Parser for ros2rag parses file with success for first time.

- renamed scanner and parser to Ros2Rag{Scanner,Parser}
- changed Compiler to not use System.exit throwing exceptions instead and have a dedicated run method
- implemented ASTNode.globallyResolveTokenComponentByToken and UpdateDefinition.resolveMappingByToken

ros2rag.base/build.gradle

@@ -74,23 +74,23 @@ task relast(type: JavaExec) {
             "--useJastAddNames",
             "--file",
             "--resolverHelper",
-            "--grammarName=./src/gen/jastadd/RelAST"
+            "--grammarName=./src/gen/jastadd/Ros2Rag"
     ]
 
     inputs.files file("../libs/relast.jar"),
             file("src/main/jastadd/RelAST.relast"),
             file("src/main/jastadd/Ros2Rag.relast")
-    outputs.files file("./src/gen/jastadd/RelAst.ast"),
-            file("src/gen/jastadd/RelAst.jadd"),
-            file("src/gen/jastadd/RelAstRefResolver.jadd"),
-            file('src/gen/jastadd/RelAstResolverStubs.jrag')
+    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')
 }
 
 jastadd {
     configureModuleBuild()
     modules {
         //noinspection GroovyAssignabilityCheck
-        module("RelAst") {
+        module("Ros2Rag") {
 
             java {
                 basedir "."
@@ -131,11 +131,11 @@ jastadd {
 
     }
 
-    module = "RelAst"
+    module = "Ros2Rag"
 
     astPackage = 'org.jastadd.ros2rag.ast'
 
-    parser.name = 'RelAstParser'
+    parser.name = 'Ros2RagParser'
 
     genDir = 'src/gen/java'
 

ros2rag.base/src/main/jastadd/DumpTree.jrag

@@ -21,7 +21,7 @@ aspect DumpTree {
     }
     out.println();
     String childIndent = indent + DUMP_TREE_INDENT;
-    for (ASTNode child : astChildren()) {
+    for (ASTNode<?> child : astChildren()) {
       if (child == null) {
         out.println(childIndent + "null");
       } else {

ros2rag.base/src/main/jastadd/NameResolution.jrag

@@ -11,5 +11,31 @@ aspect NameResolution {
     throw new RuntimeException("TypeDecl " + name + " could not be resolved.");
   }
 
+  refine RefResolverStubs eq ASTNode.globallyResolveTokenComponentByToken(String id) {
+    // return a TokenComponent. id is of the form 'type_name + "." + token_name'
+    int dotIndex = id.indexOf(".");
+    String typeName = id.substring(0, dotIndex);
+    String tokenName = id.substring(dotIndex + 1);
+    TypeDecl type = program().resolveTypeDecl(typeName);
+    // iterate over components and find the matching tokenComponent
+    for (Component comp : type.getComponentList()) {
+      if (comp.isTokenComponent() && comp.getName().equals(tokenName)) {
+        return comp.asTokenComponent();
+      }
+    }
+    System.err.println("Could not resolve TokenComponent '" + id + "'.");
+    return null;
+  }
+
+  refine RefResolverStubs eq UpdateDefinition.resolveMappingByToken(String id) {
+    // return a MappingDefinition
+    for (MappingDefinition mappingDefinition : ros2rag().getMappingDefinitionList()) {
+      if (mappingDefinition.getID().equals(id)) {
+        return mappingDefinition;
+      }
+    }
+    System.err.println("Could not resolve MappingDefinition '" + id + "'.");
+    return null;
+  }
 
 }

ros2rag.base/src/main/jastadd/Navigation.jrag

 aspect Navigation {
 
+  // --- program ---
   inh Program ASTNode.program();
   eq Program.getChild().program() = this;
+  eq Ros2Rag.getChild().program() = getProgram();
 
+  // --- ros2rag
+  inh Ros2Rag ASTNode.ros2rag();
+  eq Ros2Rag.getChild().ros2rag() = this;
+
+  // --- typeDecls ---
   coll java.util.Set<TypeDecl> Program.typeDecls() [new java.util.HashSet<>()] root Program;
   TypeDecl contributes this
     to Program.typeDecls()
     for program();
 
+  // --- relations ---
   coll java.util.Set<Relation> Program.relations() [new java.util.HashSet<>()] root Program;
   Relation contributes this
     to Program.relations()
     for program();
 
+  // --- containingTypeDecl ---
   inh TypeDecl Component.containingTypeDecl();
   eq TypeDecl.getChild().containingTypeDecl() = this;
 
