From ceff6575ce2c7f5292c344eafdcc062a1ea4f2d6 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Mon, 4 May 2020 21:36:01 +0200
Subject: [PATCH] Begin with real generation.
- Compiler: replace existing files if needed
- Renamed Aspect.jadd to Generation.jadd and fill it with content
- Missing: Generation of dependency relation, and change of token names in grammar
---
ros2rag.base/src/main/jastadd/Analysis.jrag | 19 ++
ros2rag.base/src/main/jastadd/Navigation.jrag | 26 ++
ros2rag.base/src/main/jastadd/Ros2Rag.parser | 1 -
ros2rag.base/src/main/jastadd/Ros2Rag.relast | 2 +-
.../src/main/jastadd/backend/Aspect.jadd | 86 -------
.../src/main/jastadd/backend/Generation.jadd | 232 ++++++++++++++++++
.../jastadd/ros2rag/compiler/Compiler.java | 4 +-
.../src/test/resources/Example.relast | 2 +-
.../src/test/resources/Example.ros2rag | 6 +-
9 files changed, 285 insertions(+), 93 deletions(-)
delete mode 100644 ros2rag.base/src/main/jastadd/backend/Aspect.jadd
create mode 100644 ros2rag.base/src/main/jastadd/backend/Generation.jadd
diff --git a/ros2rag.base/src/main/jastadd/Analysis.jrag b/ros2rag.base/src/main/jastadd/Analysis.jrag
index 118dd23..246645f 100644
--- a/ros2rag.base/src/main/jastadd/Analysis.jrag
+++ b/ros2rag.base/src/main/jastadd/Analysis.jrag
@@ -1,3 +1,22 @@
aspect Analysis {
+ // --- isPrimitiveType ---
+ syn boolean TokenComponent.isPrimitiveType() = getJavaTypeUse().isPrimitiveType();
+ syn boolean JavaTypeUse.isPrimitiveType() = false;
+ eq SimpleJavaTypeUse.isPrimitiveType() {
+ switch(getName()) {
+ case "short":
+ case "int":
+ case "float":
+ case "double":
+ case "char":
+ case "byte": return true;
+ default: return false;
+ }
+ }
+
+ // --- prettyPrint ---
+ syn String MappingDefinitionType.prettyPrint();
+ eq JavaMappingDefinitionType.prettyPrint() = getType().getName();
+ eq JavaArrayMappingDefinitionType.prettyPrint() = getType().getName() + "[]";
}
diff --git a/ros2rag.base/src/main/jastadd/Navigation.jrag b/ros2rag.base/src/main/jastadd/Navigation.jrag
index 4b233c2..b401112 100644
--- a/ros2rag.base/src/main/jastadd/Navigation.jrag
+++ b/ros2rag.base/src/main/jastadd/Navigation.jrag
@@ -35,6 +35,12 @@ aspect Navigation {
// --- containedFile ---
inh GrammarFile ASTNode.containedFile();
eq GrammarFile.getChild().containedFile() = this;
+ eq Program.getChild().containedFile() = null;
+ eq Ros2Rag.getChild().containedFile() = null;
+
+ // --- isTypeComponent ---
+ syn boolean Component.isTypeComponent() = false;
+ eq TypeComponent.isTypeComponent() = true;
// --- isTokenComponent ---
syn boolean Component.isTokenComponent() = false;
@@ -43,4 +49,24 @@ aspect Navigation {
// --- asTokenComponent ---
syn TokenComponent Component.asTokenComponent() = null;
eq TokenComponent.asTokenComponent() = this;
+
+ // --- isWriteToMqttDefinition ---
+ syn boolean UpdateDefinition.isWriteToMqttDefinition() = false;
+ eq WriteToMqttDefinition.isWriteToMqttDefinition() = true;
+
+ // --- asWriteToMqttDefinition ---
+ syn WriteToMqttDefinition UpdateDefinition.asWriteToMqttDefinition() = null;
+ eq WriteToMqttDefinition.asWriteToMqttDefinition() = 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;
+ }
}
