OPTIONAL:
- option.match(argument);
- break;
- case YES:
- if (argument != null) {
- option.match(argument);
- } else {
- throw new CommandLineException("Option " + option + " requires an argument");
- }
- break;
- }
- } catch (Option.IllegalMatchException e) {
- throw new CommandLineException("Invalid value for option " + option + ": " + e.getMessage());
- }
- }
-
- public List<String> getArguments() {
- return arguments;
- }
-
- public String printOptionHelp() {
- StringBuilder sb = new StringBuilder();
- int longestOption = 0;
- for (Option<?> option : options) {
- if (longestOption < option.getName().length()) {
- longestOption = option.getName().length();
- }
- }
- for (Option<?> option : new TreeSet<>(options)) {
- String s = String.format(" %s%-" + (longestOption + 6) + "s %s%n",
- Option.PREFIX, option.getName(), option.getDescription());
- sb.append(s);
- }
- return sb.toString();
- }
-
- public static class CommandLineException extends Exception {
- private static final long serialVersionUID = 1L;
-
- public CommandLineException(String message) {
- super(message);
- }
- }
-}
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/EnumOption.java b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/EnumOption.java
deleted file mode 100644
index 67ada98e8c2483b8d29ffeb73f99e4be8e6244c8..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/EnumOption.java
+++ /dev/null
@@ -1,60 +0,0 @@
-package org.jastadd.ros2rag.compiler.options;
-
-import java.util.Collection;
-import java.util.TreeSet;
-
-public class EnumOption extends Option<String> {
- private final TreeSet<String> allowedValues;
- private final String defaultValue;
- private String value;
- private boolean isSet;
-
- public EnumOption(String name, String description, Collection<String> allowedValues, String defaultValue) {
- super(name, description);
- this.allowedValues = new TreeSet<>(allowedValues);
- this.defaultValue = defaultValue;
- this.value = defaultValue;
- this.isSet = false;
- }
-
- public boolean addAllowedValue(String allowedValue) {
- return allowedValues.add(allowedValue);
- }
-
- @Override
- public String getValue() {
- return value;
- }
-
- @Override
- public Option.HasArgument hasArgument() {
- return Option.HasArgument.OPTIONAL;
- }
-
- @Override
- public void match(String argument) throws IllegalMatchException {
- if (argument == null) {
- isSet = true;
- value = defaultValue;
- } else if (allowedValues.contains(argument)) {
- isSet = true;
- value = argument;
- } else {
- throw new IllegalMatchException(argument
- + " is not allowed, allowed values are " + allowedValues);
- }
- }
-
- @Override
- public boolean isSet() {
- return isSet;
- }
-
- @Override
- public String getDescription() {
- String allowedValuesStr = allowedValues.toString();
- allowedValuesStr = allowedValuesStr.substring(1);
- allowedValuesStr = allowedValuesStr.substring(0, allowedValuesStr.length() - 1);
- return super.getDescription() + " (allowed values: " + allowedValuesStr + ")";
- }
-}
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/FlagOption.java b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/FlagOption.java
deleted file mode 100644
index ad87ed19e91b03f05d163f0cc123af15a4a4e2e2..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/FlagOption.java
+++ /dev/null
@@ -1,30 +0,0 @@
-package org.jastadd.ros2rag.compiler.options;
-
-public class FlagOption extends Option<Boolean> {
- private boolean value;
-
- public FlagOption(String name, String description) {
- super(name, description);
- value = false;
- }
-
- @Override
- public Boolean getValue() {
- return value;
- }
-
- @Override
- public Option.HasArgument hasArgument() {
- return Option.HasArgument.NO;
- }
-
- @Override
- public void match(String string) throws IllegalMatchException {
- value = true;
- }
-
- @Override
- public boolean isSet() {
- return getValue();
- }
-}