@@ -23,6 +32,15 @@ aspect Navigation {
 //  syn boolean RelationComponent.multiplicityMany() = false;
 //  eq ManyRelationComponent.multiplicityMany() = true;
 
+  // --- containedFile ---
   inh GrammarFile ASTNode.containedFile();
   eq GrammarFile.getChild().containedFile() = this;
+
+  // --- isTokenComponent ---
+  syn boolean Component.isTokenComponent() = false;
+  eq TokenComponent.isTokenComponent() = true;
+
+  // --- asTokenComponent ---
+  syn TokenComponent Component.asTokenComponent() = null;
+  eq TokenComponent.asTokenComponent() = this;
 }

ros2rag.base/src/main/jastadd/Ros2Rag.flex

 package org.jastadd.ros2rag.scanner;
 
-import org.jastadd.ros2rag.parser.RelAstParser.Terminals;
+import org.jastadd.ros2rag.parser.Ros2RagParser.Terminals;
 
 %%
 
 %public
 %final
-%class RelAstScanner
+%class Ros2RagScanner
 %extends beaver.Scanner
 
 %type beaver.Symbol
 %function nextToken
 %yylexthrow beaver.Scanner.Exception
-%scanerror RelAstScanner.ScannerError
+%scanerror Ros2RagScanner.ScannerError
 
 %line
 %column
@@ -40,11 +40,14 @@ TraditionalComment   = [/][*][^*]*[*]+([^*/][^*]*[*]+)*[/]
 EndOfLineComment = "//" [^\n\r]*
 Comment = {TraditionalComment} | {EndOfLineComment}
 
+MappingContent = [{][:][^:]*[:]+([^:}][^:]*[:]+)*[}]
+
 ID = [a-zA-Z$_][a-zA-Z0-9$_]*
 
 %%
 {WhiteSpace} { /* ignore */ }
 {Comment}    { return sym(Terminals.COMMENT); }
+{MappingContent} { return sym(Terminals.MAPPING_CONTENT); }
 
 "abstract"   { return sym(Terminals.ABSTRACT); }
 "rel"        { return sym(Terminals.RELATION); }
@@ -56,6 +59,7 @@ ID = [a-zA-Z$_][a-zA-Z0-9$_]*
 "maps"       { return sym(Terminals.MAPS); }
 "to"         { return sym(Terminals.TO); }
 "as"         { return sym(Terminals.AS); }
+"with"       { return sym(Terminals.WITH); }
 
 ";"          { return sym(Terminals.SCOL); }
 ":"          { return sym(Terminals.COL); }
@@ -67,8 +71,6 @@ ID = [a-zA-Z$_][a-zA-Z0-9$_]*
 ">"          { return sym(Terminals.GT); }
 "["          { return sym(Terminals.LBRACKET); }
 "]"          { return sym(Terminals.RBRACKET); }
-"{"          { return sym(Terminals.LB_CURLY); }
-"}"          { return sym(Terminals.RB_CURLY); }
 "/"          { return sym(Terminals.SLASH); }
 "?"          { return sym(Terminals.QUESTION_MARK); }
 "->"         { return sym(Terminals.RIGHT); }

ros2rag.base/src/main/jastadd/Ros2Rag.parser

@@ -2,6 +2,7 @@ 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(); :}
 ;
 
@@ -53,17 +54,43 @@ DependencyDefinition dependency_definition
 //  y = IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ());
 //}
 MappingDefinition mapping_definition
-  = ID.id MAPS java_type_use.from_type ID.from_variable TO java_type_use.to_type ID.to_variable LB_CURLY mapping_def_content.content RB_CURLY
+  = ID.id MAPS mapping_type.from TO mapping_type.to MAPPING_CONTENT.content
     {:
       MappingDefinition result = new MappingDefinition();
       result.setID(id);
-      result.setFrom(from_type);
-      result.setFromVariable(from_variable);
-      result.setTo(to_type);
-      result.setToVariable(to_variable);
-      result.setContent(content);
+      result.setFrom(from);
+      result.setTo(to);
+      result.setContent(content.substring(2, content.length() - 2));
       return result;
     :}
 ;
 