diff --git a/ros2rag.base/src/main/jastadd/Ros2Rag.parser b/ros2rag.base/src/main/jastadd/Ros2Rag.parser
index 750e0ce..f2ab264 100644
--- a/ros2rag.base/src/main/jastadd/Ros2Rag.parser
+++ b/ros2rag.base/src/main/jastadd/Ros2Rag.parser
@@ -8,7 +8,6 @@ Ros2Rag ros2rag
%embed {:
private Iterable<String> makeMappingDefs(ArrayList<?> raw_mapping_defs) {
- java.util.Collections.reverse(raw_mapping_defs);
return () -> raw_mapping_defs.stream().map(raw -> ((Symbol) raw).value.toString()).iterator();
}
:} ;
diff --git a/ros2rag.base/src/main/jastadd/Ros2Rag.relast b/ros2rag.base/src/main/jastadd/Ros2Rag.relast
index f8465bb..1669503 100644
--- a/ros2rag.base/src/main/jastadd/Ros2Rag.relast
+++ b/ros2rag.base/src/main/jastadd/Ros2Rag.relast
@@ -1,6 +1,6 @@
Ros2Rag ::= UpdateDefinition* DependencyDefinition* MappingDefinition* Program;
-abstract UpdateDefinition ::= <AlwaysApply:Boolean> ;
+abstract UpdateDefinition ::= <AlwaysApply:boolean> ;
rel UpdateDefinition.Mapping* -> MappingDefinition;
diff --git a/ros2rag.base/src/main/jastadd/backend/Aspect.jadd b/ros2rag.base/src/main/jastadd/backend/Aspect.jadd
deleted file mode 100644
index 1cf2fd9..0000000
--- a/ros2rag.base/src/main/jastadd/backend/Aspect.jadd
+++ /dev/null
@@ -1,86 +0,0 @@
-aspect Aspect {
-
- public static final String ASTNode.aspectIndent = " ";
-
- public String Program.generateAspect() {
- StringBuilder sb = new StringBuilder();
- generateAspect(sb);
- return sb.toString();
- }
-
- @Deprecated
- public void Program.generateAspect(StringBuilder sb) {
-
- sb.append("aspect ROS2RAG {\n");
-
- // TODO generate getters and setters for ROS2RAG terminals (and attributes?)
-
- sb.append("}\n");
- }
-
- public String Ros2Rag.generateAspect(String rootNodeName) {
- StringBuilder sb = new StringBuilder();
- generateMqttAspect(sb);
- generateGrammarExtension(sb);
- return sb.toString();
- }
-
- public void Ros2Rag.generateMqttAspect(StringBuilder sb) {
-
- }
-
- // from "[always] read Joint.CurrentPosition using PoseToPosition;" generate method connectTo
-// Joint j;
-// j.getCurrentPosition().connectTo("/robot/joint2/pos");
-
- public void Ros2Rag.generateGrammarExtension(StringBuilder sb) {
- sb.append("aspect ros2rag.GrammarExtension {\n");
-
- for (UpdateDefinition def : getUpdateDefinitionList()) {
- def.generateAspect(sb);
- }
-
- sb.append("}\n");
- }
-
- abstract void UpdateDefinition.generateAspect(StringBuilder sb);
-// @Override
-// void UpdateDefinition.generateAspect(StringBuilder sb) {
-// // TODO
-// }
-
- // will be "addConnectionJoint_CurrentPosition" in example
-/* // see discussion in codimd (InstanceLocation), why this won't work here
- Position.connectTo(String topic) {
- mqttUpdater().addConnectionJoint_CurrentPosition(this, topic);
- }
- MqttUpdater.addConnectionJoint_CurrentPosition(Position target, String topic) {
- // either
- topicActionMap.put(topic, new Action(JOINT_CURRENTPOSITION, target));
- // or
- topicForJoint_CurrentPosition.put(topic, target);
- }
- */
- @Override
- void ReadFromMqttDefinition.generateAspect(StringBuilder sb) {
- sb.append("public void ").append("type").append(".connectTo(String topic) {\n")
- .append(aspectIndent).append("mqttUpdater().addConnection")