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/Option.java b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/Option.java
deleted file mode 100644
index 0f57f9899ba5f28ee80ca6d37788a6e31123ac47..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/Option.java
+++ /dev/null
@@ -1,60 +0,0 @@
-package org.jastadd.ros2rag.compiler.options;
-
-abstract public class Option<ValueType> implements Comparable<Option<?>> {
- public final static String PREFIX = "--";
- private final String name;
- private final String description;
-
- public Option(String name, String description) {
- this.name = name;
- this.description = description;
- }
-
- public String getName() {
- return name;
- }
-
- public String getDescription() {
- return description;
- }
-
- @Override
- public int compareTo(Option<?> o) {
- return name.compareTo(o.name);
- }
-
- @Override
- public boolean equals(Object other) {
- if (other instanceof Option) {
- return compareTo((Option<?>) other) == 0;
- }
- return false;
- }
-
- @Override
- public String toString() {
- return PREFIX + name;
- }
-
- abstract public boolean isSet();
-
- abstract public ValueType getValue();
-
- abstract public HasArgument hasArgument();
-
- abstract public void match(String input) throws IllegalMatchException;
-
- public enum HasArgument {
- NO,
- OPTIONAL,
- YES
- }
-
- public static class IllegalMatchException extends Exception {
- private static final long serialVersionUID = 1L;
-
- public IllegalMatchException(String message) {
- super(message);
- }
- }
-}
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/StringOption.java b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/StringOption.java
deleted file mode 100644
index 19082b5ae6b9fa90145a73ff4ddc4b58b2f9b122..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/StringOption.java
+++ /dev/null
@@ -1,37 +0,0 @@
-package org.jastadd.ros2rag.compiler.options;
-
-public class StringOption extends Option<String> {
- private String value;
- private boolean isSet;
-
- public StringOption(String name, String description) {
- this(name, description, "");
- }
-
- public StringOption(String name, String description, String defaultValue) {
- super(name, description);
- value = defaultValue;
- isSet = false;
- }
-
- @Override
- public String getValue() {
- return value;
- }
-
- @Override
- public Option.HasArgument hasArgument() {
- return Option.HasArgument.YES;
- }
-
- @Override
- public void match(String value) {
- this.value = value;
- isSet = true;
- }
-
- @Override
- public boolean isSet() {
- return isSet;
- }
-}
diff --git a/ros2rag.common/build.gradle b/ros2rag.common/build.gradle
index 6d0657ba2384835d8ffd8cd8f283535753f96822..28d38267854756aed20a50250814e51ff090afa9 100644
--- a/ros2rag.common/build.gradle
+++ b/ros2rag.common/build.gradle
@@ -28,8 +28,6 @@ test {
}
protobuf {
- // create strange directories, so use default here
-// generatedFilesBaseDir = "$projectDir/src/gen/java"
protoc {
// The artifact spec for the Protobuf Compiler
artifact = 'com.google.protobuf:protoc:3.0.0'
diff --git a/ros2rag.goal/build.gradle b/ros2rag.goal/build.gradle
index c124190b772948fa6bdcff959c4fdc68769d793a..0c537c2ba4f8d5a5f92fc572249ddcb0afa94896 100644
--- a/ros2rag.goal/build.gradle
+++ b/ros2rag.goal/build.gradle
@@ -21,30 +21,30 @@ configurations {
sourceSets.main.java.srcDir "src/gen/java"
dependencies {
- implementation project (':ros2rag.base')
+ implementation project (':ragconnect.base')
implementation project (':ros2rag.common')
- baseRuntimeClasspath project (':ros2rag.base')
+ baseRuntimeClasspath project (':ragconnect.base')
api group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
jastadd2 "org.jastadd:jastadd:2.3.4"
}
// Input files for relast
-def relastFiles = ["src/gen/jastadd/Grammar.relast"]
+def relastFiles = ["src/gen/jastadd/GoalModel.relast", "src/gen/jastadd/RagConnect.relast"]
-// phases: Ros2Rag -> RelAst -> JastAdd
-// phase: Ros2Rag