-String mapping_def_content = ID ;
+MappingDefinitionType mapping_type
+  = java_type_use.type ID.variable
+    {:
+      MappingDefinitionType result = new MappingDefinitionType();
+      result.setType(type);
+      result.setVariableName(variable);
+      return result;
+    :}
+  | java_type_use.type ID.variable WITH ID.method
+    {:
+      MappingDefinitionType result = new MappingDefinitionType();
+      result.setType(type);
+      result.setVariableName(variable);
+      result.setSerializationMethodName(method);
+      return result;
+    :}
+;
+
+//String mapping_def_content
+//  = LB_CURLY COL mapping_def_content_body.b   {: return b.stream().collect(java.util.stream.Collectors.joining("\n")); :}
+//;
+//
+//ArrayList mapping_def_content_body
+//  = COL RB_CURLY                          {: return new ArrayList(); :}
+//  | TEXT.text mapping_def_content_body.b  {: b.add(0, text); return b; :}
+//;
+//String mapping_def_content
+//  = MappingContent.c      {: int length = c.length(); return c.substring(2, length - 2); :}
+//;

ros2rag.base/src/main/jastadd/Ros2Rag.relast

@@ -15,4 +15,5 @@ DependencyDefinition ::= <ID> ;
 rel DependencyDefinition.Source -> TokenComponent ;
 rel DependencyDefinition.Target -> TokenComponent ;
 
-MappingDefinition ::= <ID> From:JavaTypeUse <FromVariable> To:JavaTypeUse <ToVariable> <Content> ;
+MappingDefinition ::= <ID> From:MappingDefinitionType To:MappingDefinitionType <Content> ;
+MappingDefinitionType ::= Type:JavaTypeUse <VariableName> <SerializationMethodName> ;  // SerializationMethodName may be empty

ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java

@@ -6,8 +6,8 @@ import org.jastadd.ros2rag.compiler.options.CommandLine;
 import org.jastadd.ros2rag.compiler.options.CommandLine.CommandLineException;
 import org.jastadd.ros2rag.compiler.options.Option;
 import org.jastadd.ros2rag.compiler.options.StringOption;
-import org.jastadd.ros2rag.parser.RelAstParser;
-import org.jastadd.ros2rag.scanner.RelAstScanner;
+import org.jastadd.ros2rag.parser.Ros2RagParser;
+import org.jastadd.ros2rag.scanner.Ros2RagScanner;
 
 import java.io.*;
 import java.nio.file.Files;
@@ -24,10 +24,14 @@ public class Compiler {
   private ArrayList<Option<?>> options;
   private CommandLine commandLine;
 
-  public Compiler(String[] args) throws CommandLineException {
+  public Compiler() {
     options = new ArrayList<>();
     addOptions();
+  }
 
+  public int run(String[] args) throws CommandLineException, CompilerException {
+    options = new ArrayList<>();
+    addOptions();
     commandLine = new CommandLine(options);
     commandLine.parse(args);
 
@@ -41,11 +45,11 @@ public class Compiler {
     printMessage("Running ROS2RAG Preprocessor");
 
     if (!optionInputGrammar.isSet()) {
-      error("specify an input grammar");
+      return error("specify an input grammar");
     }
 
     if (!optionInputRos2Rag.isSet()) {
-      error("specify the ros2rag definition file");
+      return error("specify the ros2rag definition file");
     }
 
     List<String> otherArgs = commandLine.getArguments();
@@ -57,15 +61,16 @@ public class Compiler {
     printMessage("Writing output files");
     writeToFile(outputDir + "/Grammar.relast", ros2Rag.getProgram().generateAbstractGrammar());
     writeToFile(outputDir + "/ROS2RAG.jadd", ros2Rag.generateAspect());
+    return 0;
   }
 
 
-  public static void main(String[] args) {
+  public static int main(String[] args) {
     try {
-      new Compiler(args);
-    } catch (CommandLineException e) {
+      return new Compiler().run(args);
+    } catch (CommandLineException | CompilerException e) {
       System.err.println(e.getMessage());
-      System.exit(1);
+      return 1;
     }
   }
 
@@ -73,14 +78,13 @@ public class Compiler {
     System.out.println(message);
   }
 
-  private void writeToFile(String filename, String str) {
+  private void writeToFile(String filename, String str) throws CompilerException {
     try {
       PrintWriter writer = new PrintWriter(filename);
       writer.print(str);
       writer.close();
     } catch (Exception e) {
-      e.printStackTrace();
-      System.exit(1);
+      throw new CompilerException("Could not write to file " + filename, e);
     }
   }
 
