diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 4989fda9ed75ff08ae1e20e92038258397b4f527..2a93d62f014e5927f58f0415fb2def09bdbc85b3 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,27 +1,11 @@
variables:
GIT_SUBMODULE_STRATEGY: recursive
-services:
- - name: "eclipse-mosquitto:1.6.9"
- alias: "mqtt"
-
stages:
- build
- - test
build:
image: openjdk:8
stage: build
- before_script:
- - ls -lah *
script:
- ./gradlew assemble
-
-test:
- image: openjdk:8
- stage: test
- script:
- - ./gradlew allTests
- artifacts:
- reports:
- junit: ros2rag.tests/build/test-results/test/TEST-*.xml
diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index d26b5a22d5a7098f78d4bb4cbb21b00b09ace7d0..0000000000000000000000000000000000000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "relast-preprocessor"]
- path = relast.preprocessor
- url = ../relast-preprocessor.git
diff --git a/buildSrc/.gitignore b/buildSrc/.gitignore
deleted file mode 100644
index 567609b1234a9b8806c5a05da6c866e480aa148d..0000000000000000000000000000000000000000
--- a/buildSrc/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-build/
diff --git a/buildSrc/src/main/java/org/jastadd/relast/plugin/CompilerLocationExtension.java b/buildSrc/src/main/java/org/jastadd/relast/plugin/CompilerLocationExtension.java
deleted file mode 100644
index d28d7131797be7eac9869b9c7f0b58ed05739b14..0000000000000000000000000000000000000000
--- a/buildSrc/src/main/java/org/jastadd/relast/plugin/CompilerLocationExtension.java
+++ /dev/null
@@ -1,21 +0,0 @@
-package org.jastadd.relast.plugin;
-
-import org.gradle.api.Project;
-import org.gradle.api.provider.Property;
-
-/**
- * TODO: Add description.
- *
- * @author rschoene - Initial contribution
- */
-public class CompilerLocationExtension {
- public Property<String> compilerLocation;
-
- public CompilerLocationExtension(Project project) {
- compilerLocation = project.getObjects().property(String.class);
- }
-
- public Property<String> getCompilerLocation() {
- return compilerLocation;
- }
-}
diff --git a/buildSrc/src/main/java/org/jastadd/relast/plugin/RelastPlugin.java b/buildSrc/src/main/java/org/jastadd/relast/plugin/RelastPlugin.java
deleted file mode 100644
index 1ce9e963b27c2efdf53092a91335680e708e7509..0000000000000000000000000000000000000000
--- a/buildSrc/src/main/java/org/jastadd/relast/plugin/RelastPlugin.java
+++ /dev/null
@@ -1,39 +0,0 @@
-package org.jastadd.relast.plugin;
-
-import org.gradle.api.Plugin;
-import org.gradle.api.Project;
-import org.gradle.api.Task;
-import org.gradle.api.tasks.TaskCollection;
-
-import java.util.Set;
-
-/**
- * Plugin for RelAst-Test.
- *
- * @author rschoene - Initial contribution
- */
-public class RelastPlugin implements Plugin<Project> {
-
- private Task testTask;
-
- @Override
- public void apply(Project project) {
- CompilerLocationExtension extension = project.getExtensions().create(
- "relastTest",
- CompilerLocationExtension.class,
- project);
-
- Set<Task> tasks = project.getTasksByName("test", false);
- // there should be only one task "test"
- testTask = tasks.iterator().next();
- TaskCollection<RelastTest> relastTests = project.getTasks().withType(RelastTest.class);
- relastTests.forEach(relastTest -> setupRelastTest(relastTest, extension.getCompilerLocation().getOrNull()));
- relastTests.whenTaskAdded(relastTest -> setupRelastTest(relastTest, extension.getCompilerLocation().getOrNull()));
- }
-
- private void setupRelastTest(RelastTest relastTest, String compilerLocation) {
- testTask.dependsOn(relastTest);
- relastTest.setCompilerLocation(compilerLocation);
- relastTest.setGroup("verification");
- }
-}
diff --git a/buildSrc/src/main/java/org/jastadd/relast/plugin/RelastTest.java b/buildSrc/src/main/java/org/jastadd/relast/plugin/RelastTest.java
deleted file mode 100644
index dbda5a403e9c653a3836ead48da7a973bc0ba694..0000000000000000000000000000000000000000
--- a/buildSrc/src/main/java/org/jastadd/relast/plugin/RelastTest.java
+++ /dev/null
@@ -1,304 +0,0 @@
-package org.jastadd.relast.plugin;
-
-import org.gradle.api.DefaultTask;
-import org.gradle.api.Project;
-import org.gradle.api.file.FileCollection;
-import org.gradle.api.plugins.JavaPlugin;
-import org.gradle.api.tasks.SourceSet;
-import org.gradle.api.tasks.SourceSetContainer;
-import org.gradle.api.tasks.TaskAction;
-
-import java.io.IOException;
-import java.nio.file.*;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-import java.util.stream.Collectors;
-
-/**
- * RelAst Test Task
- *
- * @author rschoene - Initial contribution
- */
-@SuppressWarnings({"unused", "WeakerAccess"})
-public class RelastTest extends DefaultTask {
- // configuration from plugin
- private String compilerLocation;
- // general options
- private boolean verbose = false;
- // pre-process options
- private List<String> relastFiles = new ArrayList<>();
- private boolean useJastAddNames;
- private boolean resolverHelper;
- private boolean writeToFile = true;
- private String grammarName;
- private String listClass;
- private String jastAddList;
- private String serializer;
-
- // compile options
- private boolean runJastAdd = true;
- private String outputDir = "src/test/java-gen/";
- private String packageName;
- private final List<String> moreInputFiles = new ArrayList<>();
-
- public void setCompilerLocation(String compilerLocation) {
- this.compilerLocation = compilerLocation;
- }
-
- public boolean isVerbose() {
- return verbose;
- }
-
- public void setVerbose(boolean verbose) {
- this.verbose = verbose;
- }
-
- // pre-process options
- public List<String> getRelastFiles() {
- return relastFiles;
- }
-
- public void relastFiles(String relastFile) {
- this.relastFiles.add(relastFile);
- }
-
- public void relastFiles(String[] relastFilesArray) {
- this.relastFiles = Arrays.asList(relastFilesArray);
- }
-
- public boolean isUseJastAddNames() {
- return useJastAddNames;
- }
-
- public void setUseJastAddNames(boolean useJastAddNames) {
- this.useJastAddNames = useJastAddNames;
- }
-
- public boolean isResolverHelper() {
- return resolverHelper;
- }
-
- public void setResolverHelper(boolean resolverHelper) {
- this.resolverHelper = resolverHelper;
- }
-
- public boolean isWriteToFile() {
- return writeToFile;
- }
-
- public void setWriteToFile(boolean writeToFile) {
- this.writeToFile = writeToFile;
- }
-
- public String getGrammarName() {
- return grammarName;
- }
-
- public void setGrammarName(String grammarName) {
- this.grammarName = grammarName;
- }
-
- public String getListClass() {
- return listClass;
- }
-
- public void setListClass(String listClass) {
- this.listClass = listClass;
- }
-
- public String getJastAddList() {
- return jastAddList;
- }
-
- public void setJastAddList(String jastAddList) {
- this.jastAddList = jastAddList;
- }
-
- public String getSerializer() {
- return serializer;
- }
-
- public void setSerializer(String serializer) {
- this.serializer = serializer;
- }
-
- // compile options
- public boolean isRunJastAdd() {
- return runJastAdd;
- }
-
- public void setRunJastAdd(boolean runJastAdd) {
- this.runJastAdd = runJastAdd;
- }
-
- public String getOutputDir() {
- return outputDir;
- }
-
- public void setOutputDir(String outputDir) {
- this.outputDir = outputDir;
- }
-
- public String getPackageName() {
- return packageName;
- }
-
- public void setPackageName(String packageName) {
- this.packageName = packageName;
- }
-
- public List<String> getMoreInputFiles() {
- return moreInputFiles;
- }
-
- public void moreInputFiles(String f) {
- this.moreInputFiles.add(f);
- }
-
- public void moreInputFiles(String[] fileArray) {
- this.moreInputFiles.addAll(Arrays.asList(fileArray));
- }
-
- private boolean isSet(String option) {
- return option != null && !option.isEmpty();
- }
-
- private final String[] genSuffixes = {".ast", ".jadd", "RefResolver.jadd", "ResolverStubs.jrag", "Serializer.jadd"};
-
- private Path pathToAbsoluteProject(String filename) {
- return Paths.get(getProject().getProjectDir().getAbsolutePath(), filename);
- }
-
- @TaskAction
- void runTest() throws IOException {
- setGroup("verification");
- setDescription("Runs a relast test");
- Project project = getProject();
- String absoluteProjectPath = project.getProjectDir().getAbsolutePath();
- if (isVerbose()) {
- System.out.println("Running relast test in " + project.getDisplayName());
- System.out.println("relast files: " + getRelastFiles());
- System.out.println("Deleting files");
- }
- // first, delete generated files
- List<Path> genFiles = new ArrayList<>();
- for (String suffix : genSuffixes) {
- genFiles.add(pathToAbsoluteProject(getGrammarName() + suffix));
- }
- if (isVerbose()) {
- System.out.println("gen files: " + genFiles);
- }
- project.delete(deleteSpec -> {
- deleteSpec.delete(genFiles);
- if (isSet(getPackageName())) {
- deleteSpec.delete(Paths.get(getOutputDir(), getPackageName()));
- }
- });
- // create output directories, if not existing
- createDirectory(pathToAbsoluteProject(getOutputDir()));
- createDirectory(pathToAbsoluteProject(getGrammarName()).getParent());
- if (isVerbose()) {
- System.out.println("Pre processing, running relast");
- }
- // then, run relast pre processing
- project.getPlugins().withType(JavaPlugin.class, javaPlugin -> {
- SourceSetContainer sourceSets = (SourceSetContainer) project.getProperties().get("sourceSets");
- FileCollection runtimeClasspath = sourceSets.getByName(SourceSet.MAIN_SOURCE_SET_NAME).getRuntimeClasspath();
- project.javaexec(javaExecSpec -> {
- List<Object> args = new ArrayList<>();
- javaExecSpec.setClasspath(runtimeClasspath);
- if (compilerLocation != null) {
- javaExecSpec.setMain("-jar");
- args.add(compilerLocation);
- } else {
- javaExecSpec.setMain("org.jastadd.relast.compiler.Compiler");
- }
- args.addAll(getRelastFiles().stream().map(this::pathToAbsoluteProject).collect(Collectors.toList()));
- args.add("--quiet");
- if (isWriteToFile()) {
- args.add("--file");
- }
- if (isUseJastAddNames()) {
- args.add("--useJastAddNames");
- }
- if (isResolverHelper()) {
- args.add("--resolverHelper");
- }
- if (isSet(getJastAddList())) {
- args.add("--jastAddList=" + getJastAddList());
- }
- if (isSet(getListClass())) {
- args.add("--listClass=" + getListClass());
- }
- if (isSet(getSerializer())) {
- args.add("--serializer=" + getSerializer());
- }
- args.add("--grammarName=" + pathToAbsoluteProject(getGrammarName()));
- if (isVerbose()) {
- System.out.println("Start relast with args: " + args);
- }
- javaExecSpec.args(args);
- }).assertNormalExitValue();
- });
- if (isRunJastAdd()) {
- if (isVerbose()) {
- System.out.println("Compile with JastAdd");
- }
- // check which files were actually generated
- genFiles.removeIf(this::verboseFileNotExists);
- // finally, compile generated files
- project.getPlugins().withType(JavaPlugin.class, javaPlugin -> {
- SourceSetContainer sourceSets = (SourceSetContainer) project.getProperties().get("sourceSets");
- FileCollection runtimeClasspath = sourceSets.getByName(SourceSet.MAIN_SOURCE_SET_NAME).getRuntimeClasspath();
- project.javaexec(javaExecSpec -> {
- javaExecSpec.setClasspath(runtimeClasspath);
- javaExecSpec.setMain("org.jastadd.JastAdd");
- List<Object> args = new ArrayList<>();
- args.add("--o=" + pathToAbsoluteProject(getOutputDir()));
- args.add("--package=" + getPackageName());
- if (isSet(getJastAddList())) {
- args.add("--List=" + getJastAddList());
- }
- args.addAll(genFiles);
- args.addAll(getMoreInputFiles().stream().map(this::pathToAbsoluteProject).collect(Collectors.toList()));
- if (isVerbose()) {
- System.out.println("Start JastAdd with args: " + args);
- }
- javaExecSpec.args(args);
- });
- });
- }
- }
-
- private String fileExtension(String filename) {
- int indexOfDot = filename.lastIndexOf('.');
- return indexOfDot == -1 ? filename : filename.substring(indexOfDot + 1);
- }
-
- private boolean verboseFileNotExists(Path path) {
- boolean fileDoesNotExist = !Files.exists(path);
- if (fileDoesNotExist && isVerbose()) {
- System.out.println("Do not include " + path);
- }
- return fileDoesNotExist;
- }
-
- private void createDirectory(Path path) throws IOException {
- if (Files.exists(path) && Files.isDirectory(path)) {
- return;
- }
- if (isVerbose()) {
- System.out.println("Creating " + path.toAbsolutePath());
- }
- try {
- Files.createDirectories(path);
- } catch (FileAlreadyExistsException e) {
- System.err.println("Skipping creation of already existing " + path);
- } catch (IOException e) {
- System.err.println("Could not create output directory " + path);
- throw e;
- }
- }
-
-}
diff --git a/buildSrc/src/main/resources/META-INF/gradle-plugins/org.jastadd.relast.plugin.properties b/buildSrc/src/main/resources/META-INF/gradle-plugins/org.jastadd.relast.plugin.properties
deleted file mode 100644
index 20222b8953522469ec2c0340ea3aeb5ed6294d13..0000000000000000000000000000000000000000
--- a/buildSrc/src/main/resources/META-INF/gradle-plugins/org.jastadd.relast.plugin.properties
+++ /dev/null
@@ -1 +0,0 @@
-implementation-class=org.jastadd.relast.plugin.RelastPlugin
diff --git a/libs/ragconnect.jar b/libs/ragconnect.jar
new file mode 100644
index 0000000000000000000000000000000000000000..d4f6a9a1cfcb7241b3f312ea671ee3fa0cb03148
Binary files /dev/null and b/libs/ragconnect.jar differ
diff --git a/ragconnect.base/.gitignore b/ragconnect.base/.gitignore
deleted file mode 100644
index 87b4cdd3d7c6a41502ca98703abeeb69a1d536fb..0000000000000000000000000000000000000000
--- a/ragconnect.base/.gitignore
+++ /dev/null
@@ -1,5 +0,0 @@
-build
-src/gen-res/
-src/gen/
-out/
-*.class
diff --git a/ragconnect.base/build.gradle b/ragconnect.base/build.gradle
deleted file mode 100644
index c986f2a61adf610a9c2e5fdc7fd20eb193a9a46a..0000000000000000000000000000000000000000
--- a/ragconnect.base/build.gradle
+++ /dev/null
@@ -1,174 +0,0 @@
-apply plugin: 'jastadd'
-apply plugin: 'application'
-
-sourceCompatibility = 1.8
-
-mainClassName = 'org.jastadd.ragconnect.compiler.Compiler'
-
-repositories {
- jcenter()
-}
-
-buildscript {
- repositories.jcenter()
- dependencies {
- classpath 'org.jastadd:jastaddgradle:1.13.3'
- }
-}
-
-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"
- }
-}
-
-test {
- useJUnitPlatform()
-
- maxHeapSize = '1G'
-}
-
-jar {
- manifest {
- attributes "Main-Class": 'org.jastadd.ragconnect.compiler.Compiler'
- }
-
- from {
- configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
- }
-}
-
-task relast(type: JavaExec) {
- group = 'Build'
- main = "-jar"
-
- args = [
- "../libs/relast.jar",
- "../relast.preprocessor/src/main/jastadd/RelAst.relast",
- "./src/main/jastadd/RagConnect.relast",
- "./src/main/jastadd/MustacheNodes.relast",
- "./src/main/jastadd/YAML.relast",
- "--listClass=java.util.ArrayList",
- "--jastAddList=JastAddList",
- "--useJastAddNames",
- "--file",
- "--resolverHelper",
- "--grammarName=./src/gen/jastadd/RagConnect"
- ]
-
- inputs.files("../libs/relast.jar",
- "../relast.preprocessor/src/main/jastadd/RelAst.relast",
- "./src/main/jastadd/RagConnect.relast",
- "./src/main/jastadd/MustacheNodes.relast",
- "./src/main/jastadd/YAML.relast")
- outputs.files("./src/gen/jastadd/RagConnect.ast",
- "./src/gen/jastadd/RagConnect.jadd",
- "./src/gen/jastadd/RagConnectRefResolver.jadd",
- './src/gen/jastadd/RagConnectResolverStubs.jrag')
-}
-
-jastadd {
- configureModuleBuild()
- modules {
- //noinspection GroovyAssignabilityCheck
- module("RagConnect") {
-
- java {
- basedir ".."
- include "relast.preprocessor/main/**/*.java"
- include "relast.preprocessor/gen/**/*.java"
- include "ragconnect.base/src/main/**/*.java"
- include "ragconnect.base/src/gen/**/*.java"
- }
-
- jastadd {
- basedir ".."
- include "relast.preprocessor/src/main/jastadd/**/*.ast"
- include "relast.preprocessor/src/main/jastadd/**/*.jadd"
- include "relast.preprocessor/src/main/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 "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 "ragconnect.base/src/main/jastadd/scanner/Macros.flex", [-3]
- include "relast.preprocessor/src/main/jastadd/scanner/RulesPreamble.flex", [-2]
- 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]
- }
-
- parser {
- basedir ".."
- 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"
- }
- }
- }
-
- cleanGen.doFirst {
- delete "src/gen/java/org"
- delete "src/gen-res/BuildInfo.properties"
- }
-
- preprocessParser.doFirst {
-
- args += ["--no-beaver-symbol"]
-
- }
-
- module = "RagConnect"
-
- astPackage = 'org.jastadd.ragconnect.ast'
-
- parser.name = 'RagConnectParser'
-
- genDir = 'src/gen/java'
-
- buildInfoDir = 'src/gen-res'
-
- 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"]
-}
-
-generateAst.dependsOn relast
diff --git a/ragconnect.base/src/main/jastadd/Analysis.jrag b/ragconnect.base/src/main/jastadd/Analysis.jrag
deleted file mode 100644
index b62399960f34a4b8c23a8d23762ec195491ce4e3..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/Analysis.jrag
+++ /dev/null
@@ -1,57 +0,0 @@
-aspect Analysis {
- // --- lookupTokenEndpointDefinition ---
- inh java.util.List<TokenEndpointDefinition> TokenEndpointDefinition.lookupTokenEndpointDefinitions(TokenComponent token);
- eq RagConnect.getEndpointDefinition().lookupTokenEndpointDefinitions(TokenComponent token) = lookupTokenEndpointDefinitions(token);
- syn java.util.List<TokenEndpointDefinition> RagConnect.lookupTokenEndpointDefinitions(TokenComponent token) {
- java.util.List<TokenEndpointDefinition> result = new java.util.ArrayList<>();
- for (EndpointDefinition def : getEndpointDefinitionList()) {
- if (def.isTokenEndpointDefinition() && def.asTokenEndpointDefinition().getToken().equals(token)) {
- result.add(def.asTokenEndpointDefinition());
- }
- }
- return result;
- }
-
- // --- 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() = lookupTokenEndpointDefinitions(getToken()).size() > 1;
- syn boolean DependencyDefinition.isAlreadyDefined() = lookupDependencyDefinition(getSource().containingTypeDecl(), getID()) != this;
-
- syn boolean MappingDefinitionType.assignableTo(JavaTypeUse target);
- eq JavaMappingDefinitionType.assignableTo(JavaTypeUse target) = getType().assignableTo(target);
- eq JavaArrayMappingDefinitionType.assignableTo(JavaTypeUse target) {
- if (!target.getName().endsWith("[]")) { return false; }
- return getType().assignableTo(new SimpleJavaTypeUse(target.getName().replace("[]", "")));
- }
- syn boolean JavaTypeUse.assignableTo(JavaTypeUse target) {
- // target var = this;
- return target.primitivePrettyPrint().equals(this.primitivePrettyPrint());
- }
- syn String JavaTypeUse.primitivePrettyPrint() {
- switch(getName()) {
- case "int":
- case "Integer": return "int";
- case "short":
- case "Short": return "short";
- case "long":
- case "Long": return "long";
- case "float":
- case "Float": return "float";
- case "double":
- case "Double": return "double";
- case "char":
- case "Character": return "char";
- default: return getName();
- }
- }
-}
diff --git a/ragconnect.base/src/main/jastadd/Errors.jrag b/ragconnect.base/src/main/jastadd/Errors.jrag
deleted file mode 100644
index fe2fcd59efd365174ca2803affebc34819cf3d7e..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/Errors.jrag
+++ /dev/null
@@ -1,121 +0,0 @@
-import java.util.Set;
-import java.util.TreeSet;
-import java.util.LinkedList;
-
-aspect Errors {
- coll Set<ErrorMessage> RagConnect.errors()
- [new TreeSet<ErrorMessage>()]
- root RagConnect;
-
- ReceiveTokenEndpointDefinition contributes error("Receive definition already defined for " + getToken().getName())
- when isAlreadyDefined()
- to RagConnect.errors();
-
- ReceiveTokenEndpointDefinition contributes error("Receiving target token must not be an NTA token!")
- when getToken().getNTA()
- to RagConnect.errors();
-
- // if first mapping is null, then suitableDefaultMapping() == null
- ReceiveTokenEndpointDefinition contributes error("No suitable default mapping found for type " +
- ((getMappingList().isEmpty())
- ? getToken().effectiveJavaTypeUse().prettyPrint()
- : getMappingList().get(0).getFromType().prettyPrint()))
- when effectiveMappings().get(0) == null
- to RagConnect.errors();
-
- ReceiveTokenEndpointDefinition contributes error("to-type of last mapping (" + effectiveMappings().get(effectiveMappings().size() - 1).getToType().prettyPrint() + ") not assignable to type of the Token (" + getToken().effectiveJavaTypeUse().prettyPrint() + ")!")
- when !effectiveMappings().get(effectiveMappings().size() - 1).getToType().assignableTo(
- getToken().effectiveJavaTypeUse())
- to RagConnect.errors();
-
- SendTokenEndpointDefinition contributes error("Sending target token must be an NTA token!")