-task ros2rag(type: JavaExec) {
+// phases: ragConnect -> RelAst -> JastAdd
+// phase: ragConnect
+task ragConnect(type: JavaExec) {
classpath = configurations.baseRuntimeClasspath
group = 'Build'
- main = 'org.jastadd.ros2rag.compiler.Compiler'
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
args([
'--verbose',
- '--outputDir=src/gen/jastadd',
- '--inputGrammar=src/main/jastadd/GoalModel.relast',
- '--inputRos2Rag=src/main/jastadd/GoalModel.ros2rag',
+ '--o=src/gen/jastadd',
+ 'src/main/jastadd/GoalModel.relast',
+ 'src/main/jastadd/GoalModel.connect',
'--rootNode=GoalModel'
])
}
@@ -119,4 +119,4 @@ jastadd {
// Workflow configuration for phases
generateAst.dependsOn relastToJastAdd
-relastToJastAdd.dependsOn ros2rag
+relastToJastAdd.dependsOn ragConnect
diff --git a/ros2rag.goal/src/main/jastadd/GoalModel.ros2rag b/ros2rag.goal/src/main/jastadd/GoalModel.connect
similarity index 84%
rename from ros2rag.goal/src/main/jastadd/GoalModel.ros2rag
rename to ros2rag.goal/src/main/jastadd/GoalModel.connect
index 448e66a83e17b01f1039f3e36ca17e28a75f3816..d4e3bd6f6ddc7b74581ea74e561d3514793ff01b 100644
--- a/ros2rag.goal/src/main/jastadd/GoalModel.ros2rag
+++ b/ros2rag.goal/src/main/jastadd/GoalModel.connect
@@ -2,14 +2,14 @@
* Version 2020-05-28
*/
// --- update definitions ---
-read RobotState.CurrentPosition using ParseRobotState, RobotStateToTrajectoryPosition ;
-read RobotState.LastUpdate using TickWhenLinkState ;
+receive RobotState.CurrentPosition using ParseRobotState, RobotStateToTrajectoryPosition ;
+receive RobotState.LastUpdate using TickWhenLinkState ;
-// Those two roles together encode an attribute-driven rewrite (via mqtt)
-write Workflow.ReadyForThisStep ;
-read Workflow.CurrentStep using ParseLastUpdatedInteger ;
+// Those two roles together encode an attribute-driven resend (via mqtt)
+send Workflow.ReadyForThisStep ;
+receive Workflow.CurrentStep using ParseLastUpdatedInteger ;
-write Workflow.NextTrajectory using SerializeTrajectory ;
+send Workflow.NextTrajectory using SerializeTrajectory ;
// --- dependency definitions ---
Workflow.ReadyForThisStep canDependOn RobotState.LastUpdate as LastUpdateDependency ;
diff --git a/ros2rag.receiverstub/build.gradle b/ros2rag.receiverstub/build.gradle
index db37ca24aa4b861c2153967a3092f38f685a5dfa..02b49e36590bc01a544bcc9a7fc839109d32d817 100644
--- a/ros2rag.receiverstub/build.gradle
+++ b/ros2rag.receiverstub/build.gradle
@@ -1,3 +1,4 @@
+apply plugin: 'jastadd'
apply plugin: 'application'
mainClassName = 'de.tudresden.inf.st.ros2rag.receiverstub.ReceiverMain'
@@ -8,11 +9,75 @@ repositories {
buildscript {
repositories.jcenter()
+ dependencies {
+ classpath 'org.jastadd:jastaddgradle:1.13.3'
+ }
}
sourceSets.main.java.srcDir "src/gen/java"
+configurations {
+ baseRuntimeClasspath
+}
+
dependencies {
- implementation project(':ros2rag.starter')
+ implementation project(':ragconnect.base')
implementation project(':ros2rag.common')
+ baseRuntimeClasspath project (':ragconnect.base')
+ api group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
+
+ jastadd2 "org.jastadd:jastadd:2.3.4"
+}
+
+task ragConnect(type: JavaExec) {
+ classpath = configurations.baseRuntimeClasspath
+
+ group = 'Build'
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+
+ args([
+ '--o=src/gen/jastadd',
+ 'src/main/jastadd/Receiver.ast',
+ 'src/main/jastadd/Receiver.connect',
+ '--rootNode=Receiver'
+ ])
+}
+
+// phase: JastAdd
+jastadd {
+ configureModuleBuild()
+ modules {
+ //noinspection GroovyAssignabilityCheck
+ module("receiver") {
+
+ java {
+ basedir "src/"
+ include "main/**/*.java"
+ include "gen/**/*.java"
+ }
+
+ jastadd {
+ basedir "src/"
+ include "main/jastadd/Receiver.ast"
+ include "gen/jastadd/**/*.jadd"
+ }
+ }
+ }
+ cleanGen.doFirst {
+ delete "src/gen/java/de"
+ delete "src/gen-res/BuildInfo.properties"
+ }
+ preprocessParser.doFirst {
+ args += ["--no-beaver-symbol"]
+ }
+ module = "receiver"