- .append(getToken().containingTypeDecl().getName())
- .append("_")
- .append(getToken().getName())
- .append("(this, topic);\n")
- .append("}\n");
- }
-
- @Override
- void WriteToMqttDefinition.generateAspect(StringBuilder sb) {
- sb.append("public void ").append("type").append(".connectTo(String topic) {\n")
- .append(aspectIndent).append("mqttUpdater().addConnection")
- .append(getToken().containingTypeDecl().getName())
- .append("_")
- .append(getToken().getName())
- .append("(this, topic);\n")
- .append("}\n");
- }
-
-}
diff --git a/ros2rag.base/src/main/jastadd/backend/Generation.jadd b/ros2rag.base/src/main/jastadd/backend/Generation.jadd
new file mode 100644
index 0000000..3195a70
--- /dev/null
+++ b/ros2rag.base/src/main/jastadd/backend/Generation.jadd
@@ -0,0 +1,232 @@
+aspect GenerationUtils {
+ public static final String ASTNode.aspectIndent = " ";
+
+ public String ASTNode.ind(int n) {
+ StringBuilder s = new StringBuilder();
+ for (int i = 0; i < n; i++) {
+ s.append(aspectIndent);
+ }
+ return s.toString();
+ }
+}
+
+aspect AspectGeneration {
+
+ // naming convention attributes
+ 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 MappingDefinition.methodName() = "_apply_" + getID();
+ syn String DependencyDefinition.dependencyMethod() = "add" +
+ Character.toUpperCase(getID().charAt(0)) +
+ getID().substring(1);
+ syn String DependencyDefinition.internalRelationPrefix() = "_internal_" + getID();
+ syn String DependencyDefinition.internalTokenName() = "_internal" + getSource().getName();
+
+ inh String UpdateDefinition.mqttUpdaterAttribute();
+ inh String MappingDefinition.mqttUpdaterAttribute();
+ inh String DependencyDefinition.mqttUpdaterAttribute();
+ eq Ros2Rag.getChild().mqttUpdaterAttribute() = mqttUpdaterAttribute();
+ syn String Ros2Rag.mqttUpdaterAttribute() = "_mqttUpdater";
+ syn String Ros2Rag.mqttUpdaterField() = "_mqttUpdater";
+
+ syn String Ros2Rag.mqttSetHostMethod() = "MqttSetHost";
+ syn String Ros2Rag.mqttWaitUntilReadyMethod() = "MqttWaitUntilReady";
+ syn String Ros2Rag.mqttCloseMethod() = "MqttCloseConnections";
+
+ public String Ros2Rag.generateAspect(String rootNodeName) {
+ StringBuilder sb = new StringBuilder();
+ TypeDecl rootNode = getProgram().resolveTypeDecl(rootNodeName);
+ generateMqttAspect(sb, rootNode);
+ generateGrammarExtension(sb);
+ return sb.toString();
+ }
+
+ public void Ros2Rag.generateMqttAspect(StringBuilder sb, TypeDecl rootNode) {
+ String rootNodeName = rootNode.getName();
+ sb.append("aspect MQTT {\n");
+ sb.append(ind(1)).append("private static final int ")
+ .append(rootNodeName).append("._MQTT_DEFAULT_PORT = 1883;\n");
+ sb.append(ind(1)).append("private MqttUpdater ").append(rootNodeName)
+ .append(".").append(mqttUpdaterField()).append(" = new MqttUpdater();\n");
+
+ // mqttSetHost(String host)
+ sb.append(ind(1)).append("public void ").append(rootNodeName).append(".")
+ .append(mqttSetHostMethod()).append("(String host) throws java.io.IOException {\n");
+ sb.append(ind(2)).append("MqttSetHost(host, _MQTT_DEFAULT_PORT);\n");
+ sb.append(ind(1)).append("}\n");
+
+ // mqttSetHost(String host, int port)
+ sb.append(ind(1)).append("public void ").append(rootNodeName).append(".")