- when !getToken().getNTA()
- to RagConnect.errors();
-
- SendTokenEndpointDefinition contributes error("Send definition already defined for " + getToken().getName())
- when isAlreadyDefined()
- to RagConnect.errors();
-
- DependencyDefinition contributes error("Dependency definition already defined for " + getSource().containingTypeDecl().getName() + " with name " + getID())
- when isAlreadyDefined()
- 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 RagConnect.errors();
-
- DependencyDefinition contributes error("There must be a send endpoint definition targeting " + getSource().parentTypeypeAndName() + " for dependency definition " + getID())
- when targetEndpointDefinition() == null
- to RagConnect.errors();
-}
-
-aspect ErrorHelpers {
- syn boolean DependencyDefinition.isAlreadyDefinedAsList() {
- for (Component comp : getSource().containingTypeDecl().getComponentList()) {
- if (comp.isListComponent() && comp.getName().equals(this.getID())) {
- return true;
- }
- }
- return false;
- }
- syn String TokenComponent.parentTypeypeAndName() = containingTypeDecl().getName() + "." + getName();
-}
-
-aspect ErrorMessage {
- public class ErrorMessage implements Comparable<ErrorMessage> {
- private final ASTNode node;
- private final String filename;
- private final int line;
- private final int col;
- private final String message;
-
- public ErrorMessage(ASTNode node, String message) {
- this.node = node;
- this.filename = node.containedFileName();
- this.line = node.getStartLine();
- this.col = node.getStartColumn();
- this.message = message;
- }
-
- public ASTNode getNode() {
- return node;
- }
- public int getLine() {
- return line;
- }
- public int getCol() {
- return col;
- }
- public String getMessage() {
- return message;
- }
-
- public String toString() {
- return filename + " Line " + line + ", column " + col + ": " + message;
- }
-
- @Override
- public int compareTo(ErrorMessage err) {
- int n = filename.compareTo(err.filename);
- if (n != 0) {
- return n;
- }
-
- n = line - err.line;
- if (n != 0) {
- return n;
- }
-
- n = col-err.col;
- if (n != 0) {
- return n;
- }
-
- return message.compareTo(err.message);
- }
- }
-
- protected ErrorMessage ASTNode.error(String message) {
- return new ErrorMessage(this, message);
- }
-}
diff --git a/ragconnect.base/src/main/jastadd/MustacheNodes.relast b/ragconnect.base/src/main/jastadd/MustacheNodes.relast
deleted file mode 100644
index 62ecdb6166a783e125cefef2826d550b73ab9e1b..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/MustacheNodes.relast
+++ /dev/null
@@ -1,19 +0,0 @@
-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.MMappingDefinition -> MMappingDefinition;
-rel MReceiveDefinition.ReceiveTokenEndpointDefinition -> ReceiveTokenEndpointDefinition;
-rel MSendDefinition.SendTokenEndpointDefinition -> SendTokenEndpointDefinition;
-rel MMappingDefinition.MappingDefinition -> MappingDefinition;
-rel MDependencyDefinition.DependencyDefinition -> DependencyDefinition;
-rel MTypeComponent.TypeComponent -> TypeComponent;
-rel MTokenComponent.TokenComponent -> TokenComponent;
-rel MTokenComponent.DependencyDefinition* -> MDependencyDefinition;
diff --git a/ragconnect.base/src/main/jastadd/NameResolution.jrag b/ragconnect.base/src/main/jastadd/NameResolution.jrag
deleted file mode 100644
index f282ba55983feeae814e12823ff31f1d6480b6a8..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/NameResolution.jrag
+++ /dev/null
@@ -1,14 +0,0 @@
-aspect NameResolution {
-
- refine RefResolverStubs eq EndpointDefinition.resolveMappingByToken(String id, int position) {
- // return a MappingDefinition
- for (MappingDefinition mappingDefinition : ragconnect().getMappingDefinitionList()) {
- if (mappingDefinition.getID().equals(id)) {
- return mappingDefinition;
- }
- }
- System.err.println("Could not resolve MappingDefinition '" + id + "'.");
- return null;
- }
-
-}
diff --git a/ragconnect.base/src/main/jastadd/Navigation.jrag b/ragconnect.base/src/main/jastadd/Navigation.jrag
deleted file mode 100644
index 752fc36aea4c59348874c1a08134696a9543b6cb..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/Navigation.jrag
+++ /dev/null
@@ -1,60 +0,0 @@
-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 Grammar.getChild().containedFile() = null;
- eq RagConnect.getChild().containedFile() = null;
- eq MRagConnect.getChild().containedFile() = null;
-
- // --- containedFileName ---
- eq Grammar.getChild().containedFileName() = null; // should be in PP
- 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;
-
- // --- isSendTokenEndpointDefinition ---
- syn boolean EndpointDefinition.isSendTokenEndpointDefinition() = false;
- eq SendTokenEndpointDefinition.isSendTokenEndpointDefinition() = true;
-
- // --- asSendTokenEndpointDefinition ---
- syn SendTokenEndpointDefinition EndpointDefinition.asSendTokenEndpointDefinition() = null;
- eq SendTokenEndpointDefinition.asSendTokenEndpointDefinition() = this;
-
- // --- asReceiveTokenEndpointDefinition ---
- syn ReceiveTokenEndpointDefinition EndpointDefinition.asReceiveTokenEndpointDefinition() = null;
- eq ReceiveTokenEndpointDefinition.asReceiveTokenEndpointDefinition() = this;
-
- // --- targetEndpointDefinition ---
- syn SendTokenEndpointDefinition DependencyDefinition.targetEndpointDefinition() {
- // resolve definition in here, as we do not need resolveMethod in any other place (yet)
- for (EndpointDefinition endpointDefinition : ragconnect().getEndpointDefinitionList()) {
- if (endpointDefinition.isSendTokenEndpointDefinition() &&
- endpointDefinition.asSendTokenEndpointDefinition().getToken().equals(this.getTarget())) {
- return endpointDefinition.asSendTokenEndpointDefinition();
- }
- }
- return null;
- }
-
- // --- effectiveJavaTypeUse (should be in preprocessor) ---
- syn lazy JavaTypeUse TokenComponent.effectiveJavaTypeUse() = hasJavaTypeUse() ? getJavaTypeUse() : new SimpleJavaTypeUse("String");
-
- // --- isDefaultMappingDefinition ---
- syn boolean MappingDefinition.isDefaultMappingDefinition() = false;
- eq DefaultMappingDefinition.isDefaultMappingDefinition() = true;
-}
diff --git a/ragconnect.base/src/main/jastadd/Printing.jrag b/ragconnect.base/src/main/jastadd/Printing.jrag
deleted file mode 100644
index 74607aeb7737e1e43c9565b799693889a648a9df..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/Printing.jrag
+++ /dev/null
@@ -1,75 +0,0 @@
-aspect Printing {
- String ASTNode.PRINT_INDENT = " ";
-
- syn String MappingDefinitionType.prettyPrint();
- eq JavaMappingDefinitionType.prettyPrint() = getType().getName();
- eq JavaArrayMappingDefinitionType.prettyPrint() = getType().getName() + "[]";
-
- syn String JavaTypeUse.prettyPrint() {
- StringBuilder sb = new StringBuilder();
- generateAbstractGrammar(sb);
- return sb.toString();
- }
-
- syn String Document.prettyPrint() {
- StringBuilder sb = new StringBuilder();
- sb.append("# RagConnect created at ").append(java.time.Instant.now()).append("\n");
- for (ComplexElement element : getComplexElementList()) {
- element.prettyPrint(sb, false, "");
- }
- if (sb.charAt(sb.length() - 1) != '\n') {
- sb.append("\n");
- }
- return sb.toString();
- }
- syn StringBuilder Element.prettyPrint(StringBuilder sb, boolean printIndent, String indent);
- eq ValueElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
- sb.append(getValue());
- return sb;
- }
- eq StringElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
- sb.append("\"").append(getValue()).append("\"");
- return sb;
- }
- eq ListElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
- if (isEmpty()) {
- sb.append("[]");
- } else {
- for (Element element : getElementList()) {
- sb.append(indent).append("- ");
- element.prettyPrint(sb, false, indent + PRINT_INDENT);
- sb.append("\n");
- }
- // delete last newline
- sb.deleteCharAt(sb.length() - 1);
- }
- return sb;
- }
- eq KeyValuePair.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
- if (printIndent) sb.append(indent);
- sb.append(getKey()).append(": ");
- if (getValue().isComplex() && !getValue().isEmpty()) {
- sb.append("\n");
- getValue().prettyPrint(sb, true, indent + PRINT_INDENT); //);
- } else {
- getValue().prettyPrint(sb, false, indent);
- }
- return sb;
- }
- eq MappingElement.prettyPrint(StringBuilder sb, boolean printIndent, String indent) {
- if (isEmpty()) {
- sb.append("{}");
- } else {
- boolean first = true;
- for (KeyValuePair pair : getKeyValuePairList()) {
- if (!first || printIndent) sb.append(indent);
- first = false;
- pair.prettyPrint(sb, false, indent); // + PRINT_INDENT
- sb.append("\n");
- }
- // delete last newline
- sb.deleteCharAt(sb.length() - 1);
- }
- return sb;
- }
-}
diff --git a/ragconnect.base/src/main/jastadd/RagConnect.relast b/ragconnect.base/src/main/jastadd/RagConnect.relast
deleted file mode 100644
index accc617714ff6bdd24a22831ea84e5d93e6a15b8..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/RagConnect.relast
+++ /dev/null
@@ -1,21 +0,0 @@
-RagConnect ::= EndpointDefinition* DependencyDefinition* MappingDefinition* Program <FileName> ;
-
-abstract EndpointDefinition ::= <AlwaysApply:boolean> ;
-
-rel EndpointDefinition.Mapping* <-> MappingDefinition.UsedAt*;
-
-abstract TokenEndpointDefinition : EndpointDefinition;
-rel TokenEndpointDefinition.Token -> TokenComponent;
-
-ReceiveTokenEndpointDefinition : TokenEndpointDefinition;
-SendTokenEndpointDefinition : TokenEndpointDefinition;
-
-DependencyDefinition ::= <ID>;
-rel DependencyDefinition.Source <-> TokenComponent.DependencySourceDefinition*;
-rel DependencyDefinition.Target -> TokenComponent;
-
-MappingDefinition ::= <ID> FromType:MappingDefinitionType <FromVariableName> ToType:MappingDefinitionType <Content> ;
-abstract MappingDefinitionType ::= ;
-JavaMappingDefinitionType : MappingDefinitionType ::= Type:JavaTypeUse ;
-JavaArrayMappingDefinitionType : MappingDefinitionType ::= Type:JavaTypeUse ;
-DefaultMappingDefinition : MappingDefinition ;
diff --git a/ragconnect.base/src/main/jastadd/Util.jadd b/ragconnect.base/src/main/jastadd/Util.jadd
deleted file mode 100644
index 3b59b13c53a8d0e1ca2a05feba43294797a4577e..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/Util.jadd
+++ /dev/null
@@ -1,5 +0,0 @@
-aspect Util {
- static String ASTNode.capitalize(String s) {
- return Character.toUpperCase(s.charAt(0)) + s.substring(1);
- }
-}
diff --git a/ragconnect.base/src/main/jastadd/YAML.jrag b/ragconnect.base/src/main/jastadd/YAML.jrag
deleted file mode 100644
index 93dd0f34b7b7b0505cf0970b6541fa3ae5bee7fa..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/YAML.jrag
+++ /dev/null
@@ -1,31 +0,0 @@
-aspect Navigation {
- eq Document.getChild().program() = null;
- eq Document.getChild().ragconnect() = null;
- eq Document.getChild().containedFile() = null;
- eq Document.getChild().containedFileName() = getFileName();
-
- syn boolean Element.isComplex() = false;
- eq ComplexElement.isComplex() = true;
-
- syn boolean Element.isEmpty() = false;
- eq MappingElement.isEmpty() = getNumKeyValuePair() == 0;
- eq ListElement.isEmpty() = getNumElement() == 0;
-}
-
-aspect Helper {
- public static ValueElement ValueElement.of(int value) {
- return new ValueElement(String.valueOf(value));
- }
- public static ValueElement ValueElement.of(boolean value) {
- return new ValueElement(String.valueOf(value));
- }
- public static ValueElement ValueElement.of(String value) {
- return new ValueElement(value);
- }
- public static StringElement StringElement.of(String value) {
- return new StringElement(value);
- }
- public void MappingElement.addKeyValuePair(String key, Element value) {
- addKeyValuePair(new KeyValuePair(key, value));
- }
-}
diff --git a/ragconnect.base/src/main/jastadd/YAML.relast b/ragconnect.base/src/main/jastadd/YAML.relast
deleted file mode 100644
index 94f4ab20fdc3838348bd53b812b3d1477cae3558..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/YAML.relast
+++ /dev/null
@@ -1,9 +0,0 @@
-Document ::= <FileName> ComplexElement* ;
-abstract Element ;
-abstract ComplexElement : Element ;
-MappingElement : ComplexElement ::= KeyValuePair* ;
-KeyValuePair : ComplexElement ::= <Key> Value:Element ;
-ListElement : ComplexElement ::= Element* ;
-abstract SimpleElement : Element ;
-ValueElement : SimpleElement ::= <Value> ;
-StringElement : SimpleElement ::= <Value> ;
diff --git a/ragconnect.base/src/main/jastadd/backend/Configuration.jadd b/ragconnect.base/src/main/jastadd/backend/Configuration.jadd
deleted file mode 100644
index 8d3b16c3f99014408c6aefa5655201d222c3d892..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/backend/Configuration.jadd
+++ /dev/null
@@ -1,7 +0,0 @@
-aspect Configuration {
- public static boolean ASTNode.loggingEnabledForReads = false;
- public static boolean ASTNode.loggingEnabledForWrites = false;
- public static TypeDecl ASTNode.rootNode;
- public static boolean ASTNode.usesMqtt;
- public static boolean ASTNode.usesRest;
-}
diff --git a/ragconnect.base/src/main/jastadd/backend/Generation.jadd b/ragconnect.base/src/main/jastadd/backend/Generation.jadd
deleted file mode 100644
index 4b8d357e82e82eb8454451978589434f1ef44505..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/backend/Generation.jadd
+++ /dev/null
@@ -1,255 +0,0 @@
-/*
-Design considerations
-- InnerMappingDefinition needed for iteration attribute (first, last) - not easily possible with list-relation
-*/
-
-aspect AttributesForMustache {
- // --- MRagConnect ---
- eq MRagConnect.getRootTypeComponent(int i).isFirst() = i == 0;
-
- syn String MRagConnect.closeMethod() = "ragconnectCloseConnections";
- syn String MRagConnect.mqttHandlerAttribute() = "_mqttHandler";
- syn String MRagConnect.mqttHandlerField() = "_mqttHandler";
- syn String MRagConnect.mqttSetupWaitUntilReadyMethod() = "ragconnectSetupMqttWaitUntilReady";
-
- syn String MRagConnect.restHandlerAttribute() = "_restHandler";
- syn String MRagConnect.restHandlerField() = "_restHandler";
-
- // --- MEndpointDefinition ---
- syn String MEndpointDefinition.preemptiveExpectedValue();
- syn String MEndpointDefinition.preemptiveReturn();
- syn TokenEndpointDefinition MEndpointDefinition.endpointDef();
- syn String MEndpointDefinition.firstInputVarName();
-
- eq MEndpointDefinition.getInnerMappingDefinition(int i).isLast() = i == getNumInnerMappingDefinition() - 1;
- eq MEndpointDefinition.getInnerMappingDefinition(int i).inputVarName() = i == 0 ? firstInputVarName() : getInnerMappingDefinition(i - 1).outputVarName();
-
- syn String MEndpointDefinition.connectParameterName() = "uriString";
- syn String MEndpointDefinition.connectMethod() = "connect" + tokenName();
- syn TokenComponent MEndpointDefinition.token() = endpointDef().getToken();
- syn boolean MEndpointDefinition.alwaysApply() = endpointDef().getAlwaysApply();
- 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.lastResult() = lastDefinition().outputVarName();
- syn String MEndpointDefinition.condition() {
- if (lastDefinition().mappingDef().getToType().isArray()) {
- return "java.util.Arrays.equals(" + preemptiveExpectedValue() + ", " + lastResult() + ")";
- }
- if (token().isPrimitiveType() && lastDefinition().mappingDef().getToType().isPrimitiveType()) {
- return preemptiveExpectedValue() + " == " + lastResult();
- }
- if (lastDefinition().mappingDef().isDefaultMappingDefinition()) {
- return preemptiveExpectedValue() + " != null && " + preemptiveExpectedValue() + ".equals(" + lastResult() + ")";
- }
- return preemptiveExpectedValue() + " != null ? " + preemptiveExpectedValue() + ".equals(" + lastResult() + ") : " + lastResult() + " == null";
- }
-
- // --- MInnerMappingDefinition ---
- inh boolean MInnerMappingDefinition.isLast();
- inh String MInnerMappingDefinition.inputVarName();
- syn String MInnerMappingDefinition.toType() = mappingDef().getToType().prettyPrint();
- syn String MInnerMappingDefinition.methodName() = getMMappingDefinition().methodName();
- syn MappingDefinition MInnerMappingDefinition.mappingDef() = getMMappingDefinition().getMappingDefinition();
- syn String MInnerMappingDefinition.outputVarName() = "result" + methodName(); // we do not need "_" in between here, because methodName begins with one
-
- // --- MReceiveDefinition ---
- eq MReceiveDefinition.preemptiveExpectedValue() = "get" + tokenName() + "()";
- eq MReceiveDefinition.preemptiveReturn() = "return;";
- eq MReceiveDefinition.endpointDef() = getReceiveTokenEndpointDefinition();
- eq MReceiveDefinition.firstInputVarName() = "message";
-
- // --- MSendDefinition ---
- eq MSendDefinition.preemptiveExpectedValue() = lastValue();
- eq MSendDefinition.preemptiveReturn() = "return false;";
- eq MSendDefinition.endpointDef() = getSendTokenEndpointDefinition();
- eq MSendDefinition.firstInputVarName() = "get" + tokenName() + "()";
-
- syn String MSendDefinition.sender() = "_sender_" + tokenName();
- syn String MSendDefinition.lastValue() = "_lastValue" + tokenName();
- syn String MSendDefinition.updateMethod() = "_update_" + tokenName();
- syn String MSendDefinition.writeMethod() = "_writeLastValue_" + tokenName();
- syn String MSendDefinition.tokenResetMethod() = "get" + tokenName() + "_reset";
-
- // --- MMappingDefinition ---
- syn String MMappingDefinition.toType() = getMappingDefinition().getToType().prettyPrint();
- syn String MMappingDefinition.methodName() = "_apply_" + getMappingDefinition().getID();
- syn String MMappingDefinition.fromType() = getMappingDefinition().getFromType().prettyPrint();
- syn String MMappingDefinition.fromVariableName() = getMappingDefinition().getFromVariableName();
- syn String MMappingDefinition.content() = getMappingDefinition().getContent();
-
- // --- MDependencyDefinition ---
- syn String MDependencyDefinition.targetParentTypeName() = getDependencyDefinition().getTarget().containingTypeDecl().getName();
- syn String MDependencyDefinition.dependencyMethod() = "add" + capitalize(getDependencyDefinition().getID());
- syn String MDependencyDefinition.sourceParentTypeName() = getDependencyDefinition().getSource().containingTypeDecl().getName();
- syn String MDependencyDefinition.internalRelationPrefix() = "_internal_" + getDependencyDefinition().getID();
- syn nta MSendDefinition MDependencyDefinition.targetEndpointDefinition() {
- return getDependencyDefinition().targetEndpointDefinition().toMustache();
- }
-
- // --- MTypeComponent ---
- syn String MTypeComponent.name() = getTypeComponent().getName();
- inh boolean MTypeComponent.isFirst();
-
- // --- MTokenComponent ---
- syn String MTokenComponent.parentTypeName() = getTokenComponent().containingTypeDecl().getName();
- syn String MTokenComponent.name() = getTokenComponent().getName();
- syn String MTokenComponent.javaType() = getTokenComponent().effectiveJavaTypeUse().prettyPrint();
- syn String MTokenComponent.internalName() = getTokenComponent().getDependencySourceDefinitionList().isEmpty() ? externalName() : "_internal_" + name();
- syn String MTokenComponent.externalName() = name();
-
- // --- toMustache ---
- syn lazy MRagConnect RagConnect.toMustache() {
- MRagConnect result = new MRagConnect();
- result.setRagConnect(this);
- for (EndpointDefinition def : getEndpointDefinitionList()) {
- if (def.isSendTokenEndpointDefinition()) {
- SendTokenEndpointDefinition sendDef = def.asSendTokenEndpointDefinition();
- result.addSendDefinition(sendDef.toMustache());
- } else {
- result.addReceiveDefinition(def.asReceiveTokenEndpointDefinition().toMustache());
- }
- }
- for (MappingDefinition def : allMappingDefinitions()) {
- result.addMappingDefinition(def.toMustache());
- }
- for (DependencyDefinition def : getDependencyDefinitionList()) {
- result.addDependencyDefinition(def.toMustache());
- }
- for (TokenComponent token : getProgram().allTokenComponents()) {
- if (!token.getDependencySourceDefinitionList().isEmpty()) {
- result.addTokenComponent(token.toMustache());
- }
- }
- for (Component child : rootNode.getComponentList()) {
- if (child.isTypeComponent()) {
- result.addRootTypeComponent(child.asTypeComponent().toMustache());
- }
- }
- return result;
- }
-
- protected void MEndpointDefinition.addInnerMappings() {
- for (MappingDefinition def : endpointDef().effectiveMappings()) {
- MInnerMappingDefinition inner = new MInnerMappingDefinition();
- inner.setMMappingDefinition(def.toMustache());
- addInnerMappingDefinition(inner);
- }
- }
-
- syn lazy MReceiveDefinition ReceiveTokenEndpointDefinition.toMustache() {
- MReceiveDefinition result = new MReceiveDefinition();
- result.setReceiveTokenEndpointDefinition(this);
- result.addInnerMappings();
- return result;
- }
-
- syn lazy MSendDefinition SendTokenEndpointDefinition.toMustache() {
- MSendDefinition result = new MSendDefinition();
- result.setSendTokenEndpointDefinition(this);
- result.addInnerMappings();
- return result;
- }
-
- syn lazy MMappingDefinition MappingDefinition.toMustache() {
- MMappingDefinition result = new MMappingDefinition();
- result.setMappingDefinition(this);
- return result;
- }
-
- syn lazy MDependencyDefinition DependencyDefinition.toMustache() {
- MDependencyDefinition result = new MDependencyDefinition();
- result.setDependencyDefinition(this);
- return result;
- }
-
- syn lazy MTypeComponent TypeComponent.toMustache() {
- MTypeComponent result = new MTypeComponent();
- result.setTypeComponent(this);
- return result;
- }
-
- syn lazy MTokenComponent TokenComponent.toMustache() {
- MTokenComponent result = new MTokenComponent();
- result.setTokenComponent(this);
- for (DependencyDefinition def : getDependencySourceDefinitionList()) {
- result.addDependencyDefinition(def.toMustache());
- }
- return result;
- }
-}
-
-aspect AspectGeneration {
- // --- rootNodeName ---
- syn String ASTNode.rootNodeName() = rootNode.getName();
-
- public String RagConnect.generateAspect(String rootNodeName) {
- rootNode = getProgram().resolveTypeDecl(rootNodeName);
- return toMustache().generateAspect();
- }
-
- public String MRagConnect.generateAspect() {
- StringBuilder sb = new StringBuilder();
- com.github.mustachejava.reflect.ReflectionObjectHandler roh = new com.github.mustachejava.reflect.ReflectionObjectHandler() {
- @Override
- public com.github.mustachejava.Binding createBinding(String name, final com.github.mustachejava.TemplateContext tc, com.github.mustachejava.Code code) {
- return new com.github.mustachejava.reflect.GuardedBinding(this, name, tc, code) {
- @Override
- protected synchronized com.github.mustachejava.util.Wrapper getWrapper(String name, java.util.List<Object> scopes) {
- com.github.mustachejava.util.Wrapper wrapper = super.getWrapper(name, scopes);
- if (wrapper instanceof com.github.mustachejava.reflect.MissingWrapper) {
- throw new com.github.mustachejava.MustacheException(name + " not found in " + tc);
- }
- return wrapper;
- }
- };
- }
- };
- com.github.mustachejava.DefaultMustacheFactory mf = new com.github.mustachejava.DefaultMustacheFactory();
- mf.setObjectHandler(roh);
- com.github.mustachejava.Mustache m = mf.compile("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> RagConnect.additionalRelations() {
- java.util.List<Relation> result = new java.util.ArrayList<>();
- for (DependencyDefinition dd : getDependencyDefinitionList()) {
- result.add(dd.getRelationToCreate());
- }
- return result;
- }
-
- syn nta Relation DependencyDefinition.getRelationToCreate() {
- String internalRelationPrefix = toMustache().internalRelationPrefix();
- BidirectionalRelation result = new BidirectionalRelation();
- NavigableRole left = new ListRole(internalRelationPrefix + "Source");
- left.setType(getTarget().containingTypeDecl());
- NavigableRole right = new ListRole(internalRelationPrefix + "Target");
- right.setType(getSource().containingTypeDecl());
- result.setLeft(left);
- result.setRight(right);
- result.addComment(new WhitespaceComment("\n"));
- return result;
- }
-}
-
-aspect GrammarExtension {
- refine BackendAbstractGrammar public void TokenComponent.generateAbstractGrammar(StringBuilder b) {
- if (getNTA()) {
- b.append("/");
- }
- b.append("<");
- if (!getName().equals("")) {
- b.append(toMustache().internalName()).append(":");
- }
- effectiveJavaTypeUse().generateAbstractGrammar(b);
- b.append(">");
- if (getNTA()) {
- b.append("/");
- }
- }
-}
diff --git a/ragconnect.base/src/main/jastadd/backend/Mappings.jrag b/ragconnect.base/src/main/jastadd/backend/Mappings.jrag
deleted file mode 100644
index 7aa82d304079592d605997484d1348a3d3681875..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/backend/Mappings.jrag
+++ /dev/null
@@ -1,270 +0,0 @@
-aspect DefaultMappings {
-
- private String RagConnect.baseDefaultMappingTypeNamePart(String typeName) {
- return capitalize(typeName).replace("[]", "s");
- }
-
- private MappingDefinitionType RagConnect.baseDefaultMappingTypeFromName(String typeName) {
- return typeName.endsWith("[]") ?
- new JavaArrayMappingDefinitionType(new SimpleJavaTypeUse(typeName.replace("[]", ""))) :
- new JavaMappingDefinitionType(new SimpleJavaTypeUse(typeName));
- }
-
- private DefaultMappingDefinition RagConnect.baseDefaultMappingDefinition(String fromTypeName, String toTypeName, String content) {
- DefaultMappingDefinition result = new DefaultMappingDefinition();
- result.setID("_Default" + baseDefaultMappingTypeNamePart(fromTypeName) + "To" + baseDefaultMappingTypeNamePart(toTypeName) + "Mapping");
- result.setFromType(baseDefaultMappingTypeFromName(fromTypeName));
- result.setFromVariableName("input");
- result.setToType(baseDefaultMappingTypeFromName(toTypeName));
- result.setContent(content);
- return result;
- }
-
- syn nta DefaultMappingDefinition RagConnect.defaultBytesToIntMapping() = baseDefaultMappingDefinition(
- "byte[]", "int", "return java.nio.ByteBuffer.wrap(input).getInt();");
- syn nta DefaultMappingDefinition RagConnect.defaultBytesToShortMapping() = baseDefaultMappingDefinition(
- "byte[]", "short", "return java.nio.ByteBuffer.wrap(input).getShort();");
- syn nta DefaultMappingDefinition RagConnect.defaultBytesToLongMapping() = baseDefaultMappingDefinition(
- "byte[]", "long", "return java.nio.ByteBuffer.wrap(input).getLong();");
- syn nta DefaultMappingDefinition RagConnect.defaultBytesToFloatMapping() = baseDefaultMappingDefinition(
- "byte[]", "float", "return java.nio.ByteBuffer.wrap(input).getFloat();");
- syn nta DefaultMappingDefinition RagConnect.defaultBytesToDoubleMapping() = baseDefaultMappingDefinition(
- "byte[]", "double", "return java.nio.ByteBuffer.wrap(input).getDouble();");
- syn nta DefaultMappingDefinition RagConnect.defaultBytesToCharMapping() = baseDefaultMappingDefinition(
- "byte[]", "char", "return java.nio.ByteBuffer.wrap(input).getChar();");
- syn nta DefaultMappingDefinition RagConnect.defaultBytesToStringMapping() = baseDefaultMappingDefinition(
- "byte[]", "String", "return new String(input);");
-
- syn nta DefaultMappingDefinition RagConnect.defaultIntToBytesMapping() = baseDefaultMappingDefinition(
- "int", "byte[]", "return java.nio.ByteBuffer.allocate(Integer.BYTES).putInt(input).array();");
- syn nta DefaultMappingDefinition RagConnect.defaultShortToBytesMapping() = baseDefaultMappingDefinition(
- "short", "byte[]", "return java.nio.ByteBuffer.allocate(Short.BYTES).putShort(input).array();");
- syn nta DefaultMappingDefinition RagConnect.defaultLongToBytesMapping() = baseDefaultMappingDefinition(
- "long", "byte[]", "return java.nio.ByteBuffer.allocate(Long.BYTES).putLong(input).array();");
- syn nta DefaultMappingDefinition RagConnect.defaultFloatToBytesMapping() = baseDefaultMappingDefinition(
- "float", "byte[]", "return java.nio.ByteBuffer.allocate(Float.BYTES).putFloat(input).array();");
- syn nta DefaultMappingDefinition RagConnect.defaultDoubleToBytesMapping() = baseDefaultMappingDefinition(
- "double", "byte[]", "return java.nio.ByteBuffer.allocate(Double.BYTES).putDouble(input).array();");
- syn nta DefaultMappingDefinition RagConnect.defaultCharToBytesMapping() = baseDefaultMappingDefinition(
- "char", "byte[]", "return java.nio.ByteBuffer.allocate(Character.BYTES).putChar(input).array();");
- syn nta DefaultMappingDefinition RagConnect.defaultStringToBytesMapping() = baseDefaultMappingDefinition(
- "String", "byte[]", "return input.getBytes();");
-
- syn nta DefaultMappingDefinition RagConnect.defaultStringToIntMapping() = baseDefaultMappingDefinition(
- "String", "int", "return Integer.parseInt(input);");
- syn nta DefaultMappingDefinition RagConnect.defaultStringToShortMapping() = baseDefaultMappingDefinition(
- "String", "short", "return Short.parseShort(input);");
- syn nta DefaultMappingDefinition RagConnect.defaultStringToLongMapping() = baseDefaultMappingDefinition(
- "String", "long", "return Long.parseLong(input);");
- syn nta DefaultMappingDefinition RagConnect.defaultStringToFloatMapping() = baseDefaultMappingDefinition(
- "String", "float", "return Float.parseFloat(input);");
- syn nta DefaultMappingDefinition RagConnect.defaultStringToDoubleMapping() = baseDefaultMappingDefinition(
- "String", "double", "return Double.parseDouble(input);");
- syn nta DefaultMappingDefinition RagConnect.defaultStringToCharMapping() = baseDefaultMappingDefinition(
- "String", "char", "return input.charAt(0);");
-
- syn nta DefaultMappingDefinition RagConnect.defaultIntToStringMapping() = baseDefaultMappingDefinition(
- "int", "String", "return String.valueOf(input);");
- syn nta DefaultMappingDefinition RagConnect.defaultShortToStringMapping() = baseDefaultMappingDefinition(
- "short", "String", "return String.valueOf(input);");
- syn nta DefaultMappingDefinition RagConnect.defaultLongToStringMapping() = baseDefaultMappingDefinition(
- "long", "String", "return String.valueOf(input);");
- syn nta DefaultMappingDefinition RagConnect.defaultFloatToStringMapping() = baseDefaultMappingDefinition(
- "float", "String", "return String.valueOf(input);");
- syn nta DefaultMappingDefinition RagConnect.defaultDoubleToStringMapping() = baseDefaultMappingDefinition(
- "double", "String", "return String.valueOf(input);");
- syn nta DefaultMappingDefinition RagConnect.defaultCharToStringMapping() = baseDefaultMappingDefinition(
- "char", "String", "return String.valueOf(input);");
-}
-
-aspect Mappings {
- // --- effectiveMappings ---
- syn java.util.List<MappingDefinition> EndpointDefinition.effectiveMappings();
- eq ReceiveTokenEndpointDefinition.effectiveMappings() {
- // if there is a first mapping, check if it is suitable.