+ astPackage = 'de.tudresden.inf.st.ros2rag.receiverstub.ast'
+ genDir = 'src/gen/java'
+ buildInfoDir = 'src/gen-res'
+ // jastaddOptions = ["--lineColumnNumbers", "--visitCheck=true", "--rewrite=cnta", "--cache=all"]
+ // default options are: '--rewrite=cnta', '--safeLazy', '--visitCheck=false', '--cacheCycle=false'
+ extraJastAddOptions = ["--lineColumnNumbers", '--List=JastAddList']
}
+
+// Workflow configuration for phases
+generateAst.dependsOn ragConnect
diff --git a/ros2rag.receiverstub/src/main/jastadd/Receiver.ast b/ros2rag.receiverstub/src/main/jastadd/Receiver.ast
new file mode 100644
index 0000000000000000000000000000000000000000..6990d9fd4828b80622d0b4e0767eac2a79481e18
--- /dev/null
+++ b/ros2rag.receiverstub/src/main/jastadd/Receiver.ast
@@ -0,0 +1 @@
+Receiver;
diff --git a/ros2rag.receiverstub/src/main/jastadd/Receiver.connect b/ros2rag.receiverstub/src/main/jastadd/Receiver.connect
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/ReceiverMain.java b/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/ReceiverMain.java
index 0ea8aa94ea831952b846cb99bd8451d64ebca12c..c56175a3c4401006c807343ce111236746805ebf 100644
--- a/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/ReceiverMain.java
+++ b/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/ReceiverMain.java
@@ -4,7 +4,7 @@ import com.google.protobuf.InvalidProtocolBufferException;
import config.Config.RobotConfig;
import de.tudresden.inf.st.ros2rag.common.DataConfiguration.ActualConfiguration;
import de.tudresden.inf.st.ros2rag.common.Util;
-import de.tudresden.inf.st.ros2rag.starter.ast.MqttHandler;
+import de.tudresden.inf.st.ros2rag.receiverstub.ast.MqttHandler;
import org.apache.logging.log4j.Level;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
diff --git a/ros2rag.tests/.gitignore b/ros2rag.safety/.gitignore
similarity index 100%
rename from ros2rag.tests/.gitignore
rename to ros2rag.safety/.gitignore
diff --git a/ros2rag.starter/build.gradle b/ros2rag.safety/build.gradle
similarity index 83%
rename from ros2rag.starter/build.gradle
rename to ros2rag.safety/build.gradle
index 88f304aa3177f09de185f0bafe0e507e80a2d919..30d6296bdc98ad7a87f3dedbb0739fe6074120d2 100644
--- a/ros2rag.starter/build.gradle
+++ b/ros2rag.safety/build.gradle
@@ -21,30 +21,29 @@ configurations {
sourceSets.main.java.srcDir "src/gen/java"
dependencies {
- implementation project (':ros2rag.base')
+ implementation project (':ragconnect.base')
implementation project (':ros2rag.common')
- baseRuntimeClasspath project (':ros2rag.base')
+ baseRuntimeClasspath project (':ragconnect.base')
api group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
jastadd2 "org.jastadd:jastadd:2.3.4"
}
// Input files for relast
-def relastFiles = ["src/gen/jastadd/Grammar.relast"]
+def relastFiles = ["src/gen/jastadd/SafetyModel.relast", "src/gen/jastadd/RagConnect.relast"]
-// phases: Ros2Rag -> RelAst -> JastAdd
-// phase: Ros2Rag
-task ros2rag(type: JavaExec) {
+// phases: ragConnect -> RelAst -> JastAdd
+// phase: ragConnect
+task ragConnect(type: JavaExec) {
classpath = configurations.baseRuntimeClasspath
group = 'Build'
- main = 'org.jastadd.ros2rag.compiler.Compiler'
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
args([
- '--verbose',
- '--outputDir=src/gen/jastadd',
- '--inputGrammar=src/main/jastadd/RobotModel.relast',
- '--inputRos2Rag=src/main/jastadd/Definitions.ros2rag',
+ '--o=src/gen/jastadd',
+ 'src/main/jastadd/SafetyModel.relast',
+ 'src/main/jastadd/SafetyModel.connect',
'--rootNode=Model'
])
}
@@ -119,4 +118,4 @@ jastadd {
// Workflow configuration for phases
generateAst.dependsOn relastToJastAdd
-relastToJastAdd.dependsOn ros2rag
+relastToJastAdd.dependsOn ragConnect
diff --git a/ros2rag.starter/src/main/jastadd/Computation.jrag b/ros2rag.safety/src/main/jastadd/Computation.jrag
similarity index 100%
rename from ros2rag.starter/src/main/jastadd/Computation.jrag