+ .append(mqttSetHostMethod()).append("(String host, int port) throws java.io.IOException {\n");
+ sb.append(ind(2)).append(mqttUpdaterField()).append(".setHost(host, port);\n");
+ sb.append(ind(1)).append("}\n\n");
+
+ // mqttWaitUntilReady
+ sb.append(ind(1)).append("public void ").append(rootNodeName).append(".")
+ .append(mqttWaitUntilReadyMethod()).append("(long time, java.util.concurrent.TimeUnit unit) {\n");
+ sb.append(ind(2)).append("return ").append(mqttUpdaterField()).append(".waitUntilReady(time, unit);\n");
+ sb.append(ind(1)).append("}\n\n");
+
+ // mqttClose
+ sb.append(ind(1)).append("public void ").append(rootNodeName).append(".")
+ .append(mqttCloseMethod()).append("() {\n");
+ sb.append(ind(2)).append(mqttUpdaterField()).append(".close();\n");
+ sb.append(ind(1)).append("}\n\n");
+
+ // mqttUpdater
+ sb.append(ind(1)).append("inh MqttUpdater ASTNode.").append(mqttUpdaterAttribute()).append("();\n");
+ for (Component child : rootNode.getComponentList()) {
+ if (child.isTypeComponent()) {
+ sb.append(ind(1)).append("eq ").append(rootNodeName)
+ .append(".get").append(child.getName()).append("().")
+ .append(mqttUpdaterAttribute()).append("() = ").append(mqttUpdaterField()).append(";\n");
+ }
+ }
+ sb.append("}\n\n");
+ }
+
+ public void Ros2Rag.generateGrammarExtension(StringBuilder sb) {
+ sb.append("aspect ros2rag.GrammarExtension {\n");
+
+ for (UpdateDefinition def : getUpdateDefinitionList()) {
+ def.generateAspect(sb);
+ }
+ for (MappingDefinition def : getMappingDefinitionList()) {
+ def.generateAspect(sb);
+ }
+ for (DependencyDefinition def : getDependencyDefinitionList()) {
+ def.generateAspect(sb);
+ }
+
+ sb.append("}\n");
+ }
+
+ abstract void UpdateDefinition.generateAspect(StringBuilder sb);
+
+ String TokenUpdateDefinition.generateMappingApplication(StringBuilder sb, int indent,
+ String initialInputVariableName) {
+ final String resultVariablePrefix = "result"; // we do not need "_" here, because methodName begins with one
+ String inputVariableName = initialInputVariableName;
+ for (MappingDefinition mappingDefinition : getMappingList()) {
+ String resultVariableName = resultVariablePrefix + mappingDefinition.methodName();
+ sb.append(ind(indent)).append(mappingDefinition.getToType().prettyPrint()).append(" ")
+ .append(resultVariablePrefix).append(mappingDefinition.methodName())
+ .append(" = ").append(mappingDefinition.methodName()).append("(")
+ .append(inputVariableName).append(");\n");
+ inputVariableName = resultVariableName;
+ }
+ if (!getAlwaysApply()) {
+ sb.append(ind(indent)).append("if (get").append(getToken().getName()).append("()");
+ if (getToken().isPrimitiveType()) {
+ sb.append(" == ").append(inputVariableName);
+ } else {
+ sb.append(" != null ? get").append(getToken().getName()).append("().equals(")
+ .append(inputVariableName).append(")").append(" : ")
+ .append(inputVariableName).append(" == null");
+ }
+ sb.append(") { ").append(preemptiveReturnStatement()).append(" }\n");
+ }
+ return inputVariableName;
+ }
+
+ syn String TokenUpdateDefinition.preemptiveReturnStatement();
+ eq ReadFromMqttDefinition.preemptiveReturnStatement() = "return;";
+ eq WriteToMqttDefinition.preemptiveReturnStatement() = "return false;";
+
+ @Override
+ void ReadFromMqttDefinition.generateAspect(StringBuilder sb) {
+ sb.append(ind(1)).append("public void ").append(getToken().containingTypeDecl().getName()).append(".")