- // or if no mappings are specified.
- // then prepend the suitable default mapping
- java.util.List<MappingDefinition> result;
- if (getMappingList().isEmpty() || !hasSuitableEdgeMapping()) {
- result = new java.util.ArrayList();
- result.add(suitableDefaultMapping());
- result.addAll(getMappingList());
- } else {
- result = getMappingList();
- }
- return result;
- }
- eq SendTokenEndpointDefinition.effectiveMappings() {
- // if there is a mapping, check if it is suitable.
- // or if no mappings are specified.
- // then append the suitable default mapping
- java.util.List<MappingDefinition> result;
- if (getMappingList().isEmpty() || !hasSuitableEdgeMapping()) {
- result = new java.util.ArrayList(getMappingList());
- result.add(suitableDefaultMapping());
- } else {
- result = getMappingList();
- }
- return result;
- }
-
- // --- hasSuitableEdgeMapping ---
- syn boolean TokenEndpointDefinition.hasSuitableEdgeMapping();
- eq ReceiveTokenEndpointDefinition.hasSuitableEdgeMapping() = isSuitableEdgeMapping(getMappingList().get(0));
- eq SendTokenEndpointDefinition.hasSuitableEdgeMapping() = isSuitableEdgeMapping(getMappingList().get(getMappingList().size() - 1));
-
- // --- isSuitableEdgeMapping(def) ---
- syn boolean TokenEndpointDefinition.isSuitableEdgeMapping(MappingDefinition def);
- eq ReceiveTokenEndpointDefinition.isSuitableEdgeMapping(MappingDefinition def) = def.getFromType().isByteArray();
- eq SendTokenEndpointDefinition.isSuitableEdgeMapping(MappingDefinition def) = def.getToType().isByteArray();
-
- // --- isPrimitiveType ---
- syn boolean TokenComponent.isPrimitiveType() = effectiveJavaTypeUse().isPrimitiveType();
- syn boolean JavaTypeUse.isPrimitiveType() = false;
- eq SimpleJavaTypeUse.isPrimitiveType() {
- switch(getName()) {
- case "int":
- case "short":
- case "long":
- case "float":
- case "double":
- case "char":
- case "byte": return true;
- default: return false;
- }
- }
- syn boolean MappingDefinitionType.isPrimitiveType() = false;
- eq JavaMappingDefinitionType.isPrimitiveType() = getType().isPrimitiveType();
-
- // --- isArray ---
- syn boolean MappingDefinitionType.isArray() = false;
- eq JavaArrayMappingDefinitionType.isArray() = true;
-
- // --- suitableDefaultMapping ---
- syn DefaultMappingDefinition EndpointDefinition.suitableDefaultMapping();
- eq ReceiveTokenEndpointDefinition.suitableDefaultMapping() {
- String typeName = getMappingList().isEmpty() ?
- getToken().effectiveJavaTypeUse().getName() :
- getMappingList().get(0).getFromType().prettyPrint();
- switch(typeName) {
- case "int":
- case "Integer": return ragconnect().defaultBytesToIntMapping();
- case "short":
- case "Short": return ragconnect().defaultBytesToShortMapping();
- case "long":
- case "Long": return ragconnect().defaultBytesToLongMapping();
- case "float":
- case "Float": return ragconnect().defaultBytesToFloatMapping();
- case "double":
- case "Double": return ragconnect().defaultBytesToDoubleMapping();
- case "char":
- case "Character": return ragconnect().defaultBytesToCharMapping();
- case "String": return ragconnect().defaultBytesToStringMapping();
- default: return null;
- }
- }
- eq SendTokenEndpointDefinition.suitableDefaultMapping() {
- String typeName = getMappingList().isEmpty() ?
- getToken().effectiveJavaTypeUse().getName() :
- getMappingList().get(getMappingList().size() - 1).getFromType().prettyPrint();
- switch(typeName) {
- case "int":
- case "Integer": return ragconnect().defaultIntToBytesMapping();
- case "short":
- case "Short": return ragconnect().defaultShortToBytesMapping();
- case "long":
- case "Long": return ragconnect().defaultLongToBytesMapping();
- case "float":
- case "Float": return ragconnect().defaultFloatToBytesMapping();
- case "double":
- case "Double": return ragconnect().defaultDoubleToBytesMapping();
- case "char":
- case "Character": return ragconnect().defaultCharToBytesMapping();
- case "String": return ragconnect().defaultStringToBytesMapping();
- default: return null;
- }
- }
-// eq ReceiveFromRestDefinition.suitableDefaultMapping() {
-// String typeName = getMappingList().isEmpty() ?
-// getToken().getJavaTypeUse().getName() :
-// getMappingList().get(0).getFromType().prettyPrint();
-// switch(typeName) {
-// case "int":
-// case "Integer": return ragconnect().defaultStringToIntMapping();
-// case "short":
-// case "Short": return ragconnect().defaultStringToShortMapping();
-// case "long":
-// case "Long": return ragconnect().defaultStringToLongMapping();
-// case "float":
-// case "Float": return ragconnect().defaultStringToFloatMapping();
-// case "double":
-// case "Double": return ragconnect().defaultStringToDoubleMapping();
-// case "char":
-// case "Character": return ragconnect().defaultStringToCharMapping();
-// default: return null;
-// }
-// }
-// eq SendToRestDefinition.suitableDefaultMapping() {
-// String typeName = getMappingList().isEmpty() ?
-// getToken().getJavaTypeUse().getName() :
-// getMappingList().get(getMappingList().size() - 1).getFromType().prettyPrint();
-// switch(typeName) {
-// case "int":
-// case "Integer": return ragconnect().defaultIntToStringMapping();
-// case "short":
-// case "Short": return ragconnect().defaultShortToStringMapping();
-// case "long":
-// case "Long": return ragconnect().defaultLongToStringMapping();
-// case "float":
-// case "Float": return ragconnect().defaultFloatToStringMapping();
-// case "double":
-// case "Double": return ragconnect().defaultDoubleToStringMapping();
-// case "char":
-// case "Character": return ragconnect().defaultCharToStringMapping();
-// default: return null;
-// }
-// }
-
- // --- isByteArray ---
- syn boolean MappingDefinitionType.isByteArray() = false;
- eq JavaArrayMappingDefinitionType.isByteArray() = getType().getName().equals("byte");
-
-// // --- isString ---
-// syn boolean MappingDefinitionType.isString() = false;
-// eq JavaMappingDefinitionType.isString() = getType().getName().equals("String");
-
- // --- allMappingDefinitions ---
- syn java.util.List<MappingDefinition> RagConnect.allMappingDefinitions() {
- java.util.List<MappingDefinition> result = new java.util.ArrayList<>();
- getMappingDefinitionList().iterator().forEachRemaining(result::add);
- // byte[] conversion
- result.add(defaultBytesToIntMapping());
- result.add(defaultBytesToShortMapping());
- result.add(defaultBytesToLongMapping());
- result.add(defaultBytesToFloatMapping());
- result.add(defaultBytesToDoubleMapping());
- result.add(defaultBytesToCharMapping());
- result.add(defaultBytesToStringMapping());
- result.add(defaultIntToBytesMapping());
- result.add(defaultShortToBytesMapping());
- result.add(defaultLongToBytesMapping());
- result.add(defaultFloatToBytesMapping());
- result.add(defaultDoubleToBytesMapping());
- result.add(defaultCharToBytesMapping());
- result.add(defaultStringToBytesMapping());
-// // string conversion
-// result.add(defaultStringToIntMapping());
-// result.add(defaultStringToShortMapping());
-// result.add(defaultStringToLongMapping());
-// result.add(defaultStringToFloatMapping());
-// result.add(defaultStringToDoubleMapping());
-// result.add(defaultStringToCharMapping());
-// result.add(defaultIntToStringMapping());
-// result.add(defaultShortToStringMapping());
-// result.add(defaultLongToStringMapping());
-// result.add(defaultFloatToStringMapping());
-// result.add(defaultDoubleToStringMapping());
-// result.add(defaultCharToStringMapping());
- return result;
- }
-}
diff --git a/ragconnect.base/src/main/jastadd/backend/MustacheNodesToYAML.jrag b/ragconnect.base/src/main/jastadd/backend/MustacheNodesToYAML.jrag
deleted file mode 100644
index 2894d3a8a531a190e8146121dc8e7c97f2cecc91..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/backend/MustacheNodesToYAML.jrag
+++ /dev/null
@@ -1,155 +0,0 @@
-aspect MustacheNodesToYAML {
- syn Document MRagConnect.toYAML() {
- Document doc = new Document();
- MappingElement root = new MappingElement();
- root.addKeyValuePair("rootNodeName", StringElement.of(rootNodeName()));
- root.addKeyValuePair("closeMethod", StringElement.of(closeMethod()));
- root.addKeyValuePair("usesMqtt", ValueElement.of(usesMqtt));
- root.addKeyValuePair("usesRest", ValueElement.of(usesRest));
- // mqtt
- root.addKeyValuePair("mqttHandlerField", StringElement.of(mqttHandlerField()));
- root.addKeyValuePair("mqttHandlerAttribute", StringElement.of(mqttHandlerAttribute()));
- root.addKeyValuePair("mqttSetupWaitUntilReadyMethod", StringElement.of(mqttSetupWaitUntilReadyMethod()));
-
- // rootTypeComponents
- ListElement rootTypeComponents = new ListElement();
- for (MTypeComponent comp : getRootTypeComponentList()) {
- MappingElement inner = new MappingElement();
- inner.addKeyValuePair("first", ValueElement.of(comp.isFirst()));
- inner.addKeyValuePair("name", StringElement.of(comp.name()));
- rootTypeComponents.addElement(inner);
- }
- root.addKeyValuePair("RootTypeComponents", rootTypeComponents);
-
- // rest
- root.addKeyValuePair("restHandlerField", StringElement.of(restHandlerField()));
- root.addKeyValuePair("restHandlerAttribute", StringElement.of(restHandlerAttribute()));
-
- // ReceiveDefinitions
- ListElement receiveDefinitions = new ListElement();
- for (MReceiveDefinition def : getReceiveDefinitionList()) {
- receiveDefinitions.addElement(def.toYAML());
- }
- root.addKeyValuePair("ReceiveDefinitions", receiveDefinitions);
-
- // SendDefinitions
- ListElement sendDefinitions = new ListElement();
- for (MSendDefinition def : getSendDefinitionList()) {
- sendDefinitions.addElement(def.toYAML());
- }
- root.addKeyValuePair("SendDefinitions", sendDefinitions);
-
- // MappingDefinitions
- ListElement mappingDefinitions = new ListElement();
- for (MMappingDefinition def : getMappingDefinitionList()) {
- mappingDefinitions.addElement(def.toYAML());
- }
- root.addKeyValuePair("MappingDefinitions", mappingDefinitions);
-
- // DependencyDefinitions
- ListElement dependencyDefinitions = new ListElement();
- for (MDependencyDefinition def : getDependencyDefinitionList()) {
- dependencyDefinitions.addElement(def.toYAML());
- }
- root.addKeyValuePair("DependencyDefinitions", dependencyDefinitions);
-
- // TokenComponents
- ListElement tokenComponents = new ListElement();
- for (MTokenComponent comp : getTokenComponentList()) {
- tokenComponents.addElement(comp.toYAML());
- }
- root.addKeyValuePair("TokenComponents", tokenComponents);
-
- doc.addComplexElement(root);
- return doc;
- }
-
- syn MappingElement MEndpointDefinition.toYAML() {
- MappingElement result = new MappingElement();
- result.addKeyValuePair("parentTypeName", StringElement.of(parentTypeName()));
- result.addKeyValuePair("connectMethod", StringElement.of(connectMethod()));
- result.addKeyValuePair("connectParameterName", StringElement.of(connectParameterName()));
- result.addKeyValuePair("lastDefinitionToType", StringElement.of(lastDefinitionToType()));
- result.addKeyValuePair("preemptiveReturn", StringElement.of(preemptiveReturn()));
- result.addKeyValuePair("alwaysApply", ValueElement.of(alwaysApply()));
- result.addKeyValuePair("condition", StringElement.of(
- condition().replace("\"", "\\\"").replace("\n", "\\n")));
- result.addKeyValuePair("lastResult", StringElement.of(lastResult()));
- result.addKeyValuePair("tokenName", StringElement.of(tokenName()));
- result.addKeyValuePair("InnerMappingDefinitions", innerMappingDefinitionsAsListElement());
- return result;
- }
-
- syn MappingElement MReceiveDefinition.toYAML() {
- MappingElement result = super.toYAML();
- result.addKeyValuePair("loggingEnabledForReads", ValueElement.of(loggingEnabledForReads));
- return result;
- }
-
- syn MappingElement MSendDefinition.toYAML() {
- MappingElement result = super.toYAML();
- result.addKeyValuePair("sender", StringElement.of(sender()));
- result.addKeyValuePair("lastValue", StringElement.of(lastValue()));
- result.addKeyValuePair("loggingEnabledForWrites", ValueElement.of(loggingEnabledForWrites));
- result.addKeyValuePair("updateMethod", StringElement.of(updateMethod()));
- result.addKeyValuePair("writeMethod", StringElement.of(writeMethod()));
- result.addKeyValuePair("tokenResetMethod", StringElement.of(tokenResetMethod()));
- return result;
- }
-
- syn Element MMappingDefinition.toYAML() {
- MappingElement result = new MappingElement();
- result.addKeyValuePair("toType", StringElement.of(toType()));
- result.addKeyValuePair("methodName", StringElement.of(methodName()));
- result.addKeyValuePair("fromType", StringElement.of(fromType()));
- result.addKeyValuePair("fromVariableName", StringElement.of(fromVariableName()));
- result.addKeyValuePair("content", StringElement.of(
- content().replace("\"", "\\\"").replace("\n", "\\n")));
- return result;
- }
-
- syn Element MDependencyDefinition.toYAML() {
- MappingElement result = new MappingElement();
- result.addKeyValuePair("targetParentTypeName", StringElement.of(targetParentTypeName()));
- result.addKeyValuePair("dependencyMethod", StringElement.of(dependencyMethod()));
- result.addKeyValuePair("sourceParentTypeName", StringElement.of(sourceParentTypeName()));
- result.addKeyValuePair("internalRelationPrefix", StringElement.of(internalRelationPrefix()));
- return result;
- }
-
- syn Element MTokenComponent.toYAML() {
- MappingElement result = new MappingElement();
- result.addKeyValuePair("parentTypeName", StringElement.of(parentTypeName()));
- result.addKeyValuePair("name", StringElement.of(name()));
- result.addKeyValuePair("javaType", StringElement.of(javaType()));
- result.addKeyValuePair("internalName", StringElement.of(internalName()));
- ListElement dependencyDefinitions = new ListElement();
- for (MDependencyDefinition def : getDependencyDefinitionList()) {
- MappingElement inner = new MappingElement();
- inner.addKeyValuePair("targetParentTypeName", StringElement.of(def.targetParentTypeName()));
- inner.addKeyValuePair("internalRelationPrefix", StringElement.of(def.internalRelationPrefix()));
- MappingElement targetEndpointDefinition = new MappingElement();
- targetEndpointDefinition.addKeyValuePair("updateMethod", StringElement.of(def.targetEndpointDefinition().updateMethod()));
- targetEndpointDefinition.addKeyValuePair("writeMethod", StringElement.of(def.targetEndpointDefinition().writeMethod()));
- inner.addKeyValuePair("targetEndpointDefinition", targetEndpointDefinition);
- dependencyDefinitions.addElement(inner);
- }
- result.addKeyValuePair("DependencyDefinitions", dependencyDefinitions);
- return result;
- }
-
- ListElement MEndpointDefinition.innerMappingDefinitionsAsListElement() {
- ListElement innerMappingDefinitions = new ListElement();
- for (MInnerMappingDefinition def : getInnerMappingDefinitionList()) {
- MappingElement inner = new MappingElement();
- inner.addKeyValuePair("toType", StringElement.of(def.toType()));
- inner.addKeyValuePair("methodName", StringElement.of(def.methodName()));
- inner.addKeyValuePair("inputVarName", StringElement.of(def.inputVarName()));
- inner.addKeyValuePair("outputVarName", StringElement.of(def.outputVarName()));
- inner.addKeyValuePair("last", ValueElement.of(def.isLast()));
- innerMappingDefinitions.addElement(inner);
- }
- return innerMappingDefinitions;
- }
-
-}
diff --git a/ragconnect.base/src/main/jastadd/parser/Preamble.parser b/ragconnect.base/src/main/jastadd/parser/Preamble.parser
deleted file mode 100644
index d701db19d6edb6d6c616bc79fc0145ea59d2713d..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/parser/Preamble.parser
+++ /dev/null
@@ -1,7 +0,0 @@
-%header {:
-package org.jastadd.ragconnect.parser;
-import org.jastadd.ragconnect.ast.*;
-:};
-
-%goal goal;
-%goal ragconnect;
diff --git a/ragconnect.base/src/main/jastadd/parser/RagConnect.parser b/ragconnect.base/src/main/jastadd/parser/RagConnect.parser
deleted file mode 100644
index 0432b0df96c44060f6df1d6918a856f62810230d..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/parser/RagConnect.parser
+++ /dev/null
@@ -1,84 +0,0 @@
-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 {:
- private Iterable<String> makeMappingDefs(ArrayList<?> raw_mapping_defs) {
- return () -> raw_mapping_defs.stream().map(raw -> ((Symbol) raw).value.toString()).iterator();
- }
- private TokenEndpointDefinition enableAlwaysApply(TokenEndpointDefinition def) {
- def.setAlwaysApply(true);
- return def;
- }
-:} ;
-
-EndpointDefinition endpoint_definition
- = endpoint_definition_type.endpointDef SCOL
- {:
- return endpointDef;
- :}
- | endpoint_definition_type.endpointDef USING string_list.mapping_defs SCOL
- {:
- for (String mapping_def : makeMappingDefs(mapping_defs)) {
- endpointDef.addMapping(MappingDefinition.createRef(mapping_def));
- }
- return endpointDef;
- :}
-;
-
-EndpointDefinition endpoint_definition_type
- = RECEIVE token_ref {: return new ReceiveTokenEndpointDefinition().setToken(token_ref); :}
- | SEND token_ref {: return new SendTokenEndpointDefinition().setToken(token_ref); :}
-;
-
-TokenComponent token_ref
- = ID.type_name DOT ID.token_name {: return TokenComponent.createRef(type_name + "." + token_name); :}
-;
-
-ArrayList string_list
- = ID
- | string_list COMMA ID
-;
-
-DependencyDefinition dependency_definition
- = ID.target_type DOT ID.target_token CAN_DEPEND_ON ID.source_type DOT ID.source_token AS ID.id SCOL
- {:
- DependencyDefinition result = new DependencyDefinition();
- result.setSource(TokenComponent.createRef(source_type + "." + source_token));
- result.setTarget(TokenComponent.createRef(target_type + "." + target_token));
- result.setID(id);
- return result;
- :}
-;
-
-MappingDefinition mapping_definition
- = ID.id MAPS mapping_type.from_type ID.from_name TO mapping_type.to_type MAPPING_CONTENT.content
- {:
- MappingDefinition result = new MappingDefinition();
- result.setID(id);
- result.setFromType(from_type);
- result.setFromVariableName(from_name);
- result.setToType(to_type);
- result.setContent(content.substring(2, content.length() - 2));
- return result;
- :}
-;
-
-MappingDefinitionType mapping_type
- = java_type_use.type
- {:
- JavaMappingDefinitionType result = new JavaMappingDefinitionType();
- result.setType(type);
- return result;
- :}
- | java_type_use.type LBRACKET RBRACKET
- {:
- JavaArrayMappingDefinitionType result = new JavaArrayMappingDefinitionType();
- result.setType(type);
- return result;
- :}
-;
diff --git a/ragconnect.base/src/main/jastadd/scanner/Header.flex b/ragconnect.base/src/main/jastadd/scanner/Header.flex
deleted file mode 100644
index f289a7e89438a572e3dd936548355cf600d3b8bd..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/scanner/Header.flex
+++ /dev/null
@@ -1,20 +0,0 @@
-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/ragconnect.base/src/main/jastadd/scanner/Keywords.flex b/ragconnect.base/src/main/jastadd/scanner/Keywords.flex
deleted file mode 100644
index 5773118d8fda8ffdc536b504aa7056b8784ddfb3..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/scanner/Keywords.flex
+++ /dev/null
@@ -1,7 +0,0 @@
-"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); }
-"to" { return sym(Terminals.TO); }
-"as" { return sym(Terminals.AS); }
diff --git a/ragconnect.base/src/main/jastadd/scanner/Macros.flex b/ragconnect.base/src/main/jastadd/scanner/Macros.flex
deleted file mode 100644
index 08bb629fe2f9c10db42ab6e4587918447e330a63..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/scanner/Macros.flex
+++ /dev/null
@@ -1 +0,0 @@
-MappingContent = [{][:][^:]*[:]+([^:}][^:]*[:]+)*[}]
diff --git a/ragconnect.base/src/main/jastadd/scanner/MappingContent.flex b/ragconnect.base/src/main/jastadd/scanner/MappingContent.flex
deleted file mode 100644
index fdf3f205113e79a007bc7f5bb9d5f28433f7f387..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/jastadd/scanner/MappingContent.flex
+++ /dev/null
@@ -1 +0,0 @@
-{MappingContent} { return sym(Terminals.MAPPING_CONTENT); }
diff --git a/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
deleted file mode 100644
index 55818dcda1c89948726065c9d11640fcb6601130..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
+++ /dev/null
@@ -1,37 +0,0 @@
-package org.jastadd.ragconnect.compiler;
-
-import java.io.IOException;
-import java.io.Writer;
-
-/**
- * Writer appending to a StringBuilder.
- *
- * @author rschoene - Initial contribution
- */
-public class AppendableWriter extends Writer {
- private final StringBuilder sb;
-
- public AppendableWriter(StringBuilder sb) {
- this.sb = sb;
- }
-
- @Override
- public void write(char[] chars, int off, int len) throws IOException {
- sb.append(chars, off, len);
- }
-
- @Override
- public void write(String str) throws IOException {
- sb.append(str);
- }
-
- @Override
- public void flush() {
-
- }
-
- @Override
- public void close() {
-
- }
-}
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
deleted file mode 100644
index 711169ec2ea7d9c21b48dc52c5a7d2cf4cc8b427..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
+++ /dev/null
@@ -1,283 +0,0 @@
-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.*;
-
-public class Compiler extends AbstractCompiler {
-
-// private ValueOption optionOutputDir;
- private ValueOption optionRootNode;
- private ValueOption optionProtocols;
- private BooleanOption optionPrintYaml;
- private BooleanOption optionVerbose;
- private BooleanOption optionLogReads;
- private BooleanOption optionLogWrites;
-
- private static final String OPTION_PROTOCOL_MQTT = "mqtt";
- private static final String OPTION_PROTOCOL_REST = "rest";
-
- 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);
- }
- }
-
- if (!optionRootNode.isMatched()) {
- return error("Root node not specified");
- }
-
- 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);
- }
-
- if (optionPrintYaml.value()) {
- ASTNode.rootNode = ragConnect.getProgram().resolveTypeDecl(optionRootNode.value());
- String yamlContent = ragConnect.toMustache().toYAML().prettyPrint();
- System.out.println(yamlContent);
- writeToFile(getConfiguration().outputDir().toPath().resolve("RagConnect.yml"), yamlContent);
- return 0;
- }
-
- printMessage("Writing output files");
- final List<String> handlers = new ArrayList<>();
- if (ASTNode.usesMqtt) {
- handlers.add("MqttHandler.jadd");
- }
- if (ASTNode.usesRest) {
- handlers.add("RestHandler.jadd");
- }
- // copy handlers into outputDir
- for (String handlerFileName : handlers) {
- try {
- InputStream inputStream = Compiler.class.getClassLoader().getResourceAsStream(handlerFileName);
- if (inputStream == null) {
- throw new CompilerException("Could not open " + handlerFileName);
- }
- Files.copy(inputStream,
- getConfiguration().outputDir().toPath().resolve(handlerFileName),
- StandardCopyOption.REPLACE_EXISTING);
- } catch (IOException e) {
- throw new CompilerException("Could not copy " + handlerFileName, e);
- }
- }
- for (GrammarFile grammarFile : ragConnect.getProgram().getGrammarFileList()) {
- Path outputFile = getConfiguration().outputDir().toPath().resolve(grammarFile.getFileName());
- writeToFile(outputFile, grammarFile.generateAbstractGrammar());
- }
- writeToFile(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) {
- e.printStackTrace();
- 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 writeToFile(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));
- optionProtocols = addOption(
- new ValueOption("protocols", "Protocols to enable")
- .acceptMultipleValues(true)
- .addDefaultValue(OPTION_PROTOCOL_MQTT, "Enable MQTT")
- .addAcceptedValue(OPTION_PROTOCOL_REST, "Enable REST")
- );
- optionPrintYaml = addOption(
- new BooleanOption("printYaml", "Print out YAML instead of generating files")
- .defaultValue(false));
- 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();
- boolean atLeastOneGrammar = false;
- boolean atLeastOneRagConnect = false;
-
- 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);
- atLeastOneGrammar = true;
- break;
- case "connect":
- case "ragconnect":
- // process ragConnect
- RagConnect parsedRagConnect = parseRagConnect(program, filename);
- mergeRagConnectDefinitions(ragConnect, parsedRagConnect);
- atLeastOneRagConnect = true;
- break;
- default:
- throw new CompilerException("Unknown file extension in " + filename);
- }
- }
- if (!atLeastOneGrammar) {
- System.err.println("No grammar file specified! (*.ast, *.relast)");
- }
- if (!atLeastOneRagConnect) {
- System.err.println("No ragconnect file specified! (*.connect, *.ragconnect)");
- }
- if (!atLeastOneGrammar && !atLeastOneRagConnect) {
- System.exit(1);
- }
- ragConnect.treeResolveAll();
- ragConnect.additionalRelations().forEach(ragConnectGrammarPart::addDeclaration);
- ASTNode.loggingEnabledForReads = optionLogReads.value();
- ASTNode.loggingEnabledForWrites = optionLogWrites.value();
- ASTNode.usesMqtt = optionProtocols.hasValue(OPTION_PROTOCOL_MQTT);
- ASTNode.usesRest = optionProtocols.hasValue(OPTION_PROTOCOL_REST);
- 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/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
deleted file mode 100644
index ee9ed046348efeaa4b12dbc816c55414d93289cf..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
+++ /dev/null
@@ -1,101 +0,0 @@
-package org.jastadd.ragconnect.compiler;
-
-import org.jastadd.ragconnect.ast.*;
-import org.jastadd.ragconnect.parser.RagConnectParser;
-import org.jastadd.ragconnect.scanner.RagConnectScanner;
-
-import java.io.Reader;
-import java.nio.file.Files;
-import java.nio.file.Paths;
-
-/**
- * Testing Ros2Rag without parser.