rename to ros2rag.safety/src/main/jastadd/Computation.jrag
diff --git a/ros2rag.starter/src/main/jastadd/Navigation.jrag b/ros2rag.safety/src/main/jastadd/Navigation.jrag
similarity index 100%
rename from ros2rag.starter/src/main/jastadd/Navigation.jrag
rename to ros2rag.safety/src/main/jastadd/Navigation.jrag
diff --git a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag b/ros2rag.safety/src/main/jastadd/SafetyModel.connect
similarity index 87%
rename from ros2rag.starter/src/main/jastadd/Definitions.ros2rag
rename to ros2rag.safety/src/main/jastadd/SafetyModel.connect
index eff6850999375f3a57e8d74d614da8dd4059da24..bf2ce6f741cdb0fac98ab5cbf363712d25b58559 100644
--- a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
+++ b/ros2rag.safety/src/main/jastadd/SafetyModel.connect
@@ -1,7 +1,7 @@
/* Version 2020-07-15 */
// --- update definitions ---
-read Link.CurrentPosition using ParseRobotState, RobotStateToIntPosition ;
-write RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
+receive Link.CurrentPosition using ParseRobotState, RobotStateToIntPosition ;
+send RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
// --- dependency definitions ---
RobotArm.AppropriateSpeed canDependOn Link.CurrentPosition as dependency1 ;
diff --git a/ros2rag.starter/src/main/jastadd/RobotModel.jadd b/ros2rag.safety/src/main/jastadd/SafetyModel.jadd
similarity index 100%
rename from ros2rag.starter/src/main/jastadd/RobotModel.jadd
rename to ros2rag.safety/src/main/jastadd/SafetyModel.jadd
diff --git a/ros2rag.starter/src/main/jastadd/RobotModel.relast b/ros2rag.safety/src/main/jastadd/SafetyModel.relast
similarity index 100%
rename from ros2rag.starter/src/main/jastadd/RobotModel.relast
rename to ros2rag.safety/src/main/jastadd/SafetyModel.relast
diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java b/ros2rag.safety/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
similarity index 100%
rename from ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
rename to ros2rag.safety/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
diff --git a/ros2rag.starter/src/main/resources/log4j2.xml b/ros2rag.safety/src/main/resources/log4j2.xml
similarity index 100%
rename from ros2rag.starter/src/main/resources/log4j2.xml
rename to ros2rag.safety/src/main/resources/log4j2.xml
diff --git a/ros2rag.senderstub/build.gradle b/ros2rag.senderstub/build.gradle
index 063f22ec23add73ccaaf1c50fbab95b2510c425c..1497d02abfcb5882708dd12497686c893976d772 100644
--- a/ros2rag.senderstub/build.gradle
+++ b/ros2rag.senderstub/build.gradle
@@ -1,3 +1,4 @@
+apply plugin: 'jastadd'
apply plugin: 'application'
mainClassName = 'de.tudresden.inf.st.ros2rag.senderstub.SenderMain'
@@ -8,11 +9,75 @@ repositories {
buildscript {
repositories.jcenter()
+ dependencies {
+ classpath 'org.jastadd:jastaddgradle:1.13.3'
+ }
}
sourceSets.main.java.srcDir "src/gen/java"
+configurations {
+ baseRuntimeClasspath
+}
+
dependencies {
- implementation project(':ros2rag.starter')
+ implementation project(':ragconnect.base')
implementation project(':ros2rag.common')
+ baseRuntimeClasspath project (':ragconnect.base')
+ api group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
+
+ jastadd2 "org.jastadd:jastadd:2.3.4"
+}
+
+task ragConnect(type: JavaExec) {
+ classpath = configurations.baseRuntimeClasspath
+
+ group = 'Build'
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+
+ args([
+ '--o=src/gen/jastadd',
+ 'src/main/jastadd/Sender.ast',
+ 'src/main/jastadd/Sender.connect',
+ '--rootNode=Sender'
+ ])
+}
+
+// phase: JastAdd
+jastadd {
+ configureModuleBuild()
+ modules {
+ //noinspection GroovyAssignabilityCheck
+ module("receiver") {
+
+ java {
+ basedir "src/"
+ include "main/**/*.java"
+ include "gen/**/*.java"
+ }
+
+ jastadd {
+ basedir "src/"
+ include "main/jastadd/Sender.ast"
+ include "gen/jastadd/**/*.jadd"
+ }
+ }
+ }
+ cleanGen.doFirst {
+ delete "src/gen/java/de"