@@ -95,37 +99,40 @@ public class Compiler {
     return option;
   }
 
-  private Ros2Rag parseProgram(String inputGrammarFileName, String inputRos2RagFileName) {
+  private Ros2Rag parseProgram(String inputGrammarFileName, String inputRos2RagFileName) throws CompilerException {
     Program program = new Program();
     Ros2Rag ros2Rag;
 
     try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputGrammarFileName))) {
-      RelAstScanner scanner = new RelAstScanner(reader);
-      RelAstParser parser = new RelAstParser();
+      Ros2RagScanner scanner = new Ros2RagScanner(reader);
+      Ros2RagParser parser = new Ros2RagParser();
       GrammarFile inputGrammar = (GrammarFile) parser.parse(scanner);
+      inputGrammar.dumpTree(System.out);
       program.addGrammarFile(inputGrammar);
+      inputGrammar.treeResolveAll();
     } catch (IOException | Parser.Exception e) {
-      System.err.println(e.getMessage());
-      System.exit(1);
+      throw new CompilerException("Could not parse grammar file " + inputGrammarFileName, e);
     }
 
     try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputRos2RagFileName))) {
-      RelAstScanner scanner = new RelAstScanner(reader);
-      RelAstParser parser = new RelAstParser();
-      ros2Rag = (Ros2Rag) parser.parse(scanner, RelAstParser.AltGoals.ros2rag);
+      Ros2RagScanner scanner = new Ros2RagScanner(reader);
+      Ros2RagParser parser = new Ros2RagParser();
+      ros2Rag = (Ros2Rag) parser.parse(scanner, Ros2RagParser.AltGoals.ros2rag);
       ros2Rag.setProgram(program);
     } catch (IOException | Parser.Exception e) {
-      System.err.println(e.getMessage());
-      System.exit(2);
-      return null;  // poor compiler does not know System.exit()
+      throw new CompilerException("Could not parse ros2rag file " + inputRos2RagFileName, e);
     }
 
+    ros2Rag.dumpTree(System.out);
+    ros2Rag.treeResolveAll();
+    ros2Rag.dumpTree(System.out);
+
     return ros2Rag;
   }
 
   private void parse(Program program, Reader reader, String file) {
-    RelAstScanner scanner = new RelAstScanner(reader);
-    RelAstParser parser = new RelAstParser();
+    Ros2RagScanner scanner = new Ros2RagScanner(reader);
+    Ros2RagParser parser = new Ros2RagParser();
 
     try {
       GrammarFile newFile = (GrammarFile) parser.parse(scanner);
@@ -139,13 +146,19 @@ public class Compiler {
     }
   }
 
-  protected void error(String message) {
+  protected int error(String message) {
     System.err.println("Error: " + message);
     System.err.println();
     System.err.println("Usage: java -jar ros2rag.jar [--option1] [--option2=value] ...  <filename1> <filename2> ... ");
     System.err.println("Options:");
     System.err.print(commandLine.printOptionHelp());
-    System.exit(1);
+    return 1;
+  }
+
+  public static class CompilerException extends Exception {
+    CompilerException(String message, Throwable cause) {
+      super(message, cause);
+    }
   }
 }
 

ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java

@@ -2,8 +2,8 @@ package org.jastadd.ros2rag.compiler;
 
 import beaver.Parser;
 import org.jastadd.ros2rag.ast.*;
-import org.jastadd.ros2rag.parser.RelAstParser;
-import org.jastadd.ros2rag.scanner.RelAstScanner;
+import org.jastadd.ros2rag.parser.Ros2RagParser;
+import org.jastadd.ros2rag.scanner.Ros2RagScanner;
 
 import java.io.BufferedReader;
 import java.io.IOException;
@@ -46,13 +46,13 @@ public class SimpleMain {
     r.getShouldUseLowSpeed().connectTo("/robot/config/speed");
      */
     Ros2Rag model = new Ros2Rag();
-    Program program = parseProgram(Paths.get("src", "test", "resources", "MinimalExample.relast"));
+    Program program = parseProgram(Paths.get("src", "test", "resources", "Example.relast"));
     model.setProgram(program);
 
     MappingDefinition mappingDefinition = new MappingDefinition();
     mappingDefinition.setID("PoseToPosition");
-    mappingDefinition.setFrom(new SimpleJavaTypeUse("PBPose"));
-    mappingDefinition.setTo(new SimpleJavaTypeUse("Position"));
+    mappingDefinition.setFrom(makeMappingDefinitionType("PBPose", "x"));
+    mappingDefinition.setTo(makeMappingDefinitionType("Position", "y"));
     mappingDefinition.setContent("      pose.position.x += sqrt(.5 * size.x)\n" +
         "      MAP round(2)\n" +
         "      x = x / 100\n" +
@@ -71,10 +71,17 @@ public class SimpleMain {
     System.out.println(model.generateAspect());
   }
 