- *
- * @author rschoene - Initial contribution
- */
-public class SimpleMain {
-
- private static void printManualYAML() {
- Document doc = new Document();
- KeyValuePair root = new KeyValuePair();
- root.setKey("panda_mqtt_connector");
- MappingElement firstLevel = new MappingElement();
- firstLevel.addKeyValuePair(new KeyValuePair("server", new StringElement("tcp://localhost:1883")));
- firstLevel.addKeyValuePair(new KeyValuePair("robot_speed_factor", new ValueElement(".7")));
-
- KeyValuePair topics = new KeyValuePair();
- topics.setKey("topics");
- MappingElement theTopics = new MappingElement();
- theTopics.addKeyValuePair(new KeyValuePair("robotConfig", new StringElement("robotconfig")));
- theTopics.addKeyValuePair(new KeyValuePair("trajectory", new StringElement("trajectory")));
- theTopics.addKeyValuePair(new KeyValuePair("nextStep", new StringElement("ros2rag/nextStep")));
- topics.setValue(theTopics);
- firstLevel.addKeyValuePair(topics);
-
- firstLevel.addKeyValuePair(new KeyValuePair("zone_size", new ValueElement("0.5")));
-
- KeyValuePair zones = new KeyValuePair();
- zones.setKey("zones");
- ListElement theZones = new ListElement();
- theZones.addElement(new StringElement("1 1"));
- theZones.addElement(new StringElement("0 1"));
- theZones.addElement(new StringElement("-1 1"));
- zones.setValue(theZones);
- firstLevel.addKeyValuePair(zones);
-
- KeyValuePair parts = new KeyValuePair();
- parts.setKey("end_effectors");
- KeyValuePair pandaParts = new KeyValuePair();
- pandaParts.setKey("panda");
- MappingElement thePanda = new MappingElement();
- thePanda.addKeyValuePair(new KeyValuePair("Link0", new StringElement("panda_link0")));
- thePanda.addKeyValuePair(new KeyValuePair("Link1", new StringElement("panda_link1")));
- thePanda.addKeyValuePair(new KeyValuePair("Link2", new StringElement("panda_link2")));
- thePanda.addKeyValuePair(new KeyValuePair("Link3", new StringElement("panda_link3")));
- thePanda.addKeyValuePair(new KeyValuePair("Link4", new StringElement("panda_link4")));
- thePanda.addKeyValuePair(new KeyValuePair("Link5", new StringElement("panda_link5")));
- thePanda.addKeyValuePair(new KeyValuePair("Link6", new StringElement("panda_link6")));
- thePanda.addKeyValuePair(new KeyValuePair("RightFinger", new StringElement("panda_rightfinger")));
- thePanda.addKeyValuePair(new KeyValuePair("LeftFinger", new StringElement("panda_leftfinger")));
- pandaParts.setValue(thePanda);
- parts.setValue(pandaParts);
- firstLevel.addKeyValuePair(parts);
-
- KeyValuePair end_effectors = new KeyValuePair();
- end_effectors.setKey("end_effectors");
- KeyValuePair endEffectorParts = new KeyValuePair();
- endEffectorParts.setKey("panda");
- endEffectorParts.setValue(new KeyValuePair("EndEffector", new StringElement("panda_hand")));
- end_effectors.setValue(endEffectorParts);
- firstLevel.addKeyValuePair(end_effectors);
-
- KeyValuePair goalPoses = new KeyValuePair();
- goalPoses.setKey("goal_poses");
- ListElement theGoalPoses = new ListElement();
- addPose(theGoalPoses, "0.4 0.4 0.3");
- addPose(theGoalPoses, "-0.4 0.4 0.3");
- addPose(theGoalPoses, "-0.4 -0.4 0.3");
- addPose(theGoalPoses, "0.4 0.4 0.3");
- addPose(theGoalPoses, "-0.4 0.4 0.3");
- addPose(theGoalPoses, "0.4 0.4 0.3");
- goalPoses.setValue(theGoalPoses);
- firstLevel.addKeyValuePair(goalPoses);
-
- root.setValue(firstLevel);
- doc.addComplexElement(root);
-
- System.out.println(doc.prettyPrint());
- }
-
- private static void addPose(ListElement theGoalPoses, String position) {
- MappingElement goalPose1 = new MappingElement();
- goalPose1.addKeyValuePair(new KeyValuePair("position", new StringElement(position)));
- goalPose1.addKeyValuePair(new KeyValuePair("orientation", new StringElement("1 1 0 0")));
- goalPose1.addKeyValuePair(new KeyValuePair("work", new StringElement("20000")));
- theGoalPoses.addElement(goalPose1);
- }
-
- public static void main(String[] args) {
- printManualYAML();
- }
-}
diff --git a/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Utils.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Utils.java
deleted file mode 100644
index c083fe1d912fa74cb4461fce5fcb839f5b88a40f..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Utils.java
+++ /dev/null
@@ -1,16 +0,0 @@
-package org.jastadd.ragconnect.compiler;
-
-import java.util.*;
-import java.util.function.Predicate;
-
-import static java.util.stream.Collectors.toList;
-
-public class Utils {
- public static <T> List<T> filterToList(Collection<T> collection, Predicate<T> predicate) {
- return collection.stream().filter(predicate).collect(toList());
- }
-
- public static <T> Set<T> asSet(T... t) {
- return new HashSet<T>(Arrays.asList(t));
- }
-}
diff --git a/ragconnect.base/src/main/resources/MqttHandler.jadd b/ragconnect.base/src/main/resources/MqttHandler.jadd
deleted file mode 100644
index 6f40612520cfb97151600dff53c8e0d384ab441e..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/MqttHandler.jadd
+++ /dev/null
@@ -1,319 +0,0 @@
-import java.io.IOException;
-import java.util.concurrent.TimeUnit;aspect MqttHandler {
-public class MqttServerHandler {
- private final java.util.Map<String, MqttHandler> handlers = new java.util.HashMap<>();
- private long time;
- private java.util.concurrent.TimeUnit unit;
- private String name;
-
- public MqttServerHandler() {
- this("RagConnect");
- }
-
- public MqttServerHandler(String name) {
- this.name = name;
- setupWaitUntilReady(1, TimeUnit.SECONDS);
- }
-
- public void setupWaitUntilReady(long time, java.util.concurrent.TimeUnit unit) {
- this.time = time;
- this.unit = unit;
- }
-
- public MqttHandler resolveHandler(java.net.URI uri) throws IOException {
- MqttHandler handler = handlers.get(uri.getHost());
- if (handler == null) {
- // first connect to that server
- handler = new MqttHandler();
- if (uri.getPort() == -1) {
- handler.setHost(uri.getHost());
- } else {
- handler.setHost(uri.getHost(), uri.getPort());
- }
- handlers.put(uri.getHost(), handler);
- }
- handler.waitUntilReady(this.time, this.unit);
- return handler;
- }
-
- public boolean newConnection(java.net.URI uri, java.util.function.Consumer<byte[]> callback) throws IOException {
- return resolveHandler(uri).newConnection(extractTopic(uri), callback);
- }
-
- public void publish(java.net.URI uri, byte[] bytes) throws IOException {
- resolveHandler(uri).publish(extractTopic(uri), bytes);
- }
-
- public void publish(java.net.URI uri, byte[] bytes, boolean retain) throws IOException {
- resolveHandler(uri).publish(extractTopic(uri), bytes, retain);
- }
-
- public void publish(java.net.URI uri, byte[] bytes,
- org.fusesource.mqtt.client.QoS qos, boolean retain) throws IOException {
- resolveHandler(uri).publish(extractTopic(uri), bytes, qos, retain);
- }
-
- private String extractTopic(java.net.URI uri) {
- String path = uri.getPath();
- if (path.charAt(0) == '/') {
- path = path.substring(1);
- }
- return path;
- }
-
- public void close() {
- for (MqttHandler handler : handlers.values()) {
- handler.close();
- }
- }
-
-}
-/**
- * Helper class to receive updates via MQTT and use callbacks to handle those messages.
- *
- * @author rschoene - Initial contribution
- */
-public class MqttHandler {
- private static final int DEFAULT_PORT = 1883;
-
- private final org.apache.logging.log4j.Logger logger;
- private final String name;
-
- /** The host running the MQTT broker. */
- private java.net.URI host;
- /** The connection to the MQTT broker. */
- private org.fusesource.mqtt.client.CallbackConnection connection;
- /** Whether we are connected yet */
- private final java.util.concurrent.CountDownLatch readyLatch;
- private boolean sendWelcomeMessage = true;
- private org.fusesource.mqtt.client.QoS qos;
- /** Dispatch knowledge */
- private final java.util.Map<String, java.util.List<java.util.function.Consumer<byte[]>>> callbacks;
-
- public MqttHandler() {
- this("RagConnect");
- }
-
- public MqttHandler(String name) {
- this.name = java.util.Objects.requireNonNull(name, "Name must be set");
- this.logger = org.apache.logging.log4j.LogManager.getLogger(MqttHandler.class);
- this.callbacks = new java.util.HashMap<>();
- this.readyLatch = new java.util.concurrent.CountDownLatch(1);
- this.qos = org.fusesource.mqtt.client.QoS.AT_LEAST_ONCE;
- }
-
- public MqttHandler dontSendWelcomeMessage() {
- this.sendWelcomeMessage = false;
- return this;
- }
-
- /**
- * Sets the host (with default port) to receive messages from, and connects to it.
- * @throws IOException if could not connect, or could not subscribe to a topic
- * @return self
- */
- public MqttHandler setHost(String host) throws java.io.IOException {
- return setHost(host, DEFAULT_PORT);
- }
-
- /**
- * Sets the host to receive messages from, and connects to it.
- * @throws IOException if could not connect, or could not subscribe to a topic
- * @return self
- */
- public MqttHandler setHost(String host, int port) throws java.io.IOException {
- java.util.Objects.requireNonNull(host, "Host need to be set!");
-
- this.host = java.net.URI.create("tcp://" + host + ":" + port);
- logger.debug("Host for {} is {}", this.name, this.host);
-
- org.fusesource.mqtt.client.MQTT mqtt = new org.fusesource.mqtt.client.MQTT();
- mqtt.setHost(this.host);
- connection = mqtt.callbackConnection();
- java.util.concurrent.atomic.AtomicReference<Throwable> error = new java.util.concurrent.atomic.AtomicReference<>();
-
- // add the listener to dispatch messages later
- connection.listener(new org.fusesource.mqtt.client.ExtendedListener() {
- public void onConnected() {
- logger.debug("Connected");
- }
-
- @Override
- public void onDisconnected() {
- logger.debug("Disconnected");
- }
-
- @Override
- public void onPublish(org.fusesource.hawtbuf.UTF8Buffer topic, org.fusesource.hawtbuf.Buffer body, org.fusesource.mqtt.client.Callback<org.fusesource.mqtt.client.Callback<Void>> ack) {
- String topicString = topic.toString();
- java.util.List<java.util.function.Consumer<byte[]>> callbackList = callbacks.get(topicString);
- if (callbackList == null || callbackList.isEmpty()) {
- logger.debug("Got a message, but no callback to call. Forgot to subscribe?");
- } else {
- byte[] message = body.toByteArray();
-// System.out.println("message = " + Arrays.toString(message));
- for (java.util.function.Consumer<byte[]> callback : callbackList) {
- callback.accept(message);
- }
- }
- ack.onSuccess(null); // always acknowledge message
- }
-
- @Override
- public void onPublish(org.fusesource.hawtbuf.UTF8Buffer topicBuffer, org.fusesource.hawtbuf.Buffer body, Runnable ack) {
- logger.warn("onPublish should not be called");
- }
-
- @Override
- public void onFailure(Throwable cause) {
-// logger.catching(cause);
- error.set(cause);
- }
- });
- throwIf(error);
-
- // actually establish the connection
- connection.connect(new org.fusesource.mqtt.client.Callback<Void>() {
- @Override
- public void onSuccess(Void value) {
- if (MqttHandler.this.sendWelcomeMessage) {
- connection.publish("components", (name + " is connected").getBytes(), org.fusesource.mqtt.client.QoS.AT_LEAST_ONCE, false, new org.fusesource.mqtt.client.Callback<Void>() {
- @Override
- public void onSuccess(Void value) {
- logger.debug("success sending welcome message");
- setReady();
- }
-
- @Override
- public void onFailure(Throwable value) {
- logger.debug("failure sending welcome message", value);
- }
- });
- } else {
- setReady();
- }
- }
-
- @Override
- public void onFailure(Throwable cause) {
-// logger.error("Could not connect", cause);
- error.set(cause);
- }
- });
- throwIf(error);
- return this;
- }
-
- public java.net.URI getHost() {
- return host;
- }
-
- private void setReady() {
- readyLatch.countDown();
- }
-
- private void throwIf(java.util.concurrent.atomic.AtomicReference<Throwable> error) throws java.io.IOException {
- if (error.get() != null) {
- throw new java.io.IOException(error.get());
- }
- }
-
- public void setQoSForSubscription(org.fusesource.mqtt.client.QoS qos) {
- this.qos = qos;
- }
-
- public boolean newConnection(String topic, java.util.function.Consumer<byte[]> callback) {
- if (readyLatch.getCount() > 0) {
- System.err.println("Handler not ready");
- return false;
-// // should maybe be something more kind than throwing an exception here
-// throw new IllegalStateException("Updater not ready");
- }
- // register callback
- logger.debug("new connection for {}", topic);
- if (callbacks.get(topic) == null) {
- callbacks.put(topic, new java.util.ArrayList<>());
-
- // subscribe at broker
- org.fusesource.mqtt.client.Topic[] topicArray = { new org.fusesource.mqtt.client.Topic(topic, this.qos) };
- connection.getDispatchQueue().execute(() -> {
- connection.subscribe(topicArray, new org.fusesource.mqtt.client.Callback<byte[]>() {
- @Override
- public void onSuccess(byte[] qoses) {
- logger.debug("Subscribed to {}, qoses: {}", topic, qoses);
- }
-
- @Override
- public void onFailure(Throwable cause) {
- logger.error("Could not subscribe to {}", topic, cause);
- }
- });
- });
- }
- callbacks.get(topic).add(callback);
- return true;
- }
-
- /**
- * Waits until this updater is ready to receive MQTT messages.
- * If it already is ready, return immediately with the value <code>true</code>.
- * Otherwise waits for the given amount of time, and either return <code>true</code> within the timespan,
- * if it got ready, or <code>false</code> upon a timeout.
- * @param time the maximum time to wait
- * @param unit the time unit of the time argument
- * @return whether this updater is ready
- */
- public boolean waitUntilReady(long time, java.util.concurrent.TimeUnit unit) {
- try {
- return readyLatch.await(time, unit);
- } catch (InterruptedException e) {
- e.printStackTrace();
- }
- return false;
- }
-
- public void close() {
- if (connection == null) {
- logger.warn("Stopping without connection. Was setHost() called?");
- return;
- }
- connection.getDispatchQueue().execute(() -> {
- connection.disconnect(new org.fusesource.mqtt.client.Callback<Void>() {
- @Override
- public void onSuccess(Void value) {
- logger.info("Disconnected {} from {}", name, host);
- }
-
- @Override
- public void onFailure(Throwable ignored) {
- // Disconnects never fail. And we do not care either.
- }
- });
- });
- }
-
- public void publish(String topic, byte[] bytes) {
- publish(topic, bytes, false);
- }
-
- public void publish(String topic, byte[] bytes, boolean retain) {
- publish(topic, bytes, this.qos, retain);
- }
-
- public void publish(String topic, byte[] bytes, org.fusesource.mqtt.client.QoS qos, boolean retain) {
- connection.getDispatchQueue().execute(() -> {
- connection.publish(topic, bytes, qos, retain, new org.fusesource.mqtt.client.Callback<Void>() {
- @Override
- public void onSuccess(Void value) {
- logger.debug("Published some bytes to {}", topic);
- }
-
- @Override
- public void onFailure(Throwable value) {
- logger.warn("Could not publish on topic '{}'", topic, value);
- }
- });
- });
- }
-}
-}
diff --git a/ragconnect.base/src/main/resources/RestHandler.jadd b/ragconnect.base/src/main/resources/RestHandler.jadd
deleted file mode 100644
index f7b1a83304fe7aaebe97d105514c3f192d052aec..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/RestHandler.jadd
+++ /dev/null
@@ -1,140 +0,0 @@
-import java.util.concurrent.TimeUnit;aspect RestHandler {
-public class RestServerHandler {
- private static final int DEFAULT_PORT = 4567;
- private final java.util.Map<Integer, RestHandler> handlers = new java.util.HashMap<>();
- private String name;
-
- public RestServerHandler() {
- this("RagConnect");
- }
-
- public RestServerHandler(String name) {
- this.name = name;
- }
-
- private RestHandler resolveHandler(java.net.URI uri) {
- int port = uri.getPort() != -1 ? uri.getPort() : DEFAULT_PORT;
- RestHandler handler = handlers.get(port);
- if (handler == null) {
- // first connect to that server
- handler = new RestHandler();
- handler.setPort(port);
- handlers.put(port, handler);
- }
- return handler;
- }
-
- public boolean newPUTConnection(java.net.URI uri, java.util.function.Consumer<String> callback) {
- resolveHandler(uri).newPUTConnection(uri.getPath(), callback);
- return true;
- }
-
- public boolean newGETConnection(java.net.URI uri, SupplierWithException<String> supplier) {
- resolveHandler(uri).newGETConnection(uri.getPath(), supplier);
- return true;
- }
-
- public void close() {
- for (RestHandler handler : handlers.values()) {
- handler.close();
- }
- }
-}
-/**
- * Helper class to receive updates and publishes information via REST.
- * @author rschoene - Initial contribution
- */
-public class RestHandler {
- private static final int DEFAULT_PORT = 4567;
-
- private final org.apache.logging.log4j.Logger logger;
- private final String name;
- private int port;
- private final java.util.concurrent.CountDownLatch exitCondition;
- /** Dispatch knowledge */
- private final java.util.Map<String, java.util.List<java.util.function.Consumer<String>>> callbacks;
- private final java.util.Map<String, SupplierWithException<String>> suppliers;
-
- public RestHandler() {
- this("RagConnect");
- }
-
- public RestHandler(String name) {
- this.logger = org.apache.logging.log4j.LogManager.getLogger(RestHandler.class);
- this.name = name;
- this.port = DEFAULT_PORT;
- this.exitCondition = new java.util.concurrent.CountDownLatch(1);
- this.callbacks = new java.util.HashMap<>();
- this.suppliers = new java.util.HashMap<>();
- }
-
- public RestHandler setPort(int port) {
- this.port = port;
- start();
- return this;
- }
-
- public void newPUTConnection(String path, java.util.function.Consumer<String> callback) {
- if (callbacks.containsKey(path)) {
- callbacks.get(path).add(callback);
- } else {
- // setup path
- java.util.List<java.util.function.Consumer<String>> callbackList = new java.util.ArrayList<>();
- callbackList.add(callback);
- callbacks.put(path, callbackList);
- spark.Spark.put(path, (request, response) -> {
- String content = request.body();
- java.util.Set<String> errors = new java.util.HashSet<>();
- for (java.util.function.Consumer<String> f : callbackList) {
- try {
- f.accept(content);
- } catch (Exception e) {
- errors.add(e.getMessage());
- }
- }
- if (errors.isEmpty()) {
- return "OK";
- } else {
- return makeError(response, 500, errors.stream().collect(java.util.stream.Collectors.joining("\n", "The following error(s) happened: [", "]")));
- }
- });
- }
- }
-
- public void newGETConnection(String path, SupplierWithException<String> supplier) {
- if (suppliers.get(path) != null) {
- logger.warn("Overriding existing supplier for '{}'", path);
- }
- suppliers.put(path, supplier);
- spark.Spark.get(path, (request, response) -> {
- try {
- return supplier.get();
- } catch (Exception e) {
- return makeError(response, 500, e.getMessage());
- }
- });
- }
-
- private String makeError(spark.Response response, int statusCode, String message) {
- response.status(statusCode);
- return message;
- }
-
- private void start() {
- logger.info("Starting REST server at {}", this.port);
- spark.Spark.port(this.port);
- spark.Spark.init();
- spark.Spark.awaitInitialization();
- }
-
- public void close() {
- spark.Spark.stop();
- spark.Spark.awaitStop();
- }
-
-}
-@FunctionalInterface
-public interface SupplierWithException<T> {
- public T get() throws Exception;
-}
-}
diff --git a/ragconnect.base/src/main/resources/dependencyDefinition.mustache b/ragconnect.base/src/main/resources/dependencyDefinition.mustache
deleted file mode 100644
index 0ab8d55242816a7d3ada0491c8c7db6dcd70ee42..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/dependencyDefinition.mustache
+++ /dev/null
@@ -1,3 +0,0 @@
-public void {{targetParentTypeName}}.{{dependencyMethod}}({{sourceParentTypeName}} source) {
- add{{internalRelationPrefix}}Source(source);
-}
diff --git a/ragconnect.base/src/main/resources/handleUri.mustache b/ragconnect.base/src/main/resources/handleUri.mustache
deleted file mode 100644
index 1a20e7c4df2a4c54ccba4c825fff55ca89a51dec..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/handleUri.mustache
+++ /dev/null
@@ -1,11 +0,0 @@
-String scheme,host, path;
-java.net.URI uri;
-try {
- uri = new java.net.URI({{connectParameterName}});
- scheme = uri.getScheme();
- host = uri.getHost();
- path = uri.getPath();
-} catch (java.net.URISyntaxException e) {
- System.err.println(e.getMessage()); // Maybe re-throw error?
