From afea43e5577755eed90062d4bbc0e1b43174f3a8 Mon Sep 17 00:00:00 2001 From: rschoene <rene.schoene@tu-dresden.de> Date: Tue, 21 Apr 2020 13:47:01 +0200 Subject: [PATCH] Begin with DSL for the example --- .../src/main/jastadd/Example.ros2rag | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 ros2rag.example/src/main/jastadd/Example.ros2rag diff --git a/ros2rag.example/src/main/jastadd/Example.ros2rag b/ros2rag.example/src/main/jastadd/Example.ros2rag new file mode 100644 index 0000000..4dab39a --- /dev/null +++ b/ros2rag.example/src/main/jastadd/Example.ros2rag @@ -0,0 +1,21 @@ +/** + * Version 2020-04-17 + */ +// --- update definitions --- +read Joint.CurrentPosition using LinkStateToIntPosition ; +write RobotArm._AppropriateSpeed using CreateSpeedMessage ; + +// --- dependency definitions --- +RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ; + +// --- mapping definitions --- +LinkStateToIntPosition: map protobuf panda.Linkstate.PandaLinkState x to IntPosition y { + panda.Linkstate.PandaLinkState.Position p = x.getPos(); + y = IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ()); +} + +CreateSpeedMessage: map double x to protobuf config.Robotconfig.RobotConfig y { + y = config.Robotconfig.RobotConfig.newBuilder() + .setSpeed(x) + .build(); +} -- GitLab