+ .append(connectMethod()).append("(String topic) {\n");
+ sb.append(ind(2)).append(mqttUpdaterAttribute()).append("().newConnection(topic, message -> {\n");
+ String lastResult = generateMappingApplication(sb, 3, "message");
+ sb.append(ind(3)).append("set").append(getToken().getName()).append("(").append(lastResult).append(");\n");
+ sb.append(ind(2)).append("}\n");
+ sb.append(ind(1)).append("}\n\n");
+ }
+
+ @Override
+ void WriteToMqttDefinition.generateAspect(StringBuilder sb) {
+ String parentTypeName = getToken().containingTypeDecl().getName();
+ // fields
+ sb.append(ind(1)).append("private String ").append(parentTypeName).append(".")
+ .append(writeTopic()).append(" = null;\n");
+ sb.append(ind(1)).append("private byte[] ").append(parentTypeName).append(".")
+ .append(lastValue()).append(" = null;\n");
+
+ // connect method
+ sb.append(ind(1)).append("public void ").append(parentTypeName).append(".")
+ .append(connectMethod()).append("(String topic, boolean writeCurrentValue) {\n");
+ sb.append(ind(2)).append(writeTopic()).append(" = topic;\n");
+ sb.append(ind(2)).append(updateMethod()).append("();\n");
+ sb.append(ind(2)).append("if (writeCurrentValue) {\n");
+ sb.append(ind(3)).append(writeMethod()).append("();\n");
+ sb.append(ind(2)).append("}\n");
+ sb.append(ind(1)).append("}\n\n");
+
+ // update method
+ sb.append(ind(1)).append("protected boolean").append(parentTypeName).append(".")
+ .append(updateMethod()).append("() {\n");
+ sb.append(ind(2)).append(tokenResetMethod()).append("();\n");
+ String lastResult = generateMappingApplication(sb, 2, "get" + getToken().getName() + "()");
+ sb.append(ind(2)).append(lastValue()).append(" = ").append(lastResult).append(";\n");
+ sb.append(ind(2)).append("return true;\n");
+ sb.append(ind(1)).append("}\n\n");
+
+ // write method
+ sb.append(ind(1)).append("protected void").append(parentTypeName).append(".")
+ .append(writeMethod()).append("() {\n");
+ // _mqttUpdater().publish(${writeTopic()}, ${lastValue()});
+ sb.append(ind(2)).append(mqttUpdaterAttribute()).append("().publish(")
+ .append(writeTopic()).append(", ").append(lastValue()).append(");\n");
+ sb.append(ind(1)).append("}\n\n");
+ }
+
+ void MappingDefinition.generateAspect(StringBuilder sb) {
+ sb.append(ind(1)).append("protected static ").append(getToType().prettyPrint())
+ .append(" ASTNode.").append(methodName()).append("(")
+ .append(getFromType().prettyPrint()).append(" ").append(getFromVariableName()).append(") {\n");
+ for (String line : getContent().split("\n")) {
+ if (!line.trim().isEmpty()) {
+ sb.append(ind(2)).append(line).append("\n");
+ }
+ }
+ sb.append(ind(1)).append("}\n\n");
+ }
+
+ void DependencyDefinition.generateAspect(StringBuilder sb) {
+ String targetParentTypeName = getTarget().containingTypeDecl().getName();
+ String sourceParentTypeName = getSource().containingTypeDecl().getName();
+
+ // dependency method
+ sb.append(ind(1)).append("public void").append(targetParentTypeName).append(".")