- return false;
-}
diff --git a/ragconnect.base/src/main/resources/handler.mustache b/ragconnect.base/src/main/resources/handler.mustache
deleted file mode 100644
index e89c451007ff309a77297b9b66fe0e20dece73b8..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/handler.mustache
+++ /dev/null
@@ -1,7 +0,0 @@
-aspect RagConnectHandler {
-interface RagConnectHandler<T> {
- boolean connectReceive(String path, java.util.function.Consumer<T> callback);
- boolean sendPush(String path, T value);
- boolean connectSendPull(String path, SupplierWithException<T> supplier);
-}
-}
diff --git a/ragconnect.base/src/main/resources/log4j2.xml b/ragconnect.base/src/main/resources/log4j2.xml
deleted file mode 100644
index 98cfd73c75df58d8598521bc10b043e214ec4ad8..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/log4j2.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Configuration status="INFO">
- <Appenders>
- <Console name="Console" target="SYSTEM_OUT">
- <PatternLayout pattern="%d{HH:mm:ss.SSS} [%t] %-5level %logger{36} - %msg%n"/>
- </Console>
- </Appenders>
- <Loggers>
- <Root level="info">
- <AppenderRef ref="Console"/>
- </Root>
- </Loggers>
-</Configuration>
\ No newline at end of file
diff --git a/ragconnect.base/src/main/resources/mappingApplication.mustache b/ragconnect.base/src/main/resources/mappingApplication.mustache
deleted file mode 100644
index 064004b94886c155be883e7b186557c6fa87d38c..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/mappingApplication.mustache
+++ /dev/null
@@ -1,14 +0,0 @@
-{{lastDefinitionToType}} {{lastResult}};
-try {
- {{#InnerMappingDefinitions}}
- {{^last}}{{toType}} {{/last}}{{outputVarName}} = {{methodName}}({{inputVarName}});
- {{/InnerMappingDefinitions}}
-} catch (Exception e) {
- e.printStackTrace();
- {{preemptiveReturn}}
-}
-{{^alwaysApply}}
-if ({{{condition}}}) {
- {{preemptiveReturn}}
-}
-{{/alwaysApply}}
diff --git a/ragconnect.base/src/main/resources/mappingDefinition.mustache b/ragconnect.base/src/main/resources/mappingDefinition.mustache
deleted file mode 100644
index fe26e949b7a8e446bf97947e1632624741a83726..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/mappingDefinition.mustache
+++ /dev/null
@@ -1,3 +0,0 @@
-protected static {{toType}} ASTNode.{{methodName}}({{fromType}} {{fromVariableName}}) throws Exception {
- {{{content}}}{{!maybe print line by line to get better indentation}}
-}
diff --git a/ragconnect.base/src/main/resources/mqtt.mustache b/ragconnect.base/src/main/resources/mqtt.mustache
deleted file mode 100644
index 9391d1091c41eee257f9e6a1368297ef743e39ce..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/mqtt.mustache
+++ /dev/null
@@ -1,16 +0,0 @@
-aspect MQTT {
- private String {{rootNodeName}}.MqttName() { return "RagConnectMQTT"; }
- private MqttServerHandler {{rootNodeName}}.{{mqttHandlerField}} = new MqttServerHandler(MqttName());
-
- public void {{rootNodeName}}.{{mqttSetupWaitUntilReadyMethod}}(long time, java.util.concurrent.TimeUnit unit) {
- {{mqttHandlerField}}.setupWaitUntilReady(time, unit);
- }
-
- {{#RootTypeComponents}}
- {{#first}}inh MqttServerHandler ASTNode.{{mqttHandlerAttribute}}();{{/first}}
- eq {{rootNodeName}}.get{{name}}().{{mqttHandlerAttribute}}() = {{mqttHandlerField}};
- {{/RootTypeComponents}}
- {{^RootTypeComponents}}
- syn MqttServerHandler {{rootNodeName}}.{{mqttHandlerAttribute}}() = {{mqttHandlerField}};
- {{/RootTypeComponents}}
-}
diff --git a/ragconnect.base/src/main/resources/ragConnectVersion.properties b/ragconnect.base/src/main/resources/ragConnectVersion.properties
deleted file mode 100644
index 8ec441610d66cd3f793075302676eb132eea35c3..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/ragConnectVersion.properties
+++ /dev/null
@@ -1,2 +0,0 @@
-#Wed Jul 29 16:29:05 CEST 2020
-version=0.2.0
diff --git a/ragconnect.base/src/main/resources/ragconnect.mustache b/ragconnect.base/src/main/resources/ragconnect.mustache
deleted file mode 100644
index a39510d73854301efb1f05fe7f9c1fd476916ef7..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/ragconnect.mustache
+++ /dev/null
@@ -1,27 +0,0 @@
-{{#usesMqtt}}{{> mqtt}}{{/usesMqtt}}
-{{#usesRest}}{{> rest}}{{/usesRest}}
-aspect ROS2RAG {
- public void {{rootNodeName}}.{{closeMethod}}() {
- {{#usesMqtt}}{{mqttHandlerField}}.close();{{/usesMqtt}}
- {{#usesRest}}{{restHandlerField}}.close();{{/usesRest}}
- }
- {{#ReceiveDefinitions}}
- {{> receiveDefinition}}
- {{/ReceiveDefinitions}}
-
- {{#SendDefinitions}}
- {{> sendDefinition}}
- {{/SendDefinitions}}
-
- {{#MappingDefinitions}}
- {{> mappingDefinition}}
- {{/MappingDefinitions}}
-
- {{#DependencyDefinitions}}
- {{> dependencyDefinition}}
- {{/DependencyDefinitions}}
-
- {{#TokenComponents}}
- {{> tokenComponent}}
- {{/TokenComponents}}
-}
diff --git a/ragconnect.base/src/main/resources/receiveDefinition.mustache b/ragconnect.base/src/main/resources/receiveDefinition.mustache
deleted file mode 100644
index 1dd0e0ddbfbfd2acf03536ff41a2d740043eb34b..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/receiveDefinition.mustache
+++ /dev/null
@@ -1,23 +0,0 @@
-public boolean {{parentTypeName}}.{{connectMethod}}(String {{connectParameterName}}) throws java.io.IOException {
- {{>handleUri}}
- java.util.function.Consumer<byte[]> consumer = message -> {
- {{> mappingApplication}}
- {{#loggingEnabledForReads}}
- System.out.println("[Receive] " + {{connectParameterName}} + " -> {{tokenName}} = " + {{lastResult}});
- {{/loggingEnabledForReads}}
- set{{tokenName}}({{lastResult}});
- };
- switch (scheme) {
- {{#usesMqtt}}
- case "mqtt": return {{mqttHandlerAttribute}}().newConnection(uri, consumer);
- {{/usesMqtt}}
- {{#usesRest}}
- case "rest": return {{restHandlerAttribute}}().newPUTConnection(uri, input -> {
- consumer.accept(input.getBytes());
- });
- {{/usesRest}}
- default:
- System.err.println("Unknown protocol '" + scheme + "'.");
- return false;
- }
-}
diff --git a/ragconnect.base/src/main/resources/rest.mustache b/ragconnect.base/src/main/resources/rest.mustache
deleted file mode 100644
index 6bbde2be4d26e519635c85a6f39f9a18514bfb19..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/rest.mustache
+++ /dev/null
@@ -1,12 +0,0 @@
-aspect REST {
- private String {{rootNodeName}}.RestName() { return "RagConnectREST"; }
- private RestServerHandler {{rootNodeName}}.{{restHandlerField}} = new RestServerHandler(RestName());
-
- {{#getRootTypeComponents}}
- {{#first}}inh RestServerHandler ASTNode.{{restHandlerAttribute}}();{{/first}}
- eq {{rootNodeName}}.get{{name}}().{{restHandlerAttribute}}() = {{restHandlerField}};
- {{/getRootTypeComponents}}
- {{^getRootTypeComponents}}
- syn RestServerHandler {{rootNodeName}}.{{restHandlerAttribute}}() = {{restHandlerField}};
- {{/getRootTypeComponents}}
-}
diff --git a/ragconnect.base/src/main/resources/sendDefinition.mustache b/ragconnect.base/src/main/resources/sendDefinition.mustache
deleted file mode 100644
index fac4ecd37967b8047c9101b58fab273527979ab2..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/sendDefinition.mustache
+++ /dev/null
@@ -1,51 +0,0 @@
-private Runnable {{parentTypeName}}.{{sender}} = null;
-private byte[] {{parentTypeName}}.{{lastValue}} = null;
-
-public boolean {{parentTypeName}}.{{connectMethod}}(String {{connectParameterName}}, boolean writeCurrentValue) {
- {{>handleUri}}
- switch (scheme) {
- {{#usesMqtt}}
- case "mqtt":
- // MqttHandler handler = {{mqttHandlerAttribute}}().resolveHandler(uri);{{!optimize later}}
- {{sender}} = () -> {
- {{#loggingEnabledForWrites}}
- System.out.println("[Send] {{tokenName}} = " + get{{tokenName}}() + " -> " + {{connectParameterName}});
- {{/loggingEnabledForWrites}}
- try {
- {{mqttHandlerAttribute}}().publish(uri, {{lastValue}});
- } catch (java.io.IOException e) {
- e.printStackTrace();
- }
- };
- {{updateMethod}}();
- if (writeCurrentValue) {
- {{writeMethod}}();
- }
- break;
- {{/usesMqtt}}
- {{#usesRest}}
- case "rest":
- {{restHandlerAttribute}}().newGETConnection(uri, () -> {
- {{updateMethod}}();
- return new String({{lastValue}});
- });
- break;
- {{/usesRest}}
- default:
- System.err.println("Unknown protocol '" + scheme + "'.");
- return false;
- }
- return true;
-}
-
-protected boolean {{parentTypeName}}.{{updateMethod}}() {
- {{tokenResetMethod}}();
- {{> mappingApplication}}
- {{lastValue}} = {{lastResult}};
- // normally we would return true here. unless no connect method was called so far to initialize {{sender}} yet
- return {{sender}} != null;
-}
-
-protected void {{parentTypeName}}.{{writeMethod}}() {
- {{sender}}.run();
-}
diff --git a/ragconnect.base/src/main/resources/tokenComponent.mustache b/ragconnect.base/src/main/resources/tokenComponent.mustache
deleted file mode 100644
index e78efb96b846bd7aa814723472032299a70c7de3..0000000000000000000000000000000000000000
--- a/ragconnect.base/src/main/resources/tokenComponent.mustache
+++ /dev/null
@@ -1,19 +0,0 @@
-public {{parentTypeName}} {{parentTypeName}}.set{{name}}({{javaType}} value) {
- set{{internalName}}(value);
- {{#DependencyDefinitions}}
- for ({{targetParentTypeName}} target : get{{internalRelationPrefix}}TargetList()) {
- {{#targetEndpointDefinition}}
- {{!#isPush}}
- if (target.{{updateMethod}}()) {
- target.{{writeMethod}}();
- }
- {{!/isPush}}
- {{/targetEndpointDefinition}}
- }
- {{/DependencyDefinitions}}
- return this;
-}
-
-public {{javaType}} {{parentTypeName}}.get{{name}}() {
- return get{{internalName}}();
-}
diff --git a/ragconnect.tests/.gitignore b/ragconnect.tests/.gitignore
deleted file mode 100644
index 87b4cdd3d7c6a41502ca98703abeeb69a1d536fb..0000000000000000000000000000000000000000
--- a/ragconnect.tests/.gitignore
+++ /dev/null
@@ -1,5 +0,0 @@
-build
-src/gen-res/
-src/gen/
-out/
-*.class
diff --git a/ragconnect.tests/README.md b/ragconnect.tests/README.md
deleted file mode 100644
index aabbb0195519ca2c1ce1e3bb5c82af475457bb0c..0000000000000000000000000000000000000000
--- a/ragconnect.tests/README.md
+++ /dev/null
@@ -1,16 +0,0 @@
-# Creating a new test case
-
-The following things must be done:
-
-- Create a new directory in `src/test/01-input` and put at least grammar, the ros2rag-specification and a README.md in there. Optionally, aspect files as needed.
-- Optionally, add new protobuf definitions in `src/test/proto` (they are processed automatically in this directory)
-- Copy and modify the compiler instructions in `build.gradle`, e.g. `preprocessExampleTest` and `compileExampleTest` for the `example` case. Also, copy the dependsOn-Definitions.
- - Change the name of the tasks
- - Change the directory in `delete` spec, and in all arguments
- - Add/Remove aspect files
- - Change the `packageName` argument in the compile-step
- - Change the `--rootNode` argument in the preprocess-step
- - For debugging build problems, the `--verbose` flag in the preprocess-step can be helpful
-- Create the test case itself in `src/test/java/` in the package `org.jastadd.ros2rag.tests` and import the AST files of your defined target generation package
- - Extend the abstract base class `AbstractMqttTest` to have fail-fast-behaviour in case the MQTT-broker is not connected
- - Remember to close all used MQTT-handling objects, like MqttHandler and the model itself after each test
diff --git a/ragconnect.tests/build.gradle b/ragconnect.tests/build.gradle
deleted file mode 100644
index d638ec5001a8a58505045e37e480ac7c5d08079d..0000000000000000000000000000000000000000
--- a/ragconnect.tests/build.gradle
+++ /dev/null
@@ -1,268 +0,0 @@
-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
-
-repositories {
- jcenter()
-}
-
-buildscript {
- repositories.jcenter()
- dependencies {
- classpath 'org.jastadd:jastaddgradle:1.13.3'
- classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.12'
- }
-}
-
-dependencies {
- 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'
- testRuntimeOnly group: 'org.junit.jupiter', name: 'junit-jupiter-engine', version: '5.4.0'
- testImplementation group: 'org.assertj', name: 'assertj-core', version: '3.12.1'
-
- // mqtt
- testImplementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
-
- // rest and client
- testImplementation group: 'com.sparkjava', name: 'spark-core', version: '2.9.2'
- testImplementation group: 'org.apache.logging.log4j', name: 'log4j-slf4j-impl', version: '2.11.2'
- testImplementation group: 'org.glassfish.jersey.core', name: 'jersey-client', version: '2.31'
- testImplementation group: 'org.glassfish.jersey.inject', name: 'jersey-hk2', version: '2.31'
-
- 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 {
- useJUnitPlatform {
- excludeTags 'mqtt'
- }
-
- 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'
-
- useJUnitPlatform {
- includeTags 'mqtt'
- }
-}
-
-relastTest {
- compilerLocation = '../libs/relast.jar'
-}
-
-File genSrc = file("src/test/java-gen");
-sourceSets.test.java.srcDir genSrc
-idea.module.generatedSourceDirs += genSrc
-
-clean {
- delete 'src/test/02-after-ragconnect/*/', 'src/test/03-after-relast/*/', 'src/test/java-gen/*/'
-}
-
-// --- Test: Example ---
-task preprocessExampleTest(type: JavaExec, group: 'verification') {
- doFirst {
- 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.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'
-}
-
-task compileExampleTest(type: RelastTest) {
- useJastAddNames = true
- jastAddList = 'JastAddList'
- 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-ragconnect/example/MqttHandler.jadd',
- 'src/test/02-after-ragconnect/example/RagConnect.jadd'
-}
-
-compileTestJava.dependsOn compileExampleTest
-compileExampleTest.dependsOn preprocessExampleTest
-
-// --- Test: default-only-read ---
-task preprocessDefaultOnlyReadTest(type: JavaExec, group: 'verification') {
- doFirst {
- 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.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'
-}
-
-task compileDefaultOnlyReadTest(type: RelastTest) {
- useJastAddNames = true
- jastAddList = 'JastAddList'
- 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-ragconnect/defaultOnlyRead/MqttHandler.jadd',
- 'src/test/02-after-ragconnect/defaultOnlyRead/RagConnect.jadd'
-}
-
-compileTestJava.dependsOn compileDefaultOnlyReadTest
-compileDefaultOnlyReadTest.dependsOn preprocessDefaultOnlyReadTest
-
-// --- Test: default-only-write ---
-task preprocessDefaultOnlyWriteTest(type: JavaExec, group: 'verification') {
- doFirst {
- 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.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'
-}
-
-task compileDefaultOnlyWriteTest(type: RelastTest) {
- useJastAddNames = true
- jastAddList = 'JastAddList'
- 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-ragconnect/defaultOnlyWrite/MqttHandler.jadd',
- 'src/test/02-after-ragconnect/defaultOnlyWrite/RagConnect.jadd'
-}
-
-compileTestJava.dependsOn compileDefaultOnlyWriteTest
-compileDefaultOnlyWriteTest.dependsOn preprocessDefaultOnlyWriteTest
-
-// --- Test: read1write2 ---
-task preprocessRead1Write2Test(type: JavaExec, group: 'verification') {
- doFirst {
- 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.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'
-}
-
-task compileRead1Write2Test(type: RelastTest) {
- useJastAddNames = true
- jastAddList = 'JastAddList'
- 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-ragconnect/read1write2/MqttHandler.jadd',
- 'src/test/02-after-ragconnect/read1write2/RagConnect.jadd'
-}
-
-compileTestJava.dependsOn compileRead1Write2Test
-compileRead1Write2Test.dependsOn preprocessRead1Write2Test
-
-// --- Test: read2write1 ---
-task preprocessRead2Write1Test(type: JavaExec, group: 'verification') {
- doFirst {
- 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.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',
- '--logReads', '--logWrites'
-}
-
-task compileRead2Write1Test(type: RelastTest) {
- useJastAddNames = true
- jastAddList = 'JastAddList'
- 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-ragconnect/read2write1/MqttHandler.jadd',
- 'src/test/02-after-ragconnect/read2write1/RagConnect.jadd'
-}
-
-compileTestJava.dependsOn compileRead2Write1Test
-compileRead2Write1Test.dependsOn preprocessRead2Write1Test
-
-// --- Test: via ---
-task preprocessViaTest(type: JavaExec, group: 'verification') {
- doFirst {
- delete 'src/test/02-after-ragconnect/via/Test.relast',
- 'src/test/02-after-ragconnect/via/MqttHandler.java',
- 'src/test/02-after-ragconnect/via/RestHandler.java',
- 'src/test/02-after-ragconnect/via/RagConnect.jadd'
- }
-
- classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ragconnect.compiler.Compiler'
- args '--o=src/test/02-after-ragconnect/via',
- 'src/test/01-input/via/Test.relast',
- 'src/test/01-input/via/Test.connect',
- '--rootNode=A', '--verbose',
- '--protocols=mqtt,rest',
- '--logReads', '--logWrites'
-}
-
-task compileViaTest(type: RelastTest) {
- useJastAddNames = true
- jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ragconnect/via/Test.relast',
- 'src/test/02-after-ragconnect/via/RagConnect.relast'
- grammarName = 'src/test/03-after-relast/via/via'
- packageName = 'via.ast'
- moreInputFiles 'src/test/01-input/via/Test.jadd',
- 'src/test/02-after-ragconnect/via/MqttHandler.jadd',
- 'src/test/02-after-ragconnect/via/RestHandler.jadd',
- 'src/test/02-after-ragconnect/via/RagConnect.jadd'
-}
-
-compileTestJava.dependsOn compileViaTest
-compileViaTest.dependsOn preprocessViaTest
diff --git a/ragconnect.tests/src/test/01-input/defaultOnlyRead/README.md b/ragconnect.tests/src/test/01-input/defaultOnlyRead/README.md
deleted file mode 100644
index ee05db648e9204945245cd42ad8d802d2cdab887..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/defaultOnlyRead/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# Default Only Read
-
-Idea: Use only `ReadFromMqttDefinition`, test all default mapping definitions from `byte[]` to primitive (and boxed) types
diff --git a/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.connect b/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.connect
deleted file mode 100644
index e274994175513ff743409068375f419b6e3141fc..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.connect
+++ /dev/null
@@ -1,15 +0,0 @@
-// --- 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/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.relast b/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.relast
deleted file mode 100644
index 30eba76b346dace40c72ca4e172b88ef206ea063..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.relast
+++ /dev/null
@@ -1,3 +0,0 @@
-A ::= NativeTypes* BoxedTypes* ;
-NativeTypes ::= <IntValue:int> <ShortValue:short> <LongValue:long> <FloatValue:float> <DoubleValue:double> <CharValue:char> <StringValue:String> ;
-BoxedTypes ::= <IntValue:Integer> <ShortValue:Short> <LongValue:Long> <FloatValue:Float> <DoubleValue:Double> <CharValue:Character> ;
diff --git a/ragconnect.tests/src/test/01-input/defaultOnlyWrite/README.md b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/README.md
deleted file mode 100644
index 1bcc8d61a7854b7f9ef4bc1694f4f81caaac2aed..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/defaultOnlyWrite/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# Default Only Write
-
-Idea: Use only `WriteToMqttDefintion`, test all default mapping definitions from primitive (and boxed) types to `byte[]`.
diff --git a/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.connect b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.connect
deleted file mode 100644
index a48f49f60f66c3358ee513e79f2bbeb43df8d5e9..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.connect
+++ /dev/null
@@ -1,51 +0,0 @@
-// --- update definitions ---
-// native types, synthesized
-send NativeTypesSyn.IntValue;
-send NativeTypesSyn.ShortValue;
-send NativeTypesSyn.LongValue;
-send NativeTypesSyn.FloatValue;
-send NativeTypesSyn.DoubleValue;
-send NativeTypesSyn.CharValue;
-send NativeTypesSyn.StringValue;
-
-// boxed types, synthesized
-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;
-NativeTypesSyn.ShortValue canDependOn NativeTypesSyn.DriverSyn as nativeShortDependency;
-NativeTypesSyn.LongValue canDependOn NativeTypesSyn.DriverSyn as nativeLongDependency;
-NativeTypesSyn.FloatValue canDependOn NativeTypesSyn.DriverSyn as nativeFloatDependency;
-NativeTypesSyn.DoubleValue canDependOn NativeTypesSyn.DriverSyn as nativeDoubleDependency;
-NativeTypesSyn.CharValue canDependOn NativeTypesSyn.DriverSyn as nativeCharDependency;
-NativeTypesSyn.StringValue canDependOn NativeTypesSyn.DriverSyn as nativeStringDependency;
-BoxedTypesSyn.IntValue canDependOn BoxedTypesSyn.DriverSyn as boxedIntDependency;
-BoxedTypesSyn.ShortValue canDependOn BoxedTypesSyn.DriverSyn as boxedShortDependency;
-BoxedTypesSyn.LongValue canDependOn BoxedTypesSyn.DriverSyn as boxedLongDependency;
-BoxedTypesSyn.FloatValue canDependOn BoxedTypesSyn.DriverSyn as boxedFloatDependency;
-BoxedTypesSyn.DoubleValue canDependOn BoxedTypesSyn.DriverSyn as boxedDoubleDependency;
-BoxedTypesSyn.CharValue canDependOn BoxedTypesSyn.DriverSyn as boxedCharDependency;
-
-
-// --- inherited attributes not supported ---
-//// native types, inherited
-//send NativeTypesInh.IntValue;
-//send NativeTypesInh.ShortValue;
-//send NativeTypesInh.LongValue;
-//send NativeTypesInh.FloatValue;
-//send NativeTypesInh.DoubleValue;
-//send NativeTypesInh.CharValue;
-//send NativeTypesInh.StringValue;
-//
-//// boxed types, inherited
-//send BoxedTypesInh.IntValue;
-//send BoxedTypesInh.ShortValue;
-//send BoxedTypesInh.LongValue;
-//send BoxedTypesInh.FloatValue;
-//send BoxedTypesInh.DoubleValue;
-//send BoxedTypesInh.CharValue;
diff --git a/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.jadd b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.jadd
deleted file mode 100644
index 49bbf604d398f7a9d92e879b2b515c9e83dd3182..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.jadd
+++ /dev/null
@@ -1,49 +0,0 @@
-aspect Computation {
- // native types, synthesized
- syn int NativeTypesSyn.getIntValue() = Integer.parseInt(getDriverSyn());
- syn short NativeTypesSyn.getShortValue() = Short.parseShort(getDriverSyn());
- syn long NativeTypesSyn.getLongValue() = Long.parseLong(getDriverSyn());
- syn float NativeTypesSyn.getFloatValue() = Float.parseFloat(getDriverSyn());
- syn double NativeTypesSyn.getDoubleValue() = Double.parseDouble(getDriverSyn());
- syn char NativeTypesSyn.getCharValue() = getDriverSyn().charAt(0);
- syn String NativeTypesSyn.getStringValue() = new String(getDriverSyn());
-
- // boxed types, synthesized
- syn Integer BoxedTypesSyn.getIntValue() = Integer.valueOf(getDriverSyn());
- syn Short BoxedTypesSyn.getShortValue() = Short.valueOf(getDriverSyn());
- syn Long BoxedTypesSyn.getLongValue() = Long.valueOf(getDriverSyn());
- syn Float BoxedTypesSyn.getFloatValue() = Float.valueOf(getDriverSyn());
- syn Double BoxedTypesSyn.getDoubleValue() = Double.valueOf(getDriverSyn());
- syn Character BoxedTypesSyn.getCharValue() = getDriverSyn().charAt(0);
-
-// --- inherited attributes not supported ---
-// // native types, inherited
-// inh int NativeTypesInh.getIntValue();
-// eq A.getNativeTypesInh().getIntValue() = Integer.parseInt(getDriverInh());
-// inh short NativeTypesInh.getShortValue();
-// eq A.getNativeTypesInh().getShortValue() = Short.parseShort(getDriverInh());
-// inh long NativeTypesInh.getLongValue();
-// eq A.getNativeTypesInh().getLongValue() = Long.parseLong(getDriverInh());
-// inh float NativeTypesInh.getFloatValue();
-// eq A.getNativeTypesInh().getFloatValue() = Float.parseFloat(getDriverInh());
-// inh double NativeTypesInh.getDoubleValue();
-// eq A.getNativeTypesInh().getDoubleValue() = Double.parseDouble(getDriverInh());
-// inh char NativeTypesInh.getCharValue();
-// eq A.getNativeTypesInh().getCharValue() = getDriverInh().charAt(0);
-// inh String NativeTypesInh.getStringValue();
-// eq A.getNativeTypesInh().getStringValue() = new String(getDriverInh());
-//
-// // boxed types, inherited
-// inh Integer BoxedTypesInh.getIntValue();
-// eq A.getBoxedTypesInh().getIntValue() = Integer.valueOf(getDriverInh());
-// inh Short BoxedTypesInh.getShortValue();
-// eq A.getBoxedTypesInh().getShortValue() = Short.valueOf(getDriverInh());
-// inh Long BoxedTypesInh.getLongValue();
-// eq A.getBoxedTypesInh().getLongValue() = Long.valueOf(getDriverInh());
-// inh Float BoxedTypesInh.getFloatValue();
-// eq A.getBoxedTypesInh().getFloatValue() = Float.valueOf(getDriverInh());
-// inh Double BoxedTypesInh.getDoubleValue();
-// eq A.getBoxedTypesInh().getDoubleValue() = Double.valueOf(getDriverInh());
-// inh Character BoxedTypesInh.getCharValue();
-// eq A.getBoxedTypesInh().getCharValue() = getDriverInh().charAt(0);
-}
diff --git a/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.relast b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.relast
deleted file mode 100644
index e0fd7829b88b8fac04b64393e0262c69b4ac6a62..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.relast
+++ /dev/null
@@ -1,11 +0,0 @@
-A ::= NativeTypesSyn* BoxedTypesSyn* <DriverInh:String>;
-// native types, synthesized
-NativeTypesSyn ::= <DriverSyn:String> /<IntValue:int>/ /<ShortValue:short>/ /<LongValue:long>/ /<FloatValue:float>/ /<DoubleValue:double>/ /<CharValue:char>/ /<StringValue:String>/ ;
-// boxed types, synthesized
-BoxedTypesSyn ::= <DriverSyn:String> /<IntValue:Integer>/ /<ShortValue:Short>/ /<LongValue:Long>/ /<FloatValue:Float>/ /<DoubleValue:Double>/ /<CharValue:Character>/ ;
-
-// --- inherited attributes not supported ---
-//// native types, inherited
-//NativeTypesInh ::= /<IntValue:int>/ /<ShortValue:short>/ /<LongValue:long>/ /<FloatValue:float>/ /<DoubleValue:double>/ /<CharValue:char>/ /<StringValue:String>/ ;
-//// boxed types, inherited
-//BoxedTypesInh ::= /<IntValue:Integer>/ /<ShortValue:Short>/ /<LongValue:Long>/ /<FloatValue:Float>/ /<DoubleValue:Double>/ /<CharValue:Character>/ ;
diff --git a/ragconnect.tests/src/test/01-input/errors/Errors.connect b/ragconnect.tests/src/test/01-input/errors/Errors.connect
deleted file mode 100644
index bd57822a6c70198cc36698f790fa90655ed4db73..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/errors/Errors.connect
+++ /dev/null
@@ -1,72 +0,0 @@
-// --- 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 \\ receive B.NonExisting ;
-
-// Error: the Token must not be a TokenNTA (i.e., check for !Token.getNTA())
-receive B.ErrorNTA ;
-
-// Error: from-type of first mapping must be byte[] or a supported primitive type
-receive B.ErrorTypeOfFirstMapping using ListToList ;
-
-// Error: to-type of last mapping must be type of the Token
-receive B.ErrorTypeOfLastMapping using StringToList ;
-
-// Error: types of mappings must match (modulo inheritance)
-receive B.ErrorTypeMismatch using StringToList, IntToInt ;
-
-// --- update send definitions ---
-// NOT HANDLED \\ Error: the token must be resolvable within the parent type
-// NOT HANDLED \\ receive C.NonExisting ;
-
-// Error: Token must be a TokenNTA (i.e., check for Token.getNTA())
-send C.ErrorNotNTA ;
-
-// Error: from-type of first mapping must be type of Token
-send C.ErrorTypeOfFirstMapping using IntToInt ;
-
-// Error: to-type of last mapping must be byte[] or a supported primitive type
-send C.ErrorTypeOfLastMapping1 using StringToList ;
-send C.ErrorTypeOfLastMapping2 ;
-
-// Error: types of mappings must match (modulo inheritance)
-send C.ErrorTypeMismatch using StringToList, 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 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 ;
-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 ;
-send D.TargetDoubledValue;
-
-// --- mapping definitions ---
-ListToList maps java.util.List<String> list to java.util.List<String> {:
- return list;
-:}
-
-StringToList maps String s to List<String> {:
- java.util.List<String> result = new java.util.ArrayList<>();
- result.add(s);
- return result;
-:}
-
-IntToInt maps int number to int {:
- return number + 1;
-:}
diff --git a/ragconnect.tests/src/test/01-input/errors/Errors.expected b/ragconnect.tests/src/test/01-input/errors/Errors.expected
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/ragconnect.tests/src/test/01-input/errors/Errors.relast b/ragconnect.tests/src/test/01-input/errors/Errors.relast
deleted file mode 100644
index fcde7df1d2e48b9591ddea31aaa3b0a9efdd4cfa..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/errors/Errors.relast
+++ /dev/null
@@ -1,15 +0,0 @@
-A ::= B C D ;
-
-// read definitions
-B ::= /<ErrorNTA:String>/ <ErrorTypeOfFirstMapping:String> <ErrorTypeOfLastMapping:String> <DoubledValue:int> <ErrorTypeMismatch:String> ;
-
-// write definitions
-C ::= <ErrorNotNTA:String> /<ErrorTypeOfFirstMapping:String>/ /<ErrorTypeOfLastMapping1:String>/ /<ErrorTypeOfLastMapping2:List<String>>/ /<ErrorTypeMismatch:String>/ /<DoubledValue:int>/ ;
-
-// dependency definitions
-D ::= <SourceNonExistingTarget>
- /<TargetNonExistingSource>/
- <SourceNoWriteDef> /<TargetNoWriteDef>/
- <SourceSameAsListNode> /<TargetSameAsListNode>/
- <SourceDoubledValue> /<TargetDoubledValue>/
- MyList:D* ;
diff --git a/ragconnect.tests/src/test/01-input/errors/README.md b/ragconnect.tests/src/test/01-input/errors/README.md
deleted file mode 100644
index e8efed33eb3868441a63dc719e3e92993a2c9d49..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/errors/README.md
+++ /dev/null
@@ -1,25 +0,0 @@
-Ideas for errors:
-
-- Read-Update
- - the token must be resolvable within the parent type
- - the Token must not be a TokenNTA (i.e., check for `!Token.getNTA()`)
- - type of first mapping must be `byte[]`
- - type of last mapping must be type of the Token
- - types of mappings must match (modulo inheritance)
-- Write-Update
- - the token must be resolvable within the parent type
- - Token must be a TokenNTA (i.e., check for `Token.getNTA()`)
- - type of first mapping must be type of Token
- - type of last mapping must be `byte[]`
- - types of mappings must match (modulo inheritance)
- - no more than one write mapping for each TokenComponent
-- for all type checks, there are three cases regarding the two types to check against:
- 1) both are nonterminal types, check with grammar
- 2) both are known classes, check with `Class.forName()` and subclass-checking-methods
- 3) otherwise issue warning, that types could not be matched
-- dependency-definition
- - There **must be** a write update definition for the target token
- - Otherwise there are missing update and write methods used in the virtual setter
- - Both, source and target must be resolvable within the parent type
- - The name of a dependency definition must not be equal to a list-node on the source
- - There must not be two dependency definitions with the same name
diff --git a/ragconnect.tests/src/test/01-input/example/README.md b/ragconnect.tests/src/test/01-input/example/README.md
deleted file mode 100644
index 7665b437a513602587474904ef08135efee13b44..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/example/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# Example
-
-Idea: Use the motivating example from our paper as a test case, including one read, one write update definition
diff --git a/ragconnect.tests/src/test/01-input/example/Test.connect b/ragconnect.tests/src/test/01-input/example/Test.connect
deleted file mode 100644
index 2a26051b743145ad8af6ad7b8ea84ad58ce1348f..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/example/Test.connect
+++ /dev/null
@@ -1,31 +0,0 @@
-/* Version 2020-07-15 */
-// --- update definitions ---
-receive Link.CurrentPosition using ParseRobotState, RobotStateToIntPosition ;
-send RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
-
-// --- dependency definitions ---
-RobotArm.AppropriateSpeed canDependOn Link.CurrentPosition as dependency1 ;
-
-// --- mapping definitions ---
-ParseRobotState maps byte[] bytes to robot.RobotStateOuterClass.RobotState {:
- TestCounter.INSTANCE.numberParseLinkState += 1;
- return robot.RobotStateOuterClass.RobotState.parseFrom(bytes);
-:}
-
-SerializeRobotConfig maps config.Config.RobotConfig rc to byte[] {:
- TestCounter.INSTANCE.numberSerializeRobotConfig += 1;
- return rc.toByteArray();
-:}
-
-RobotStateToIntPosition maps robot.RobotStateOuterClass.RobotState rs to IntPosition {:
- TestCounter.INSTANCE.numberLinkStateToIntPosition += 1;
- robot.RobotStateOuterClass.RobotState.Position p = rs.getPosition();
- return IntPosition.of((int) (Math.round(p.getX() * 10)), (int) (Math.round(p.getY() * 10)), (int) (Math.round(p.getZ() * 10)));
-:}
-
-CreateSpeedMessage maps double speed to config.Config.RobotConfig {:
- TestCounter.INSTANCE.numberCreateSpeedMessage += 1;
- return config.Config.RobotConfig.newBuilder()
- .setSpeed(speed)
- .build();
-:}
diff --git a/ragconnect.tests/src/test/01-input/example/Test.jadd b/ragconnect.tests/src/test/01-input/example/Test.jadd
deleted file mode 100644
index b62b9aee7cb344c587993feefccdd64ab0bf6e4b..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/example/Test.jadd
+++ /dev/null
@@ -1,95 +0,0 @@
-aspect GrammarTypes {
- public class TestCounter {
- public static TestCounter INSTANCE = new TestCounter();
- public int numberParseLinkState = 0;
- public int numberSerializeRobotConfig = 0;
- public int numberLinkStateToIntPosition = 0;
- public int numberCreateSpeedMessage = 0;
- public int numberInSafetyZone = 0;
- public static void reset() {
- TestCounter.INSTANCE = new TestCounter();
- }
- }
-
- public class IntPosition {
- private final int x, y, z;
-
- private IntPosition(int x, int y, int z) {
- this.x = x;
- this.y = y;
- this.z = z;
- }
-
- public static IntPosition of(int x, int y, int z) {
- return new IntPosition(x, y, z);
- }
-
- public int getX() {
- return x;
- }
-
- public int getY() {
- return y;
- }
-
- public int getZ() {
- return z;
- }
-
- @Override
- public boolean equals(Object o) {
- if (this == o) return true;
- if (o == null || getClass() != o.getClass()) return false;
- IntPosition that = (IntPosition) o;
- return x == that.x &&
- y == that.y &&
- z == that.z;
- }
-
- @Override
- public int hashCode() {
- return java.util.Objects.hash(x, y, z);
- }
-
- @Override
- public String toString() {
- return "(" + x + ", " + y + ", " + z + ")";
- }
- }
-
- inh Model RobotArm.model();
- eq Model.getRobotArm().model() = this;
-
- inh RobotArm Link.containingRobotArm();
- eq RobotArm.getLink().containingRobotArm() = this;
- eq RobotArm.getEndEffector().containingRobotArm() = this;
-
- syn boolean RobotArm.isInSafetyZone() {
- TestCounter.INSTANCE.numberInSafetyZone += 1;
- for (Link link : getLinkList()) {
- if (model().getZoneModel().isInSafetyZone(link.getCurrentPosition())) {
- return true;
- }
- }
- return model().getZoneModel().isInSafetyZone(getEndEffector().getCurrentPosition());
- }
-
- cache ZoneModel.isInSafetyZone(IntPosition pos);
- syn boolean ZoneModel.isInSafetyZone(IntPosition pos) {
- for (Zone sz : getSafetyZoneList()) {
- for (Coordinate coordinate : sz.getCoordinateList()) {
- if (coordinate.getPosition().equals(pos)) {
- return true;
- }
- }
- }
- return false;
- }
-
- syn double RobotArm.speedLow() = 0.4d;
- syn double RobotArm.speedHigh() = 1.0d;
-
- syn double RobotArm.getAppropriateSpeed() {
- return isInSafetyZone() ? speedLow() : speedHigh();
- }
-}
diff --git a/ragconnect.tests/src/test/01-input/example/Test.relast b/ragconnect.tests/src/test/01-input/example/Test.relast
deleted file mode 100644
index b8d932ae470e4bf3dc433f8610eec1f05016e595..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/example/Test.relast
+++ /dev/null
@@ -1,13 +0,0 @@
-Model ::= RobotArm ZoneModel ;
-
-ZoneModel ::= SafetyZone:Zone* ;
-
-Zone ::= Coordinate* ;
-
-RobotArm ::= Link* EndEffector /<AppropriateSpeed:double>/ ;
-
-Link ::= <Name:String> <CurrentPosition:IntPosition> ;
-
-EndEffector : Link;
-
-Coordinate ::= <Position:IntPosition> ;
diff --git a/ragconnect.tests/src/test/01-input/example/config.json b/ragconnect.tests/src/test/01-input/example/config.json
deleted file mode 100644
index 02843152a51197a04bce4e8e54ad4ec0f703eca5..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/example/config.json
+++ /dev/null
@@ -1,9 +0,0 @@
-{
- "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/ragconnect.tests/src/test/01-input/read1write2/README.md b/ragconnect.tests/src/test/01-input/read1write2/README.md
deleted file mode 100644
index 197eeb5b1399a079bd16c9e928622732511f7ca1..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/read1write2/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# Read one - Write two
-
-Idea: Define Read-Update for one terminal, add dependencies to two other terminals, which each have Write-Update defined. Test, whether code gets generated correctly and that write is trigger for each of the two terminals upon read.