+ delete "src/gen-res/BuildInfo.properties"
+ }
+ preprocessParser.doFirst {
+ args += ["--no-beaver-symbol"]
+ }
+ module = "receiver"
+ astPackage = 'de.tudresden.inf.st.ros2rag.senderstub.ast'
+ genDir = 'src/gen/java'
+ buildInfoDir = 'src/gen-res'
+ // jastaddOptions = ["--lineColumnNumbers", "--visitCheck=true", "--rewrite=cnta", "--cache=all"]
+ // default options are: '--rewrite=cnta', '--safeLazy', '--visitCheck=false', '--cacheCycle=false'
+ extraJastAddOptions = ["--lineColumnNumbers", '--List=JastAddList']
}
+
+// Workflow configuration for phases
+generateAst.dependsOn ragConnect
diff --git a/ros2rag.senderstub/src/main/jastadd/Sender.ast b/ros2rag.senderstub/src/main/jastadd/Sender.ast
new file mode 100644
index 0000000000000000000000000000000000000000..1510af62c83e12b04bafcf810209367a505b3d70
--- /dev/null
+++ b/ros2rag.senderstub/src/main/jastadd/Sender.ast
@@ -0,0 +1 @@
+Sender;
diff --git a/ros2rag.senderstub/src/main/jastadd/Sender.connect b/ros2rag.senderstub/src/main/jastadd/Sender.connect
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java b/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java
index e767cdd92c57d713597ddf69c414a0308f24f1e4..63e29964de2cb6ddaa8e44948a110af2474148b7 100644
--- a/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java
+++ b/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java
@@ -1,6 +1,6 @@
package de.tudresden.inf.st.ros2rag.senderstub;
-import de.tudresden.inf.st.ros2rag.starter.ast.MqttHandler;
+import de.tudresden.inf.st.ros2rag.senderstub.ast.MqttHandler;
import robot.RobotStateOuterClass.RobotState;
import java.nio.file.Files;
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyRead/Test.ros2rag b/ros2rag.tests/src/test/01-input/defaultOnlyRead/Test.ros2rag
deleted file mode 100644
index 90e2ccabb89b8d1f48ad1ba01fa9112e5c762a70..0000000000000000000000000000000000000000
--- a/ros2rag.tests/src/test/01-input/defaultOnlyRead/Test.ros2rag
+++ /dev/null
@@ -1,15 +0,0 @@
-// --- update definitions ---
-read NativeTypes.IntValue;
-read NativeTypes.ShortValue;
-read NativeTypes.LongValue;
-read NativeTypes.FloatValue;
-read NativeTypes.DoubleValue;
-read NativeTypes.CharValue;
-read NativeTypes.StringValue;
-
-read BoxedTypes.IntValue;
-read BoxedTypes.ShortValue;
-read BoxedTypes.LongValue;
-read BoxedTypes.FloatValue;
-read BoxedTypes.DoubleValue;
-read BoxedTypes.CharValue;
diff --git a/ros2rag.tests/src/test/proto b/ros2rag.tests/src/test/proto
deleted file mode 120000
index bb7d2bae29902b994e92987325a878a0fe318c69..0000000000000000000000000000000000000000
--- a/ros2rag.tests/src/test/proto
+++ /dev/null
@@ -1 +0,0 @@
-../../../ros2rag.common/proto/
\ No newline at end of file
diff --git a/safety.sh b/safety.sh
new file mode 100755
index 0000000000000000000000000000000000000000..369bcfd4bd24301758961d656b6e4661151b0efd
--- /dev/null
+++ b/safety.sh
@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+./gradlew :ros2rag.safety:installDist && \
+ ./ros2rag.safety/build/install/ros2rag.safety/bin/ros2rag.safety $@
diff --git a/settings.gradle b/settings.gradle
index 9235870b25a07e39bdaed474d79643bc80928795..cc56321647f48ec49cd042b9a2ae609a13cf5398 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -1,9 +1,9 @@
rootProject.name = 'ros2rag'
include 'relast.preprocessor'
-include 'ros2rag.base'
-include 'ros2rag.tests'
-include 'ros2rag.starter'
+include 'ragconnect.base'
+include 'ragconnect.tests'
+include 'ros2rag.safety'
include 'ros2rag.senderstub'
include 'ros2rag.receiverstub'
include 'ros2rag.goal'
diff --git a/starter.sh b/starter.sh
deleted file mode 100755
index e3bb9b9e8e3bb6684b32edb0b5eec17c00529048..0000000000000000000000000000000000000000
--- a/starter.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/usr/bin/env bash
-./gradlew :ros2rag.starter:installDist && \
- ./ros2rag.starter/build/install/ros2rag.starter/bin/ros2rag.starter $@