+  private static MappingDefinitionType makeMappingDefinitionType(String type, String variable) {
+    MappingDefinitionType result = new MappingDefinitionType();
+    result.setType(new SimpleJavaTypeUse(type));
+    result.setVariableName(variable);
+    return result;
+  }
+
   private static Program parseProgram(Path path) {
     try (BufferedReader reader = Files.newBufferedReader(path)) {
-      RelAstScanner scanner = new RelAstScanner(reader);
-      RelAstParser parser = new RelAstParser();
+      Ros2RagScanner scanner = new Ros2RagScanner(reader);
+      Ros2RagParser parser = new Ros2RagParser();
       return (Program) parser.parse(scanner);
     } catch (IOException | Parser.Exception e) {
       e.printStackTrace();

ros2rag.base/src/test/java/org/jastadd/ros2rag/tests/RosToRagTest.java

@@ -6,12 +6,13 @@ import org.junit.jupiter.api.Test;
 
 import java.io.File;
 import java.nio.file.Paths;
+import java.util.Objects;
 
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
 public class RosToRagTest {
 
-  void transform(String inputGrammar, String inputRos2Rag, String outputDir) throws CommandLine.CommandLineException {
+  void transform(String inputGrammar, String inputRos2Rag, String outputDir) throws CommandLine.CommandLineException, Compiler.CompilerException {
 
     System.out.println(Paths.get(".").toAbsolutePath());
     assertTrue(Paths.get(inputGrammar).toFile().exists(), "input grammar does not exist");
@@ -19,11 +20,11 @@ public class RosToRagTest {
     File outputDirFile = Paths.get(outputDir).toFile();
     if (outputDirFile.exists()) {
       assertTrue(outputDirFile.isDirectory());
-      if (outputDirFile.list().length != 0) {
+      if (Objects.requireNonNull(outputDirFile.list(), "Could not read output directory").length != 0) {
         System.out.println("output directory is not empty!");
       }
     } else {
-      outputDirFile.mkdir();
+      assertTrue(outputDirFile.mkdir());
     }
 
     String[] args = {
@@ -32,11 +33,11 @@ public class RosToRagTest {
         "--inputRos2Rag=" + inputRos2Rag
     };
 
-    new Compiler(args);
+    new Compiler().run(args);
   }
 
   @Test
-  void transformMinimalExample() throws CommandLine.CommandLineException {
+  void transformMinimalExample() throws CommandLine.CommandLineException, Compiler.CompilerException {
     transform("src/test/resources/Example.relast",
         "src/test/resources/Example.ros2rag",
         "src/test/resources/out");

ros2rag.base/src/test/resources/Example.relast

@@ -6,7 +6,7 @@ Zone ::= Coordinate* ;
 
 RobotArm ::= Joint* EndEffector <_AttributeTestSource:int> /<_AppropriateSpeed:double>/ ; // normally this would be: <AttributeTestSource:int> ;
 
-Joint ::= <Name> <_CurrentPosition:IntPosition> ;  // normally this would be: <CurrentPosition:IntPosition>
+Joint ::= <Name> <CurrentPosition:IntPosition> ;  // normally this would be: <CurrentPosition:IntPosition>
 
 EndEffector : Joint;
 

ros2rag.base/src/test/resources/Example.ros2rag

@@ -8,13 +8,14 @@ RobotArm._AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
 RobotArm._AppropriateSpeed canDependOn RobotArm._AttributeTestSource as dependency2 ;
 
 // --- mapping definitions ---
-LinkStateToIntPosition: map protobuf panda.Linkstate.PandaLinkState x to IntPosition y {
+LinkStateToIntPosition maps panda.Linkstate.PandaLinkState x to IntPosition y {:
   panda.Linkstate.PandaLinkState.Position p = x.getPos();
+  { int i = 0; }
   y = IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ());
-}
+:}
 
-CreateSpeedMessage: map double x to protobuf config.Robotconfig.RobotConfig y {
+CreateSpeedMessage maps double x to config.Robotconfig.RobotConfig y {:
   y = config.Robotconfig.RobotConfig.newBuilder()
     .setSpeed(x)
     .build();
-}
+:}