diff --git a/ragconnect.tests/src/test/01-input/read1write2/Test.connect b/ragconnect.tests/src/test/01-input/read1write2/Test.connect
deleted file mode 100644
index e826f1d040d1668ae5d5d56a83e5b4e5e96a7290..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/read1write2/Test.connect
+++ /dev/null
@@ -1,18 +0,0 @@
-// --- update definitions ---
-// OnSameNonterminal
-receive OnSameNonterminal.Input;
-send OnSameNonterminal.OutInteger;
-send OnSameNonterminal.OutString;
-
-// OnDifferentNonterminal
-receive OnDifferentNonterminal.Input;
-send TheOther.OutInteger;
-send TheOther.OutString;
-
-// --- dependency definitions ---
-// OnSameNonterminal
-OnSameNonterminal.OutInteger canDependOn OnSameNonterminal.Input as IntDependency;
-OnSameNonterminal.OutString canDependOn OnSameNonterminal.Input as StringDependency;
-// OnDifferentNonterminal
-TheOther.OutInteger canDependOn OnDifferentNonterminal.Input as IntDependency;
-TheOther.OutString canDependOn OnDifferentNonterminal.Input as StringDependency;
diff --git a/ragconnect.tests/src/test/01-input/read1write2/Test.jadd b/ragconnect.tests/src/test/01-input/read1write2/Test.jadd
deleted file mode 100644
index 490772fcc7dcd1f27841c84eaa8a0231851ed6cc..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/read1write2/Test.jadd
+++ /dev/null
@@ -1,11 +0,0 @@
-aspect Computation{
- // OnSameNonterminal
- syn int OnSameNonterminal.getOutInteger() = Integer.parseInt(getInput());
- syn String OnSameNonterminal.getOutString() = "prefix" + getInput();
-
- // OnDifferentNonterminal
- syn int TheOther.getOutInteger() = Integer.parseInt(input());
- syn String TheOther.getOutString() = "prefix" + input();
- inh String TheOther.input();
- eq OnDifferentNonterminal.getTheOther().input() = getInput();
-}
diff --git a/ragconnect.tests/src/test/01-input/read1write2/Test.relast b/ragconnect.tests/src/test/01-input/read1write2/Test.relast
deleted file mode 100644
index fa0b171c4b96f097e6812f34434fc60801bc307c..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/read1write2/Test.relast
+++ /dev/null
@@ -1,4 +0,0 @@
-A ::= OnSameNonterminal OnDifferentNonterminal ;
-OnSameNonterminal ::= <Input:String> /<OutInteger:int>/ /<OutString:String>/ ;
-OnDifferentNonterminal ::= <Input:String> TheOther* ;
-TheOther ::= /<OutInteger:int>/ /<OutString:String>/ ;
diff --git a/ragconnect.tests/src/test/01-input/read2write1/Test.connect b/ragconnect.tests/src/test/01-input/read2write1/Test.connect
deleted file mode 100644
index 4c2a9b237acb5b42f274a2f095fcb74b4132a49d..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/read2write1/Test.connect
+++ /dev/null
@@ -1,18 +0,0 @@
-// --- update definitions ---
-// OnSameNonterminal
-receive OnSameNonterminal.Input1;
-receive OnSameNonterminal.Input2;
-send OnSameNonterminal.OutInteger;
-
-// OnDifferentNonterminal
-receive OnDifferentNonterminal.Input1;
-receive OnDifferentNonterminal.Input2;
-send TheOther.OutInteger;
-
-// --- dependency definitions ---
-// OnSameNonterminal
-OnSameNonterminal.OutInteger canDependOn OnSameNonterminal.Input1 as Int1Dependency;
-OnSameNonterminal.OutInteger canDependOn OnSameNonterminal.Input2 as Int2Dependency;
-// OnDifferentNonterminal
-TheOther.OutInteger canDependOn OnDifferentNonterminal.Input1 as Int1Dependency;
-TheOther.OutInteger canDependOn OnDifferentNonterminal.Input2 as Int2Dependency;
diff --git a/ragconnect.tests/src/test/01-input/read2write1/Test.jadd b/ragconnect.tests/src/test/01-input/read2write1/Test.jadd
deleted file mode 100644
index 4d31f1a6441311469f8f93cd150e6c8bb353877e..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/read2write1/Test.jadd
+++ /dev/null
@@ -1,11 +0,0 @@
-aspect Computation{
- // OnSameNonterminal
- syn int OnSameNonterminal.getOutInteger() = Integer.parseInt(getInput1() + getInput2());
-
- // OnDifferentNonterminal
- syn int TheOther.getOutInteger() = Integer.parseInt(input1() + input2());
- inh String TheOther.input1();
- eq OnDifferentNonterminal.getTheOther().input1() = getInput1();
- inh String TheOther.input2();
- eq OnDifferentNonterminal.getTheOther().input2() = getInput2();
-}
diff --git a/ragconnect.tests/src/test/01-input/read2write1/Test.relast b/ragconnect.tests/src/test/01-input/read2write1/Test.relast
deleted file mode 100644
index afe0125760afe222c830f383536f6e2f97c8f656..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/read2write1/Test.relast
+++ /dev/null
@@ -1,4 +0,0 @@
-A ::= OnSameNonterminal OnDifferentNonterminal ;
-OnSameNonterminal ::= <Input1:String> <Input2:String> /<OutInteger:int>/ ;
-OnDifferentNonterminal ::= <Input1:String> <Input2:String> TheOther* ;
-TheOther ::= /<OutInteger:int>/ ;
diff --git a/ragconnect.tests/src/test/01-input/via/Test.connect b/ragconnect.tests/src/test/01-input/via/Test.connect
deleted file mode 100644
index e4d2862a651dd6e68f67d2a492b6105a15f0a77c..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/via/Test.connect
+++ /dev/null
@@ -1,33 +0,0 @@
-receive A.Mqtt2MqttInput using MarkMqttInput ;
-receive A.Rest2RestInput using MarkRestInput ;
-receive A.Mqtt2RestInput using MarkMqttInput ;
-receive A.Rest2MqttInput using MarkRestInput ;
-receive A.Both2BothInput ;
-
-send A.Mqtt2MqttOutput using MarkMqttOutput ;
-send A.Rest2RestOutput using MarkRestOutput ;
-send A.Mqtt2RestOutput using MarkRestOutput ;
-send A.Rest2MqttOutput using MarkMqttOutput ;
-send A.Both2RestOutput using MarkRestOutput ;
-send A.Both2MqttOutput using MarkMqttOutput ;
-
-A.Mqtt2MqttOutput canDependOn A.Mqtt2MqttInput as dependencyMqtt2Mqtt ;
-A.Rest2RestOutput canDependOn A.Rest2RestInput as dependencyRest2Rest ;
-A.Mqtt2RestOutput canDependOn A.Mqtt2RestInput as dependencyMqtt2Rest ;
-A.Rest2MqttOutput canDependOn A.Rest2MqttInput as dependencyRest2Mqtt ;
-A.Both2RestOutput canDependOn A.Both2BothInput as dependencyBoth2Rest ;
-A.Both2MqttOutput canDependOn A.Both2BothInput as dependencyBoth2Mqtt ;
-
-MarkMqttInput maps String s to String {:
- return "FromMqtt-" + s;
-:}
-MarkRestInput maps String s to String {:
- return "FromRest-" + s;
-:}
-
-MarkMqttOutput maps String s to String {:
- return s + "-ToMqtt";
-:}
-MarkRestOutput maps String s to String {:
- return s + "-ToRest";
-:}
diff --git a/ragconnect.tests/src/test/01-input/via/Test.jadd b/ragconnect.tests/src/test/01-input/via/Test.jadd
deleted file mode 100644
index 9d25387d26e651fe25a937a56a863311b4b7b69a..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/via/Test.jadd
+++ /dev/null
@@ -1,8 +0,0 @@
-aspect Computation {
- syn lazy String A.getMqtt2MqttOutput() = getMqtt2MqttInput() + "-M2M" ;
- syn lazy String A.getRest2RestOutput() = getRest2RestInput() + "-R2R" ;
- syn lazy String A.getMqtt2RestOutput() = getMqtt2RestInput() + "-M2R" ;
- syn lazy String A.getRest2MqttOutput() = getRest2MqttInput() + "-R2M" ;
- syn lazy String A.getBoth2MqttOutput() = getBoth2BothInput() + "-B2M" ;
- syn lazy String A.getBoth2RestOutput() = getBoth2BothInput() + "-B2R" ;
-}
diff --git a/ragconnect.tests/src/test/01-input/via/Test.relast b/ragconnect.tests/src/test/01-input/via/Test.relast
deleted file mode 100644
index 1e707fbbc04b1204381351d0c38e826fcbcc8b80..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/01-input/via/Test.relast
+++ /dev/null
@@ -1,5 +0,0 @@
-A ::= <Mqtt2MqttInput> /<Mqtt2MqttOutput>/
- <Rest2RestInput> /<Rest2RestOutput>/
- <Mqtt2RestInput> /<Mqtt2RestOutput>/
- <Rest2MqttInput> /<Rest2MqttOutput>/
- <Both2BothInput> /<Both2MqttOutput>/ /<Both2RestOutput>/;
diff --git a/ragconnect.tests/src/test/02-after-ragconnect/.gitignore b/ragconnect.tests/src/test/02-after-ragconnect/.gitignore
deleted file mode 100644
index d6b7ef32c8478a48c3994dcadc86837f4371184d..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/02-after-ragconnect/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-*
-!.gitignore
diff --git a/ragconnect.tests/src/test/03-after-relast/.gitignore b/ragconnect.tests/src/test/03-after-relast/.gitignore
deleted file mode 100644
index d6b7ef32c8478a48c3994dcadc86837f4371184d..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/03-after-relast/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-*
-!.gitignore
diff --git a/ragconnect.tests/src/test/java-gen/.gitignore b/ragconnect.tests/src/test/java-gen/.gitignore
deleted file mode 100644
index d6b7ef32c8478a48c3994dcadc86837f4371184d..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/java-gen/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-*
-!.gitignore
diff --git a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/AbstractMqttTest.java b/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/AbstractMqttTest.java
deleted file mode 100644
index efaa302508d351f8d1fce557b49634527b54ac6e..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/AbstractMqttTest.java
+++ /dev/null
@@ -1,37 +0,0 @@
-package org.jastadd.ragconnect.tests;
-
-import defaultOnlyRead.ast.MqttHandler;
-import org.junit.jupiter.api.BeforeAll;
-import org.junit.jupiter.api.Tag;
-
-import java.io.IOException;
-import java.util.concurrent.TimeUnit;
-
-/**
- * Base class for tests ensuring running mqtt broker.
- *
- * @author rschoene - Initial contribution
- */
-@Tag("mqtt")
-public abstract class AbstractMqttTest {
- static boolean checkDone = false;
- static Boolean checkResult;
-
- @BeforeAll
- public static void checkMqttConnection() {
- if (!checkDone) {
- checkDone = true;
- try {
- checkResult = new MqttHandler()
- .dontSendWelcomeMessage()
- .setHost(TestUtils.getMqttHost())
- .waitUntilReady(2, TimeUnit.SECONDS);
- } catch (IOException e) {
- checkResult = false;
- }
- }
- if (!checkResult) {
- throw new IllegalStateException("Mqtt Broker not ready!");
- }
- }
-}
diff --git a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/DefaultOnlyReadTest.java b/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/DefaultOnlyReadTest.java
deleted file mode 100644
index 3746ceb3eaf8c83671747000e1fbf70ff37b9e96..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/DefaultOnlyReadTest.java
+++ /dev/null
@@ -1,138 +0,0 @@
-package org.jastadd.ragconnect.tests;
-
-import defaultOnlyRead.ast.A;
-import defaultOnlyRead.ast.BoxedTypes;
-import defaultOnlyRead.ast.MqttHandler;
-import defaultOnlyRead.ast.NativeTypes;
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.Test;
-
-import java.io.IOException;
-import java.nio.ByteBuffer;
-import java.util.concurrent.TimeUnit;
-
-import static org.jastadd.ragconnect.tests.TestUtils.mqttUri;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-/**
- * Test case "defaultOnlyRead".
- *
- * @author rschoene - Initial contribution
- */
-public class DefaultOnlyReadTest extends AbstractMqttTest {
-
- private static final String TOPIC_NATIVE_INT = "native/int";
- private static final String TOPIC_NATIVE_SHORT = "native/short";
- private static final String TOPIC_NATIVE_LONG = "native/long";
- private static final String TOPIC_NATIVE_FLOAT = "native/float";
- private static final String TOPIC_NATIVE_DOUBLE = "native/double";
- private static final String TOPIC_NATIVE_CHAR = "native/char";
- private static final String TOPIC_NATIVE_STRING = "native/string";
-
- private static final String TOPIC_BOXED_INTEGER = "boxed/Integer";
- private static final String TOPIC_BOXED_SHORT = "boxed/Short";
- private static final String TOPIC_BOXED_LONG = "boxed/Long";
- private static final String TOPIC_BOXED_FLOAT = "boxed/Float";
- private static final String TOPIC_BOXED_DOUBLE = "boxed/Double";
- private static final String TOPIC_BOXED_CHARACTER = "boxed/Character";
-
- private A model;
- private NativeTypes integers;
- private NativeTypes floats;
- private NativeTypes chars;
- private BoxedTypes allBoxed;
- private MqttHandler sender;
-
- @AfterEach
- public void closeConnections() {
- if (sender != null) {
- sender.close();
- }
- if (model != null) {
- model.ragconnectCloseConnections();
- }
- }
-
-
- @Test
- public void buildModel() {
- createModel();
- }
-
- @Test
- public void communicate() throws IOException, InterruptedException {
- createModel();
- model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
-
- integers.connectIntValue(mqttUri(TOPIC_NATIVE_INT));
- integers.connectShortValue(mqttUri(TOPIC_NATIVE_SHORT));
- integers.connectLongValue(mqttUri(TOPIC_NATIVE_LONG));
- floats.connectFloatValue(mqttUri(TOPIC_NATIVE_FLOAT));
- floats.connectDoubleValue(mqttUri(TOPIC_NATIVE_DOUBLE));
- chars.connectCharValue(mqttUri(TOPIC_NATIVE_CHAR));
- chars.connectStringValue(mqttUri(TOPIC_NATIVE_STRING));
- allBoxed.connectIntValue(mqttUri(TOPIC_BOXED_INTEGER));
- allBoxed.connectShortValue(mqttUri(TOPIC_BOXED_SHORT));
- allBoxed.connectLongValue(mqttUri(TOPIC_BOXED_LONG));
- allBoxed.connectFloatValue(mqttUri(TOPIC_BOXED_FLOAT));
- allBoxed.connectDoubleValue(mqttUri(TOPIC_BOXED_DOUBLE));
- allBoxed.connectCharValue(mqttUri(TOPIC_BOXED_CHARACTER));
-
- sender = new MqttHandler().dontSendWelcomeMessage().setHost(TestUtils.getMqttHost());
- assertTrue(sender.waitUntilReady(2, TimeUnit.SECONDS));
-
- final int expectedIntValue = 1;
- final short expectedShortValue = 2;
- final long expectedLongValue = 3L;
- final float expectedFloatValue = 4.1f;
- final double expectedDoubleValue = 5.2;
- final char expectedCharValue = 'c';
- final String expectedStringValue = "6.3";
-
- sender.publish(TOPIC_NATIVE_INT, ByteBuffer.allocate(4).putInt(expectedIntValue).array());
- sender.publish(TOPIC_NATIVE_SHORT, ByteBuffer.allocate(2).putShort(expectedShortValue).array());
- sender.publish(TOPIC_NATIVE_LONG, ByteBuffer.allocate(8).putLong(expectedLongValue).array());
- sender.publish(TOPIC_NATIVE_FLOAT, ByteBuffer.allocate(4).putFloat(expectedFloatValue).array());
- sender.publish(TOPIC_NATIVE_DOUBLE, ByteBuffer.allocate(8).putDouble(expectedDoubleValue).array());
- sender.publish(TOPIC_NATIVE_CHAR, ByteBuffer.allocate(2).putChar(expectedCharValue).array());
- sender.publish(TOPIC_NATIVE_STRING, expectedStringValue.getBytes());
-
- sender.publish(TOPIC_BOXED_INTEGER, ByteBuffer.allocate(4).putInt(expectedIntValue).array());
- sender.publish(TOPIC_BOXED_SHORT, ByteBuffer.allocate(2).putShort(expectedShortValue).array());
- sender.publish(TOPIC_BOXED_LONG, ByteBuffer.allocate(8).putLong(expectedLongValue).array());
- sender.publish(TOPIC_BOXED_FLOAT, ByteBuffer.allocate(4).putFloat(expectedFloatValue).array());
- sender.publish(TOPIC_BOXED_DOUBLE, ByteBuffer.allocate(8).putDouble(expectedDoubleValue).array());
- sender.publish(TOPIC_BOXED_CHARACTER, ByteBuffer.allocate(2).putChar(expectedCharValue).array());
-
- TestUtils.waitForMqtt();
-
- assertEquals(expectedIntValue, integers.getIntValue());
- assertEquals(expectedShortValue, integers.getShortValue());
- assertEquals(expectedLongValue, integers.getLongValue());
- assertEquals(expectedFloatValue, floats.getFloatValue(), TestUtils.DELTA);
- assertEquals(expectedDoubleValue, floats.getDoubleValue(), TestUtils.DELTA);
- assertEquals(expectedCharValue, chars.getCharValue());
- assertEquals(expectedStringValue, chars.getStringValue());
-
- assertEquals(expectedIntValue, allBoxed.getIntValue().intValue());
- assertEquals(expectedShortValue, allBoxed.getShortValue().shortValue());
- assertEquals(expectedLongValue, allBoxed.getLongValue().longValue());
- assertEquals(expectedFloatValue, allBoxed.getFloatValue(), TestUtils.DELTA);
- assertEquals(expectedDoubleValue, allBoxed.getDoubleValue(), TestUtils.DELTA);
- assertEquals(expectedCharValue, allBoxed.getCharValue().charValue());
- }
-
- private void createModel() {
- model = new A();
- integers = new NativeTypes();
- model.addNativeTypes(integers);
- floats = new NativeTypes();
- model.addNativeTypes(floats);
- chars = new NativeTypes();
- model.addNativeTypes(chars);
- allBoxed = new BoxedTypes();
- model.addBoxedTypes(allBoxed);
- }
-
-}
diff --git a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/DefaultOnlyWriteTest.java b/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/DefaultOnlyWriteTest.java
deleted file mode 100644
index 80bd95c603da385184927862b42a6f54b1d4f57e..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/DefaultOnlyWriteTest.java
+++ /dev/null
@@ -1,319 +0,0 @@
-package org.jastadd.ragconnect.tests;
-
-import defaultOnlyWrite.ast.A;
-import defaultOnlyWrite.ast.BoxedTypesSyn;
-import defaultOnlyWrite.ast.MqttHandler;
-import defaultOnlyWrite.ast.NativeTypesSyn;
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.Test;
-
-import java.io.IOException;
-import java.util.concurrent.TimeUnit;
-
-import static org.jastadd.ragconnect.tests.TestUtils.mqttUri;
-import static org.junit.jupiter.api.Assertions.*;
-
-/**
- * Test case "defaultOnlyRead".