+ .append(dependencyMethod()).append("(").append(sourceParentTypeName).append(" source) {\n");
+ sb.append(ind(2)).append("add").append(internalRelationPrefix()).append("Source(source);\n");
+ sb.append(ind(1)).append("}\n\n");
+
+ // virtual setter
+ sb.append(ind(1)).append("public ").append(sourceParentTypeName).append(" ")
+ .append(sourceParentTypeName).append(".set").append(getSource().getName()).append("(");
+ getSource().getJavaTypeUse().generateAbstractGrammar(sb);
+ sb.append(" value) {\n");
+ sb.append(ind(2)).append("set").append(internalTokenName()).append("(value);\n");
+ sb.append(ind(2)).append("for (").append(targetParentTypeName).append(" target : get")
+ .append(internalRelationPrefix()).append("TargetList()) {\n");
+ sb.append(ind(3)).append("if (target.").append(targetUpdateDefinition().updateMethod()).append("()) {\n");
+ sb.append(ind(4)).append("target.").append(targetUpdateDefinition().writeMethod()).append("();\n");
+ sb.append(ind(3)).append("}\n");
+ sb.append(ind(2)).append("}\n");
+ sb.append(ind(2)).append("return this;\n");
+ sb.append(ind(1)).append("}\n\n");
+
+ // virtual getter
+ sb.append(ind(1)).append("public ");
+ getSource().getJavaTypeUse().generateAbstractGrammar(sb);
+ sb.append(" ").append(sourceParentTypeName).append(".get").append(getSource().getName()).append("() {\n");
+ sb.append(ind(2)).append("return get").append(internalTokenName()).append(";\n");
+ sb.append(ind(1)).append("}\n\n");
+ }
+}
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
index 006f1d1..f9b6f5f 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
+++ b/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
@@ -12,6 +12,7 @@ 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;
@@ -59,7 +60,8 @@ public class Compiler {
// copy MqttUpdater into outputDir
try {
Files.copy(Paths.get("src", "main", "jastadd", "MqttUpdater.java_class"),
- Paths.get(outputDir, "MqttUpdater.java"));
+ Paths.get(outputDir, "MqttUpdater.java"),
+ StandardCopyOption.REPLACE_EXISTING);
} catch (IOException e) {
throw new CompilerException("Could not copy MqttUpdater.java", e);
}
diff --git a/ros2rag.base/src/test/resources/Example.relast b/ros2rag.base/src/test/resources/Example.relast
index aa17ad8..93168fb 100644
--- a/ros2rag.base/src/test/resources/Example.relast
+++ b/ros2rag.base/src/test/resources/Example.relast
@@ -4,7 +4,7 @@ ZoneModel ::= <Size:IntPosition> SafetyZone:Zone* ;
Zone ::= Coordinate* ;
-RobotArm ::= Joint* EndEffector <_AttributeTestSource:int> /<_AppropriateSpeed:double>/ ; // normally this would be: <AttributeTestSource:int> ;
+RobotArm ::= Joint* EndEffector <AttributeTestSource:int> /<AppropriateSpeed:double>/ ; // normally this would be: <AttributeTestSource:int> ;
Joint ::= <Name> <CurrentPosition:IntPosition> ; // normally this would be: <CurrentPosition:IntPosition>
diff --git a/ros2rag.base/src/test/resources/Example.ros2rag b/ros2rag.base/src/test/resources/Example.ros2rag
index f17a9be..9168da2 100644
--- a/ros2rag.base/src/test/resources/Example.ros2rag
+++ b/ros2rag.base/src/test/resources/Example.ros2rag
@@ -1,11 +1,11 @@
/* Version 2020-04-17 */
// --- update definitions ---
read Joint.CurrentPosition using ParseLinkState, LinkStateToIntPosition ;
-write RobotArm._AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
+write RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
// --- dependency definitions ---
-RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
-RobotArm._AppropriateSpeed canDependOn RobotArm._AttributeTestSource as dependency2 ;
+RobotArm.AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
+RobotArm.AppropriateSpeed canDependOn RobotArm.AttributeTestSource as dependency2 ;
// --- mapping definitions ---
ParseLinkState maps byte[] bytes to panda.Linkstate.PandaLinkState {:
--
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