- *
- * @author rschoene - Initial contribution
- */
-public class DefaultOnlyWriteTest extends AbstractMqttTest {
-
- private static final String TOPIC_NATIVE_INT = "native/int";
- private static final String TOPIC_NATIVE_SHORT = "native/short";
- private static final String TOPIC_NATIVE_LONG = "native/long";
- private static final String TOPIC_NATIVE_FLOAT = "native/float";
- private static final String TOPIC_NATIVE_DOUBLE = "native/double";
- private static final String TOPIC_NATIVE_CHAR = "native/char";
- private static final String TOPIC_NATIVE_STRING = "native/string";
-
- private static final String TOPIC_BOXED_INTEGER = "boxed/Integer";
- private static final String TOPIC_BOXED_SHORT = "boxed/Short";
- private static final String TOPIC_BOXED_LONG = "boxed/Long";
- private static final String TOPIC_BOXED_FLOAT = "boxed/Float";
- private static final String TOPIC_BOXED_DOUBLE = "boxed/Double";
- private static final String TOPIC_BOXED_CHARACTER = "boxed/Character";
-
- private A model;
- private NativeTypesSyn nativeIntegers;
- private NativeTypesSyn nativeFloats;
- private NativeTypesSyn nativeChars;
- private BoxedTypesSyn boxedIntegers;
- private BoxedTypesSyn boxedFloats;
- private BoxedTypesSyn boxedChars;
- private MqttHandler receiver;
- private ReceiverData data;
-
- @AfterEach
- public void closeConnections() {
- if (receiver != null) {
- receiver.close();
- }
- if (model != null) {
- model.ragconnectCloseConnections();
- }
- }
-
-
- @Test
- public void buildModel() {
- createModel();
- }
-
- @Test
- public void communicateSendInitialValue() throws IOException, InterruptedException {
- createModel();
- setData("1", "1.1", "ab");
- setupReceiverAndConnect(true);
-
- // check initial value
- TestUtils.waitForMqtt();
- checkData(1, 1, 1.1, 'a', "ab");
-
- // set new value
- setData("2", "2.2", "cd");
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(2, 2, 2.2, 'c', "cd");
-
- // set new value
- setData("3", "3.2", "ee");
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(3, 3, 3.2, 'e', "ee");
- }
-
- @Test
- public void communicateOnlyUpdatedValue() throws IOException, InterruptedException {
- createModel();
- setData("1", "1.1", "ab");
- setupReceiverAndConnect(false);
-
- // check initial value (will be default values)
- TestUtils.waitForMqtt();
- checkData(0, null, null, null, null);
-
- // set new value
- setData("2", "2.2", "cd");
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(1, 2, 2.2, 'c', "cd");
-
- // set new value
- setData("3", "3.2", "ee");
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(2, 3, 3.2, 'e', "ee");
- }
-
- private void createModel() {
- model = new A();
-
- nativeIntegers = new NativeTypesSyn();
- nativeFloats = new NativeTypesSyn();
- nativeChars = new NativeTypesSyn();
- model.addNativeTypesSyn(nativeIntegers);
- model.addNativeTypesSyn(nativeFloats);
- model.addNativeTypesSyn(nativeChars);
-
- boxedIntegers = new BoxedTypesSyn();
- boxedFloats = new BoxedTypesSyn();
- boxedChars = new BoxedTypesSyn();
- model.addBoxedTypesSyn(boxedIntegers);
- model.addBoxedTypesSyn(boxedFloats);
- model.addBoxedTypesSyn(boxedChars);
- }
-
- private void setupReceiverAndConnect(boolean writeCurrentValue) throws IOException {
- model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
-
- receiver = new MqttHandler().dontSendWelcomeMessage().setHost(TestUtils.getMqttHost());
- assertTrue(receiver.waitUntilReady(2, TimeUnit.SECONDS));
-
- nativeIntegers.addNativeIntDependency(nativeIntegers);
- nativeIntegers.addNativeShortDependency(nativeIntegers);
- nativeIntegers.addNativeLongDependency(nativeIntegers);
- nativeFloats.addNativeFloatDependency(nativeFloats);
- nativeFloats.addNativeDoubleDependency(nativeFloats);
- nativeChars.addNativeCharDependency(nativeChars);
- nativeChars.addNativeStringDependency(nativeChars);
-
- boxedIntegers.addBoxedIntDependency(boxedIntegers);
- boxedIntegers.addBoxedShortDependency(boxedIntegers);
- boxedIntegers.addBoxedLongDependency(boxedIntegers);
- boxedFloats.addBoxedFloatDependency(boxedFloats);
- boxedFloats.addBoxedDoubleDependency(boxedFloats);
- boxedChars.addBoxedCharDependency(boxedChars);
-
- data = new ReceiverData();
-
- receiver.newConnection(TOPIC_NATIVE_INT, bytes -> {
- data.numberOfNativeIntValues += 1;
- data.lastNativeIntValue = java.nio.ByteBuffer.wrap(bytes).getInt();
- });
- receiver.newConnection(TOPIC_NATIVE_SHORT, bytes -> {
- data.numberOfNativeShortValues += 1;
- data.lastNativeShortValue = java.nio.ByteBuffer.wrap(bytes).getShort();
- });
- receiver.newConnection(TOPIC_NATIVE_LONG, bytes -> {
- data.numberOfNativeLongValues += 1;
- data.lastNativeLongValue = java.nio.ByteBuffer.wrap(bytes).getLong();
- });
- receiver.newConnection(TOPIC_NATIVE_FLOAT, bytes -> {
- data.numberOfNativeFloatValues += 1;
- data.lastNativeFloatValue = java.nio.ByteBuffer.wrap(bytes).getFloat();
- });
- receiver.newConnection(TOPIC_NATIVE_DOUBLE, bytes -> {
- data.numberOfNativeDoubleValues += 1;
- data.lastNativeDoubleValue = java.nio.ByteBuffer.wrap(bytes).getDouble();
- });
- receiver.newConnection(TOPIC_NATIVE_CHAR, bytes -> {
- data.numberOfNativeCharValues += 1;
- data.lastNativeCharValue = java.nio.ByteBuffer.wrap(bytes).getChar();
- });
- receiver.newConnection(TOPIC_NATIVE_STRING, bytes -> {
- data.numberOfNativeStringValues += 1;
- data.lastNativeStringValue = new String(bytes);
- });
- receiver.newConnection(TOPIC_BOXED_INTEGER, bytes -> {
- data.numberOfBoxedIntValues += 1;
- data.lastBoxedIntValue = java.nio.ByteBuffer.wrap(bytes).getInt();
- });
- receiver.newConnection(TOPIC_BOXED_SHORT, bytes -> {
- data.numberOfBoxedShortValues += 1;
- data.lastBoxedShortValue = java.nio.ByteBuffer.wrap(bytes).getShort();
- });
- receiver.newConnection(TOPIC_BOXED_LONG, bytes -> {
- data.numberOfBoxedLongValues += 1;
- data.lastBoxedLongValue = java.nio.ByteBuffer.wrap(bytes).getLong();
- });
- receiver.newConnection(TOPIC_BOXED_FLOAT, bytes -> {
- data.numberOfBoxedFloatValues += 1;
- data.lastBoxedFloatValue = java.nio.ByteBuffer.wrap(bytes).getFloat();
- });
- receiver.newConnection(TOPIC_BOXED_DOUBLE, bytes -> {
- data.numberOfBoxedDoubleValues += 1;
- data.lastBoxedDoubleValue = java.nio.ByteBuffer.wrap(bytes).getDouble();
- });
- receiver.newConnection(TOPIC_BOXED_CHARACTER, bytes -> {
- data.numberOfBoxedCharValues += 1;
- data.lastBoxedCharValue = java.nio.ByteBuffer.wrap(bytes).getChar();
- });
-
- nativeIntegers.connectIntValue(mqttUri(TOPIC_NATIVE_INT), writeCurrentValue);
- nativeIntegers.connectShortValue(mqttUri(TOPIC_NATIVE_SHORT), writeCurrentValue);
- nativeIntegers.connectLongValue(mqttUri(TOPIC_NATIVE_LONG), writeCurrentValue);
- nativeFloats.connectFloatValue(mqttUri(TOPIC_NATIVE_FLOAT), writeCurrentValue);
- nativeFloats.connectDoubleValue(mqttUri(TOPIC_NATIVE_DOUBLE), writeCurrentValue);
- nativeChars.connectCharValue(mqttUri(TOPIC_NATIVE_CHAR), writeCurrentValue);
- nativeChars.connectStringValue(mqttUri(TOPIC_NATIVE_STRING), writeCurrentValue);
- boxedIntegers.connectIntValue(mqttUri(TOPIC_BOXED_INTEGER), writeCurrentValue);
- boxedIntegers.connectShortValue(mqttUri(TOPIC_BOXED_SHORT), writeCurrentValue);
- boxedIntegers.connectLongValue(mqttUri(TOPIC_BOXED_LONG), writeCurrentValue);
- boxedFloats.connectFloatValue(mqttUri(TOPIC_BOXED_FLOAT), writeCurrentValue);
- boxedFloats.connectDoubleValue(mqttUri(TOPIC_BOXED_DOUBLE), writeCurrentValue);
- boxedChars.connectCharValue(mqttUri(TOPIC_BOXED_CHARACTER), writeCurrentValue);
- }
-
- private void setData(String integerDriver, String floatDriver, String stringDriver) {
- nativeIntegers.setDriverSyn(integerDriver);
- nativeFloats.setDriverSyn(floatDriver);
- nativeChars.setDriverSyn(stringDriver);
-
- boxedIntegers.setDriverSyn(integerDriver);
- boxedFloats.setDriverSyn(floatDriver);
- boxedChars.setDriverSyn(stringDriver);
- }
-
- private void checkData(int expectedNumberOfValues,
- Integer expectedInt, Double expectedDouble,
- Character expectedChar, String expectedString) {
- assertEquals(expectedNumberOfValues, data.numberOfNativeIntValues);
- assertEquals(expectedNumberOfValues, data.numberOfNativeShortValues);
- assertEquals(expectedNumberOfValues, data.numberOfNativeLongValues);
- assertEquals(expectedNumberOfValues, data.numberOfNativeFloatValues);
- assertEquals(expectedNumberOfValues, data.numberOfNativeDoubleValues);
- assertEquals(expectedNumberOfValues, data.numberOfNativeCharValues);
- assertEquals(expectedNumberOfValues, data.numberOfNativeStringValues);
-
- assertEquals(expectedNumberOfValues, data.numberOfBoxedIntValues);
- assertEquals(expectedNumberOfValues, data.numberOfBoxedShortValues);
- assertEquals(expectedNumberOfValues, data.numberOfBoxedLongValues);
- assertEquals(expectedNumberOfValues, data.numberOfBoxedFloatValues);
- assertEquals(expectedNumberOfValues, data.numberOfBoxedDoubleValues);
- assertEquals(expectedNumberOfValues, data.numberOfBoxedCharValues);
-
- if (expectedInt != null) {
- assertEquals(expectedInt.intValue(), data.lastNativeIntValue);
- assertEquals(expectedInt.shortValue(), data.lastNativeShortValue);
- assertEquals(expectedInt.longValue(), data.lastNativeLongValue);
- assertEquals(expectedInt.intValue(), data.lastBoxedIntValue.intValue());
- assertEquals(expectedInt.shortValue(), data.lastBoxedShortValue.shortValue());
- assertEquals(expectedInt.longValue(), data.lastBoxedLongValue.longValue());
- } else {
- assertEquals(0, data.lastNativeIntValue);
- assertEquals(0, data.lastNativeShortValue);
- assertEquals(0, data.lastNativeLongValue);
- assertNull(data.lastBoxedIntValue);
- assertNull(data.lastBoxedShortValue);
- assertNull(data.lastBoxedLongValue);
- }
-
- if (expectedDouble != null) {
- assertEquals(expectedDouble.floatValue(), data.lastNativeFloatValue, TestUtils.DELTA);
- assertEquals(expectedDouble, data.lastNativeDoubleValue, TestUtils.DELTA);
- assertEquals(expectedDouble.floatValue(), data.lastBoxedFloatValue, TestUtils.DELTA);
- assertEquals(expectedDouble, data.lastBoxedDoubleValue, TestUtils.DELTA);
- } else {
- assertEquals(0f, data.lastNativeFloatValue, TestUtils.DELTA);
- assertEquals(0d, data.lastNativeDoubleValue, TestUtils.DELTA);
- assertNull(data.lastBoxedFloatValue);
- assertNull(data.lastBoxedDoubleValue);
- }
-
- if (expectedChar != null) {
- assertEquals(expectedChar.charValue(), data.lastNativeCharValue);
- assertEquals(expectedChar, data.lastBoxedCharValue);
- } else {
- assertEquals('\0', data.lastNativeCharValue);
- assertNull(data.lastBoxedCharValue);
- }
- assertEquals(expectedString, data.lastNativeStringValue);
- }
-
- private static class ReceiverData {
- int lastNativeIntValue;
- int numberOfNativeIntValues = 0;
- short lastNativeShortValue;
- int numberOfNativeShortValues = 0;
- long lastNativeLongValue;
- int numberOfNativeLongValues = 0;
- float lastNativeFloatValue;
- int numberOfNativeFloatValues = 0;
- double lastNativeDoubleValue;
- int numberOfNativeDoubleValues = 0;
- char lastNativeCharValue;
- int numberOfNativeCharValues = 0;
- String lastNativeStringValue;
- int numberOfNativeStringValues = 0;
-
- Integer lastBoxedIntValue;
- int numberOfBoxedIntValues = 0;
- Short lastBoxedShortValue;
- int numberOfBoxedShortValues = 0;
- Long lastBoxedLongValue;
- int numberOfBoxedLongValues = 0;
- Float lastBoxedFloatValue;
- int numberOfBoxedFloatValues = 0;
- Double lastBoxedDoubleValue;
- int numberOfBoxedDoubleValues = 0;
- Character lastBoxedCharValue;
- int numberOfBoxedCharValues = 0;
- }
-
-}
diff --git a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/Errors.java b/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/Errors.java
deleted file mode 100644
index 17d853fba71c2ee46c6c6c7b5424958af0a5f8d2..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/Errors.java
+++ /dev/null
@@ -1,84 +0,0 @@
-package org.jastadd.ragconnect.tests;
-
-import org.apache.logging.log4j.LogManager;
-import org.apache.logging.log4j.Logger;
-import org.jastadd.ragconnect.compiler.Compiler;
-import org.junit.jupiter.api.Assertions;
-import org.junit.jupiter.api.BeforeAll;
-import org.junit.jupiter.api.Test;
-
-import java.io.File;
-import java.io.IOException;
-import java.nio.charset.Charset;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
-import java.util.stream.Collectors;
-
-import static org.jastadd.ragconnect.tests.TestUtils.exec;
-import static org.jastadd.ragconnect.tests.TestUtils.readFile;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-class Errors {
-
- private static final Logger logger = LogManager.getLogger(Errors.class);
- private static final String FILENAME_PATTERN = "$FILENAME";
- private static final String INPUT_DIRECTORY = "./src/test/01-input/errors/";
- private static final String OUTPUT_DIRECTORY = "./src/test/02-after-ragconnect/errors/";
-
- @BeforeAll
- public static void createOutputDirectory() {
- File outputDirectory = new File(OUTPUT_DIRECTORY);
- assertTrue((outputDirectory.exists() && outputDirectory.isDirectory()) || outputDirectory.mkdir());
- }
-
- @Test
- void testStandardErrors() throws IOException {
- test("Errors", "A");
- }
-
- @SuppressWarnings("SameParameterValue")
- private void test(String name, String rootNode) throws IOException {
- String grammarFile = INPUT_DIRECTORY + name + ".relast";
- String ragconnectFile = INPUT_DIRECTORY + name + ".connect";
- String outFile = OUTPUT_DIRECTORY + name + ".out";
- String expectedFile = INPUT_DIRECTORY + name + ".expected";
-
- try {
- logger.debug("user.dir: {}", System.getProperty("user.dir"));
- String[] args = {
- "--o=" + OUTPUT_DIRECTORY,
- grammarFile,
- ragconnectFile,
- "--rootNode=" + rootNode,
- "--verbose"
- };
- int returnValue = exec(Compiler.class, args, new File(outFile));
- Assertions.assertEquals(1, returnValue, "RagConnect did not return with value 1");
- } catch (IOException | InterruptedException e) {
- e.printStackTrace();
- }
-
- String out = readFile(outFile, Charset.defaultCharset());
- String expected = readFile(expectedFile, Charset.defaultCharset());
-// if (inFiles.size() == 1) {
- expected = expected.replace(FILENAME_PATTERN, name);
-// } else {
-// for (int i = 0; i < inFiles.size(); i++) {
-// expected = expected.replace(FILENAME_PATTERN + (i + 1), inFiles.get(i));
-// }
-// }
- List<String> outList = Arrays.asList(out.split("\n"));
- Collections.sort(outList);
- List<String> expectedList = Arrays.stream(expected.split("\n"))
- .sorted()
- .filter(s -> !s.isEmpty() && !s.startsWith("//"))
- .collect(Collectors.toList());
-
- // FIXME errors not handled correctly at the moment
-// Assertions.assertLinesMatch(expectedList, outList);
-
- logger.info("ragconnect for " + name + " returned:\n{}", out);
- }
-
-}
diff --git a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/ExampleTest.java b/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/ExampleTest.java
deleted file mode 100644
index 3d0706c075d8e4af3b3c5e5fa703f3885b80ddf3..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/ExampleTest.java
+++ /dev/null
@@ -1,286 +0,0 @@
-package org.jastadd.ragconnect.tests;
-
-import com.google.protobuf.InvalidProtocolBufferException;
-import config.Config.RobotConfig;
-import example.ast.*;
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.BeforeEach;
-import org.junit.jupiter.api.Test;
-import robot.RobotStateOuterClass.RobotState;
-
-import java.io.IOException;
-import java.util.concurrent.TimeUnit;
-
-import static org.jastadd.ragconnect.tests.TestUtils.mqttUri;
-import static org.junit.jupiter.api.Assertions.*;
-
-/**
- * Test case "example".
- *
- * @author rschoene - Initial contribution
- */
-public class ExampleTest extends AbstractMqttTest {
-
- private static final String TOPIC_CONFIG = "robot/config";
- private static final String TOPIC_JOINT1 = "robot/arm/joint1";
- private static final String TOPIC_JOINT2 = "robot/arm/joint2";
-
- private Model model;
- private RobotArm robotArm;
- private Link link1;
- private Link link2;
- private MqttHandler handler;
- private ReceiverData data;
-
- @BeforeEach
- public void resetTestCounter() {
- TestCounter.reset();
- }
-
- @AfterEach
- public void closeConnections() {
- if (handler != null) {
- handler.close();
- }
- if (model != null) {
- model.ragconnectCloseConnections();
- }
- }
-
- @Test
- public void buildModel() {
- createModel();
- }
-
- @Test
- public void communicateSendInitialValue() throws IOException, InterruptedException {
- createModel();
- setupReceiverAndConnect(true);
-
- // joint is currently within the safety zone, so speed should be low
- TestUtils.waitForMqtt();
- assertEquals(0, TestCounter.INSTANCE.numberParseLinkState);
- assertEquals(0, TestCounter.INSTANCE.numberLinkStateToIntPosition);
- assertEquals(1, TestCounter.INSTANCE.numberInSafetyZone);
- assertEquals(1, TestCounter.INSTANCE.numberCreateSpeedMessage);
- assertEquals(1, TestCounter.INSTANCE.numberSerializeRobotConfig);
- assertEquals(1, data.numberOfConfigs);
- assertFalse(data.failedLastConversion);
- assertEquals(robotArm.speedLow(), data.lastConfig.getSpeed(), TestUtils.DELTA);
-
- // change position of the first joint out of the safety zone, second still in
- sendData(TOPIC_JOINT1, 0.2f, 0.2f, 0.2f);
-
- // still in safety zone, so no update should have been sent
- TestUtils.waitForMqtt();
- assertEquals(makePosition(2, 2, 2), link1.getCurrentPosition());
- assertEquals(1, TestCounter.INSTANCE.numberParseLinkState);
- assertEquals(1, TestCounter.INSTANCE.numberLinkStateToIntPosition);
- assertEquals(2, TestCounter.INSTANCE.numberInSafetyZone);
- assertEquals(2, TestCounter.INSTANCE.numberCreateSpeedMessage);
- assertEquals(2, TestCounter.INSTANCE.numberSerializeRobotConfig);
- assertEquals(1, data.numberOfConfigs);
- assertFalse(data.failedLastConversion);
- assertEquals(robotArm.speedLow(), data.lastConfig.getSpeed(), TestUtils.DELTA);
-
- // change position of second joint also out of the safety zone, now speed must be high
- sendData(TOPIC_JOINT2, 0.3f, 0.4f, 0.5f);
-
- TestUtils.waitForMqtt();
- assertEquals(makePosition(3, 4, 5), link2.getCurrentPosition());
- assertEquals(2, TestCounter.INSTANCE.numberParseLinkState);
- assertEquals(2, TestCounter.INSTANCE.numberLinkStateToIntPosition);
- assertEquals(3, TestCounter.INSTANCE.numberInSafetyZone);
- assertEquals(3, TestCounter.INSTANCE.numberCreateSpeedMessage);
- assertEquals(3, TestCounter.INSTANCE.numberSerializeRobotConfig);
- assertEquals(2, data.numberOfConfigs);
- assertFalse(data.failedLastConversion);
- assertEquals(robotArm.speedHigh(), data.lastConfig.getSpeed(), TestUtils.DELTA);
-
- // change position of second joint, no change after mapping
- sendData(TOPIC_JOINT2, 0.33f, 0.42f, 0.51f);
-
- TestUtils.waitForMqtt();
- assertEquals(makePosition(3, 4, 5), link2.getCurrentPosition());
- assertEquals(3, TestCounter.INSTANCE.numberParseLinkState);
- assertEquals(3, TestCounter.INSTANCE.numberLinkStateToIntPosition);
- assertEquals(3, TestCounter.INSTANCE.numberInSafetyZone);
- assertEquals(3, TestCounter.INSTANCE.numberCreateSpeedMessage);
- assertEquals(3, TestCounter.INSTANCE.numberSerializeRobotConfig);
- assertEquals(2, data.numberOfConfigs);
- assertFalse(data.failedLastConversion);
-
- // change position of second joint, still out of the safety zone, no update should be sent
- sendData(TOPIC_JOINT2, 1.3f, 2.4f, 3.5f);
-
- TestUtils.waitForMqtt();
- assertEquals(makePosition(13, 24, 35), link2.getCurrentPosition());
- assertEquals(4, TestCounter.INSTANCE.numberParseLinkState);
- assertEquals(4, TestCounter.INSTANCE.numberLinkStateToIntPosition);
- assertEquals(4, TestCounter.INSTANCE.numberInSafetyZone);
- assertEquals(4, TestCounter.INSTANCE.numberCreateSpeedMessage);
- assertEquals(4, TestCounter.INSTANCE.numberSerializeRobotConfig);
- assertEquals(2, data.numberOfConfigs);
- assertFalse(data.failedLastConversion);
- }
-
- @Test
- public void communicateOnlyUpdatedValue() throws IOException, InterruptedException {
- createModel();
- setupReceiverAndConnect(false);
-
- // no value should have been sent
- TestUtils.waitForMqtt();
- assertEquals(0, TestCounter.INSTANCE.numberParseLinkState);
- assertEquals(0, TestCounter.INSTANCE.numberLinkStateToIntPosition);
- assertEquals(1, TestCounter.INSTANCE.numberInSafetyZone);
- assertEquals(1, TestCounter.INSTANCE.numberCreateSpeedMessage);
- assertEquals(1, TestCounter.INSTANCE.numberSerializeRobotConfig);
- assertEquals(0, data.numberOfConfigs);
-
- // change position of the first joint out of the safety zone, second still in
- sendData(TOPIC_JOINT1, 0.2f, 0.2f, 0.2f);
-
- // still in safety zone, hence, no value should have been sent
- TestUtils.waitForMqtt();
- assertEquals(makePosition(2, 2, 2), link1.getCurrentPosition());
- assertEquals(1, TestCounter.INSTANCE.numberParseLinkState);
- assertEquals(1, TestCounter.INSTANCE.numberLinkStateToIntPosition);
- assertEquals(2, TestCounter.INSTANCE.numberInSafetyZone);
- assertEquals(2, TestCounter.INSTANCE.numberCreateSpeedMessage);
- assertEquals(2, TestCounter.INSTANCE.numberSerializeRobotConfig);
- assertEquals(0, data.numberOfConfigs);
-
- // change position of second joint also out of the safety zone, now speed must be high
- sendData(TOPIC_JOINT2, 0.3f, 0.4f, 0.5f);
-
- TestUtils.waitForMqtt();
- assertEquals(makePosition(3, 4, 5), link2.getCurrentPosition());
- assertEquals(2, TestCounter.INSTANCE.numberParseLinkState);
- assertEquals(2, TestCounter.INSTANCE.numberLinkStateToIntPosition);
- assertEquals(3, TestCounter.INSTANCE.numberInSafetyZone);
- assertEquals(3, TestCounter.INSTANCE.numberCreateSpeedMessage);
- assertEquals(3, TestCounter.INSTANCE.numberSerializeRobotConfig);
- assertEquals(1, data.numberOfConfigs);
- assertFalse(data.failedLastConversion);
- assertEquals(robotArm.speedHigh(), data.lastConfig.getSpeed(), TestUtils.DELTA);
-
- // change position of second joint, no change after mapping
- sendData(TOPIC_JOINT2, 0.33f, 0.42f, 0.51f);
-
- TestUtils.waitForMqtt();
- assertEquals(makePosition(3, 4, 5), link2.getCurrentPosition());
- assertEquals(3, TestCounter.INSTANCE.numberParseLinkState);
- assertEquals(3, TestCounter.INSTANCE.numberLinkStateToIntPosition);
- assertEquals(3, TestCounter.INSTANCE.numberInSafetyZone);
- assertEquals(3, TestCounter.INSTANCE.numberCreateSpeedMessage);
- assertEquals(3, TestCounter.INSTANCE.numberSerializeRobotConfig);
- assertEquals(1, data.numberOfConfigs);
- assertFalse(data.failedLastConversion);
-
- // change position of second joint, still out of the safety zone, no update should be sent
- sendData(TOPIC_JOINT2, 1.3f, 2.4f, 3.5f);
-
- TestUtils.waitForMqtt();
- assertEquals(makePosition(13, 24, 35), link2.getCurrentPosition());
- assertEquals(4, TestCounter.INSTANCE.numberParseLinkState);
- assertEquals(4, TestCounter.INSTANCE.numberLinkStateToIntPosition);
- assertEquals(4, TestCounter.INSTANCE.numberInSafetyZone);
- assertEquals(4, TestCounter.INSTANCE.numberCreateSpeedMessage);
- assertEquals(4, TestCounter.INSTANCE.numberSerializeRobotConfig);
- assertEquals(1, data.numberOfConfigs);
- assertFalse(data.failedLastConversion);
- }
-
- @Test
- public void testFailedConversion() throws IOException {
- createModel();
- setupReceiverAndConnect(false);
-
- handler.publish(TOPIC_JOINT1, "not-a-pandaLinkState".getBytes());
- assertEquals(0, data.numberOfConfigs);
- assertTrue(data.failedLastConversion);
- }
-
- private void sendData(String topic, float x, float y, float z) {
- handler.publish(topic, RobotState.newBuilder()
- .setPosition(RobotState.Position.newBuilder().setX(x).setY(y).setZ(z).build())
- .build()
- .toByteArray()
- );
- }
-
- private void setupReceiverAndConnect(boolean writeCurrentValue) throws IOException {
- model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
-
- handler = new MqttHandler().dontSendWelcomeMessage().setHost(TestUtils.getMqttHost());
- assertTrue(handler.waitUntilReady(2, TimeUnit.SECONDS));
-
- // add dependencies
- robotArm.addDependency1(link1);
- robotArm.addDependency1(link2);
- robotArm.addDependency1(robotArm.getEndEffector());
-
- data = new ReceiverData();
-
- handler.newConnection(TOPIC_CONFIG, bytes -> {
- data.numberOfConfigs += 1;
- try {
- data.lastConfig = RobotConfig.parseFrom(bytes);
- data.failedLastConversion = false;
- } catch (InvalidProtocolBufferException e) {
- data.failedLastConversion = true;
- }
- });
-
- robotArm.connectAppropriateSpeed(mqttUri(TOPIC_CONFIG), writeCurrentValue);
- link1.connectCurrentPosition(mqttUri(TOPIC_JOINT1));
- link2.connectCurrentPosition(mqttUri(TOPIC_JOINT2));
- }
-
- private void createModel() {
- model = new Model();
-
- ZoneModel zoneModel = new ZoneModel();
-
- IntPosition firstPosition = makePosition(0, 0, 0);
- IntPosition secondPosition = makePosition(-1, 0, 0);
- IntPosition thirdPosition = makePosition(1, 0, 0);
-
- Zone safetyZone = new Zone();
- safetyZone.addCoordinate(new Coordinate(firstPosition));
- safetyZone.addCoordinate(new Coordinate(secondPosition));
- safetyZone.addCoordinate(new Coordinate(thirdPosition));
- zoneModel.addSafetyZone(safetyZone);
- model.setZoneModel(zoneModel);
-
- robotArm = new RobotArm();
-
- link1 = new Link();
- link1.setName("joint1");
- link1.setCurrentPosition(firstPosition);
-
- link2 = new Link();
- link2.setName("joint2");
- link2.setCurrentPosition(secondPosition);
-
- EndEffector endEffector = new EndEffector();
- endEffector.setName("gripper");
- endEffector.setCurrentPosition(makePosition(2, 2, 3));
-
- robotArm.addLink(link1);
- robotArm.addLink(link2);
- robotArm.setEndEffector(endEffector);
- model.setRobotArm(robotArm);
- }
-
- private static IntPosition makePosition(int x, int y, int z) {
- return IntPosition.of(x, y, z);
- }
-
- private static class ReceiverData {
- RobotConfig lastConfig;
- boolean failedLastConversion = true;
- int numberOfConfigs = 0;
- }
-}
diff --git a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/Read1Write2Test.java b/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/Read1Write2Test.java
deleted file mode 100644
index 5ede1e1896afadc70da7b868cf4272eafa250514..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/Read1Write2Test.java
+++ /dev/null
@@ -1,250 +0,0 @@
-package org.jastadd.ragconnect.tests;
-
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.Test;
-import read1write2.ast.*;
-
-import java.io.IOException;
-import java.util.concurrent.TimeUnit;
-
-import static org.jastadd.ragconnect.tests.TestUtils.mqttUri;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-/**
- * Test case "read-1-write-2".
- *
- * @author rschoene - Initial contribution
- */
-public class Read1Write2Test extends AbstractMqttTest {
-
- private static final String TOPIC_SAME_READ = "same/read";
- private static final String TOPIC_SAME_WRITE_INT = "same/write/int";
- private static final String TOPIC_SAME_WRITE_STRING = "same/write/string";
- private static final String TOPIC_DIFFERENT_READ = "different/read";
- private static final String TOPIC_DIFFERENT_WRITE1_INT = "different/write1/int";
- private static final String TOPIC_DIFFERENT_WRITE1_STRING = "different/write1/string";
- private static final String TOPIC_DIFFERENT_WRITE2_INT = "different/write2/int";
- private static final String TOPIC_DIFFERENT_WRITE2_STRING = "different/write2/string";
- private static final String INITIAL_VALUE = "-1";
-
- private MqttHandler handler;
- private A model;
- private OnSameNonterminal onSameNonterminal;
- private OnDifferentNonterminal onDifferentNonterminal;
- private TheOther other1;
- private TheOther other2;
-
- private ReceiverData dataSame;
- private ReceiverData dataOther1;
- private ReceiverData dataOther2;
-
- @AfterEach
- public void closeConnections() {
- if (handler != null) {
- handler.close();
- }
- if (model != null) {
- model.ragconnectCloseConnections();
- }
- }
-
- @Test
- public void buildModel() {
- createModel();
- }
-
- @Test
- public void communicateSendInitialValue() throws IOException, InterruptedException {
- createModel();
- setupReceiverAndConnect(true);
-
- // check initial value
- TestUtils.waitForMqtt();
- checkData(1, Integer.parseInt(INITIAL_VALUE), prefixed(INITIAL_VALUE), 1, Integer.parseInt(INITIAL_VALUE), prefixed(INITIAL_VALUE));
-
- // set new value
- sendData("2", "3");
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(2, 2, prefixed("2"), 2, 3, prefixed("3"));
-
- // set new value
- sendData("4", "4");
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(3, 4, prefixed("4"), 3, 4, prefixed("4"));
-
- // set new value only for same
- setDataOnlySame("77");
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(4, 77, prefixed("77"), 3, 4, prefixed("4"));
- }
-
- private String prefixed(String s) {
- return "prefix" + s;
- }
-
- @Test
- public void communicateOnlyUpdatedValue() throws IOException, InterruptedException {
- createModel();
- setupReceiverAndConnect(false);
-
- // check initial value
- TestUtils.waitForMqtt();
- checkData(0, null, null, 0, null, null);
-
- // set new value
- sendData("2", "3");
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(1, 2, prefixed("2"), 1, 3, prefixed("3"));
-
- // set new value
- sendData("4", "4");
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(2, 4, prefixed("4"), 2, 4, prefixed("4"));
-
- // set new value only for same
- setDataOnlySame("77");
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(3, 77, prefixed("77"), 2, 4, prefixed("4"));
- }
-
- private void createModel() {
- // Setting value for Input without dependencies does not trigger any updates
- model = new A();
-
- onSameNonterminal = new OnSameNonterminal();
- model.setOnSameNonterminal(onSameNonterminal);
- onSameNonterminal.setInput(INITIAL_VALUE);
-
- onDifferentNonterminal = new OnDifferentNonterminal();
- other1 = new TheOther();
- other2 = new TheOther();
- onDifferentNonterminal.addTheOther(other1);
- onDifferentNonterminal.addTheOther(other2);
- model.setOnDifferentNonterminal(onDifferentNonterminal);
- onDifferentNonterminal.setInput(INITIAL_VALUE);
- }
-
- private void setupReceiverAndConnect(boolean writeCurrentValue) throws IOException {
- model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
-
- handler = new MqttHandler().dontSendWelcomeMessage().setHost(TestUtils.getMqttHost());
- assertTrue(handler.waitUntilReady(2, TimeUnit.SECONDS));
-
- onSameNonterminal.addIntDependency(onSameNonterminal);
- onSameNonterminal.addStringDependency(onSameNonterminal);
- other1.addIntDependency(onDifferentNonterminal);
- other1.addStringDependency(onDifferentNonterminal);
- other2.addIntDependency(onDifferentNonterminal);
- other2.addStringDependency(onDifferentNonterminal);
-
- dataSame = new Read1Write2Test.ReceiverData();
- dataOther1 = new Read1Write2Test.ReceiverData();
- dataOther2 = new Read1Write2Test.ReceiverData();
-
- handler.newConnection(TOPIC_SAME_WRITE_INT, bytes -> {
- dataSame.numberOfIntValues += 1;
- dataSame.lastIntValue = java.nio.ByteBuffer.wrap(bytes).getInt();
- });
- handler.newConnection(TOPIC_SAME_WRITE_STRING, bytes -> {
- dataSame.numberOfStringValues += 1;
- dataSame.lastStringValue = new String(bytes);
- });
-
- handler.newConnection(TOPIC_DIFFERENT_WRITE1_INT, bytes -> {
- dataOther1.numberOfIntValues += 1;
- dataOther1.lastIntValue = java.nio.ByteBuffer.wrap(bytes).getInt();
- });
- handler.newConnection(TOPIC_DIFFERENT_WRITE1_STRING, bytes -> {
- dataOther1.numberOfStringValues += 1;
- dataOther1.lastStringValue = new String(bytes);
- });
-
- handler.newConnection(TOPIC_DIFFERENT_WRITE2_INT, bytes -> {
- dataOther2.numberOfIntValues += 1;
- dataOther2.lastIntValue = java.nio.ByteBuffer.wrap(bytes).getInt();
- });
- handler.newConnection(TOPIC_DIFFERENT_WRITE2_STRING, bytes -> {
- dataOther2.numberOfStringValues += 1;
- dataOther2.lastStringValue = new String(bytes);
- });
-
- onSameNonterminal.connectInput(mqttUri(TOPIC_SAME_READ));
- onSameNonterminal.connectOutInteger(mqttUri(TOPIC_SAME_WRITE_INT), writeCurrentValue);
- onSameNonterminal.connectOutString(mqttUri(TOPIC_SAME_WRITE_STRING), writeCurrentValue);
-
- onDifferentNonterminal.connectInput(mqttUri(TOPIC_DIFFERENT_READ));
- other1.connectOutInteger(mqttUri(TOPIC_DIFFERENT_WRITE1_INT), writeCurrentValue);
- other1.connectOutString(mqttUri(TOPIC_DIFFERENT_WRITE1_STRING), writeCurrentValue);
- other2.connectOutInteger(mqttUri(TOPIC_DIFFERENT_WRITE2_INT), writeCurrentValue);
- other2.connectOutString(mqttUri(TOPIC_DIFFERENT_WRITE2_STRING), writeCurrentValue);
- }
-
- private void sendData(String inputSame, String inputDifferent) {
- handler.publish(TOPIC_SAME_READ, inputSame.getBytes());
- handler.publish(TOPIC_DIFFERENT_READ, inputDifferent.getBytes());
- }
-
- private void setDataOnlySame(String inputSame) {
- handler.publish(TOPIC_SAME_READ, inputSame.getBytes());
- }
-
- private void checkData(int numberOfSameValues, Integer lastSameIntValue, String lastSameStringValue,
- int numberOfDifferentValues, Integer lastDifferentIntValue,
- String lastDifferentStringValue) {
- /* the value "-2" is never used in the test, so a test will always fail comparing to this value
- especially, it is not the initial value */
- ReceiverData expectedDataSame = ReceiverData.of(
- numberOfSameValues,
- lastSameIntValue != null ? lastSameIntValue : -2,
- lastSameStringValue);
- compareData(expectedDataSame, dataSame);
- ReceiverData expectedDataDifferent = ReceiverData.of(
- numberOfDifferentValues,
- lastDifferentIntValue != null ? lastDifferentIntValue : -2,
- lastDifferentStringValue);
- compareData(expectedDataDifferent, dataOther1);
- compareData(expectedDataDifferent, dataOther2);
- }
-
- private void compareData(ReceiverData expectedData,
- ReceiverData actual) {
- assertEquals(expectedData.numberOfIntValues, actual.numberOfIntValues);
- assertEquals(expectedData.numberOfStringValues, actual.numberOfStringValues);
- if (expectedData.numberOfIntValues > 0) {
- assertEquals(expectedData.lastIntValue, actual.lastIntValue);
- }
- if (expectedData.numberOfStringValues > 0) {
- assertEquals(expectedData.lastStringValue, actual.lastStringValue);
- }
- }
-
- private static class ReceiverData {
- int lastIntValue;
- int numberOfIntValues = 0;
- String lastStringValue;
- int numberOfStringValues = 0;
-
- static ReceiverData of(int numberOfValues, int lastIntValue, String lastStringValue) {
- ReceiverData result = new ReceiverData();
- result.lastIntValue = lastIntValue;
- result.lastStringValue = lastStringValue;
- result.numberOfIntValues = numberOfValues;
- result.numberOfStringValues = numberOfValues;
- return result;
- }
- }
-
-}
diff --git a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/Read2Write1Test.java b/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/Read2Write1Test.java
deleted file mode 100644
index 9881eb7110f98a3bc36301f2f7a163c417e9a54e..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/Read2Write1Test.java
+++ /dev/null
@@ -1,241 +0,0 @@
-package org.jastadd.ragconnect.tests;
-
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.Test;
-import read2write1.ast.*;
-
-import java.io.IOException;
-import java.util.concurrent.TimeUnit;
-
-import static org.jastadd.ragconnect.tests.TestUtils.mqttUri;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-/**
- * Test case "read-1-write-2".
- *
- * @author rschoene - Initial contribution
- */
-public class Read2Write1Test extends AbstractMqttTest {
-
- private static final String TOPIC_SAME_READ1 = "same/read1";
- private static final String TOPIC_SAME_READ2 = "same/read2";
- private static final String TOPIC_SAME_WRITE_INT = "same/write/int";
- private static final String TOPIC_DIFFERENT_READ1 = "different/read1";
- private static final String TOPIC_DIFFERENT_READ2 = "different/read2";
- private static final String TOPIC_DIFFERENT_WRITE1_INT = "different/write1/int";
- private static final String TOPIC_DIFFERENT_WRITE2_INT = "different/write2/int";
- private static final String INITIAL_VALUE = "0";
-
- private MqttHandler handler;
- private A model;
- private OnSameNonterminal onSameNonterminal;
- private OnDifferentNonterminal onDifferentNonterminal;
- private TheOther other1;
- private TheOther other2;
-
- private ReceiverData dataSame;
- private ReceiverData dataOther1;
- private ReceiverData dataOther2;
-
- @AfterEach
- public void closeConnections() {
- if (handler != null) {
- handler.close();
- }
- if (model != null) {
- model.ragconnectCloseConnections();
- }
- }
-
- @Test
- public void buildModel() {
- createModel();
- }
-
- @Test
- public void communicateSendInitialValue() throws IOException, InterruptedException {
- createModel();
- setupReceiverAndConnect(true);
-
- // check initial value
- TestUtils.waitForMqtt();
- checkData(1, Integer.parseInt(INITIAL_VALUE + INITIAL_VALUE),
- 1, Integer.parseInt(INITIAL_VALUE + INITIAL_VALUE));
-
- // set new value
- sendData(true, "2", true, "3");
-
- // check new value. same: 2, 0. different: 3, 0.
- TestUtils.waitForMqtt();
- checkData(2, 20,
- 2, 30);
-
- // set new value
- sendData(false, "4", false, "4");
-
- // check new value. same: 2, 4. different: 3, 4.
- TestUtils.waitForMqtt();
- checkData(3, 24,
- 3, 34);
-
- // set new value only for same
- setDataOnlySame(true, "77");
-
- // check new value. same: 77, 4. different: 3, 4.
- TestUtils.waitForMqtt();
- checkData(4, 774,
- 3, 34);
- }
-
- private String prefixed(String s) {
- return "prefix" + s;
- }
-
- @Test
- public void communicateOnlyUpdatedValue() throws IOException, InterruptedException {
- createModel();
- setupReceiverAndConnect(false);
-
- // check initial value
- TestUtils.waitForMqtt();
- checkData(0, null,
- 0, null);
-
- // set new value
- sendData(true, "2", true, "3");
-
- // check new value. same: 2, 0. different: 3, 0.
- TestUtils.waitForMqtt();
- checkData(1, 20,
- 1, 30);
-
- // set new value
- sendData(false, "4", false, "4");
-
- // check new value. same: 2, 4. different: 3, 4.
- TestUtils.waitForMqtt();
- checkData(2, 24,
- 2, 34);
-
- // set new value only for same
- setDataOnlySame(true, "77");
-
- // check new value. same: 77, 4. different: 3, 4.
- TestUtils.waitForMqtt();
- checkData(3, 774,
- 2, 34);
- }
-
- private void createModel() {
- // Setting value for Input without dependencies does not trigger any updates
- model = new A();
-
- onSameNonterminal = new OnSameNonterminal();
- model.setOnSameNonterminal(onSameNonterminal);
- onSameNonterminal.setInput1(INITIAL_VALUE);
- onSameNonterminal.setInput2(INITIAL_VALUE);
-
- onDifferentNonterminal = new OnDifferentNonterminal();
- other1 = new TheOther();
- other2 = new TheOther();
- onDifferentNonterminal.addTheOther(other1);
- onDifferentNonterminal.addTheOther(other2);
- model.setOnDifferentNonterminal(onDifferentNonterminal);
- onDifferentNonterminal.setInput1(INITIAL_VALUE);
- onDifferentNonterminal.setInput2(INITIAL_VALUE);
- }
-
- private void setupReceiverAndConnect(boolean writeCurrentValue) throws IOException {
- model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
-
- handler = new MqttHandler().dontSendWelcomeMessage().setHost(TestUtils.getMqttHost());
- assertTrue(handler.waitUntilReady(2, TimeUnit.SECONDS));
-
- onSameNonterminal.addInt1Dependency(onSameNonterminal);
- onSameNonterminal.addInt2Dependency(onSameNonterminal);
- other1.addInt1Dependency(onDifferentNonterminal);
- other1.addInt2Dependency(onDifferentNonterminal);
- other2.addInt1Dependency(onDifferentNonterminal);
- other2.addInt2Dependency(onDifferentNonterminal);
-
- dataSame = new Read2Write1Test.ReceiverData();
- dataOther1 = new Read2Write1Test.ReceiverData();
- dataOther2 = new Read2Write1Test.ReceiverData();
-
- handler.newConnection(TOPIC_SAME_WRITE_INT, bytes -> {
- dataSame.numberOfIntValues += 1;
- dataSame.lastIntValue = java.nio.ByteBuffer.wrap(bytes).getInt();
- });
-
- handler.newConnection(TOPIC_DIFFERENT_WRITE1_INT, bytes -> {
- dataOther1.numberOfIntValues += 1;
- dataOther1.lastIntValue = java.nio.ByteBuffer.wrap(bytes).getInt();
- });
-
- handler.newConnection(TOPIC_DIFFERENT_WRITE2_INT, bytes -> {
- dataOther2.numberOfIntValues += 1;
- dataOther2.lastIntValue = java.nio.ByteBuffer.wrap(bytes).getInt();
- });
-
- onSameNonterminal.connectInput1(mqttUri(TOPIC_SAME_READ1));
- onSameNonterminal.connectInput2(mqttUri(TOPIC_SAME_READ2));
- onSameNonterminal.connectOutInteger(mqttUri(TOPIC_SAME_WRITE_INT), writeCurrentValue);
-
- onDifferentNonterminal.connectInput1(mqttUri(TOPIC_DIFFERENT_READ1));
- onDifferentNonterminal.connectInput2(mqttUri(TOPIC_DIFFERENT_READ2));
- other1.connectOutInteger(mqttUri(TOPIC_DIFFERENT_WRITE1_INT), writeCurrentValue);
- other2.connectOutInteger(mqttUri(TOPIC_DIFFERENT_WRITE2_INT), writeCurrentValue);
- }
-
- private void sendData(boolean useSameInput1, String inputSame,
- boolean useDifferentInput1, String inputDifferent) {
- handler.publish(useSameInput1 ? TOPIC_SAME_READ1 : TOPIC_SAME_READ2,
- inputSame.getBytes());
- handler.publish(useDifferentInput1 ? TOPIC_DIFFERENT_READ1 : TOPIC_DIFFERENT_READ2,
- inputDifferent.getBytes());
- }
-
- private void setDataOnlySame(boolean useSameInput1, String inputSame) {
- handler.publish(useSameInput1 ? TOPIC_SAME_READ1 : TOPIC_DIFFERENT_READ2,
- inputSame.getBytes());
- }
-
- private void checkData(int numberOfSameValues, Integer lastSameIntValue,
- int numberOfDifferentValues, Integer lastDifferentIntValue) {
- /* the value "-2" is never used in the test, so a test will always fail comparing to this value
- especially, it is not the initial value */
- ReceiverData expectedDataSame = ReceiverData.of(
- numberOfSameValues,
- lastSameIntValue != null ? lastSameIntValue : -2
- );
- compareData(expectedDataSame, dataSame);
- ReceiverData expectedDataDifferent = ReceiverData.of(
- numberOfDifferentValues,
- lastDifferentIntValue != null ? lastDifferentIntValue : -2
- );
- compareData(expectedDataDifferent, dataOther1);
- compareData(expectedDataDifferent, dataOther2);
- }
-
- private void compareData(ReceiverData expectedData,
- ReceiverData actual) {
- assertEquals(expectedData.numberOfIntValues, actual.numberOfIntValues);
- if (expectedData.numberOfIntValues > 0) {
- assertEquals(expectedData.lastIntValue, actual.lastIntValue);
- }
- }
-
- private static class ReceiverData {
- int lastIntValue;
- int numberOfIntValues = 0;
-
- static ReceiverData of(int numberOfValues, int lastIntValue) {
- ReceiverData result = new ReceiverData();
- result.lastIntValue = lastIntValue;
- result.numberOfIntValues = numberOfValues;
- return result;
- }
- }
-
-}
diff --git a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/TestUtils.java b/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/TestUtils.java
deleted file mode 100644
index 26c32c5a438bf133d984efa31bde4b05b3b15af1..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/TestUtils.java
+++ /dev/null
@@ -1,77 +0,0 @@
-package org.jastadd.ragconnect.tests;
-
-import org.junit.jupiter.api.Assertions;
-
-import java.io.File;
-import java.io.IOException;
-import java.net.URI;
-import java.net.URISyntaxException;
-import java.nio.charset.Charset;
-import java.nio.file.Files;
-import java.nio.file.Paths;
-import java.util.concurrent.TimeUnit;
-
-/**
- * Utility methods for tests.
- *
- * @author rschoene - Initial contribution
- */
-public class TestUtils {
-
- public static final double DELTA = 0.001d;
-
- public static String getMqttHost() {
- if (System.getenv("GITLAB_CI") != null) {
- // we are in the CI, so use "mqtt" as host
- return "mqtt";
- } {
- // else assume a locally running mqtt broker
- return "localhost";
- }
- }
-
- public static String mqttUri(String path) {
- return "mqtt://" + getMqttHost() + "/" + path;
- }
-
- public static String restUri(String path, int port) {
- return "rest://localhost:" + port + "/" + path;
- }
-
- public static int getMqttDefaultPort() {
- return 1883;
- }
-
- public static int exec(Class<?> klass, String[] args, File err) throws IOException,
- InterruptedException {
- String javaHome = System.getProperty("java.home");
- String javaBin = javaHome + File.separator + "bin" + File.separator + "java";
- String classpath = System.getProperty("java.class.path");
- String className = klass.getName();
-
- String[] newArgs = new String[args.length + 4];
- newArgs[0] = javaBin;
- newArgs[1] = "-cp";
- newArgs[2] = classpath;
- newArgs[3] = className;
- System.arraycopy(args, 0, newArgs, 4, args.length);
-
- ProcessBuilder builder = new ProcessBuilder(newArgs);
-// builder.redirectOutput(err);
- builder.redirectError(err);
-
- Process process = builder.start();
- process.waitFor();
- return process.exitValue();
- }
-
- public static String readFile(String path, Charset encoding)
- throws IOException {
- byte[] encoded = Files.readAllBytes(Paths.get(path));
- return new String(encoded, encoding);
- }
-
- static void waitForMqtt() throws InterruptedException {
- TimeUnit.SECONDS.sleep(2);
- }
-}
diff --git a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/ViaTest.java b/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/ViaTest.java
deleted file mode 100644
index 896b8711fee14bce4dcf8a12006ddb9e26a5791c..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/java/org/jastadd/ragconnect/tests/ViaTest.java
+++ /dev/null
@@ -1,333 +0,0 @@
-package org.jastadd.ragconnect.tests;
-
-import org.junit.jupiter.api.AfterEach;
-import org.junit.jupiter.api.Tag;
-import org.junit.jupiter.api.Test;
-import via.ast.A;
-import via.ast.MqttHandler;
-
-import javax.ws.rs.client.Client;
-import javax.ws.rs.client.ClientBuilder;
-import javax.ws.rs.client.Entity;
-import javax.ws.rs.client.WebTarget;
-import javax.ws.rs.core.MediaType;
-import java.io.IOException;
-import java.util.concurrent.TimeUnit;
-
-import static org.jastadd.ragconnect.tests.TestUtils.mqttUri;
-import static org.jastadd.ragconnect.tests.TestUtils.restUri;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-import static org.junit.jupiter.api.Assertions.assertTrue;
-
-/**
- * Test case "via".
- *
- * @author rschoene - Initial contribution
- */
-@Tag("rest")
-public class ViaTest extends AbstractMqttTest {
-
- private static final int REST_PORT = 9002;
-
- private static final String TOPIC_MQTT_2_MQTT_RECEIVE = "mqtt2mqtt/receive";
- private static final String PATH_REST_2_REST_RECEIVE = "rest2rest/receive";
- private static final String TOPIC_MQTT_2_REST_RECEIVE = "mqtt2rest/receive";
- private static final String PATH_REST_2_MQTT_RECEIVE = "rest2mqtt/receive";
- private static final String TOPIC_BOTH_MQTT_RECEIVE = "both/send";
- private static final String PATH_BOTH_REST_RECEIVE = "both/send";
-
- private static final String TOPIC_MQTT_2_MQTT_SEND = "mqtt2mqtt/send";
- private static final String PATH_REST_2_REST_SEND = "rest2rest/send";
- private static final String PATH_MQTT_2_REST_SEND = "mqtt2rest/send";
- private static final String TOPIC_REST_2_MQTT_SEND = "rest2mqtt/send";
- private static final String TOPIC_BOTH_2_MQTT_SEND = "both2mqtt/send";
- private static final String PATH_BOTH_2_REST_SEND = "both2rest/send";
-
- private static final String REST_SERVER_BASE_URL = "http://localhost:" + REST_PORT + "/";
-
- private MqttHandler handler;
- private A model;
- private ReceiverData dataMqtt2Mqtt;
- private ReceiverData dataRest2Mqtt;
- private WebTarget dataRest2Rest;
- private WebTarget dataMqtt2Rest;
- private ReceiverData dataBoth2Mqtt;
- private WebTarget dataBoth2Rest;
-
- private WebTarget senderRest2Rest;
- private WebTarget senderRest2Mqtt;
- private WebTarget senderBoth2Rest;
-
- @AfterEach
- public void closeConnections() {
- if (handler != null) {
- handler.close();
- }
- if (model != null) {
- model.ragconnectCloseConnections();
- }
- }
-
- @Test
- public void buildModel() {
- createModel();
- }
-
- @Test
- public void communicateSendInitialValue() throws IOException, InterruptedException {
- createModel();
- setupReceiverAndConnect(true);
-
- // check initial value
- TestUtils.waitForMqtt();
- checkData(1, "100-M2M-ToMqtt",
- "200-R2R-ToRest",
- "300-M2R-ToRest",
- 1, "400-R2M-ToMqtt",
- 1, "500-B2M-ToMqtt",
- "500-B2R-ToRest");
-
- sendData("101", "201", "301", "401");
- sendDataForBoth("501", true);
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(2, "FromMqtt-101-M2M-ToMqtt",
- "FromRest-201-R2R-ToRest",
- "FromMqtt-301-M2R-ToRest",
- 2, "FromRest-401-R2M-ToMqtt",
- 2, "501-B2M-ToMqtt",
- "501-B2R-ToRest");
-
- // send value only for bothInput via REST
- sendDataForBoth("502", false);
-
- // check this value
- TestUtils.waitForMqtt();
- checkData(2, "FromMqtt-101-M2M-ToMqtt",
- "FromRest-201-R2R-ToRest",
- "FromMqtt-301-M2R-ToRest",
- 2, "FromRest-401-R2M-ToMqtt",
- 3, "502-B2M-ToMqtt",
- "502-B2R-ToRest");
-
- // send same value only for bothInput via MQTT
- sendDataForBoth("502", true);
-
- // check this value
- TestUtils.waitForMqtt();
- checkData(2, "FromMqtt-101-M2M-ToMqtt",
- "FromRest-201-R2R-ToRest",
- "FromMqtt-301-M2R-ToRest",
- 2, "FromRest-401-R2M-ToMqtt",
- 3, "502-B2M-ToMqtt",
- "502-B2R-ToRest");
-
- // send values for other things
- sendData("102", "202", "302", "402");
-
- // check this value
- TestUtils.waitForMqtt();
- checkData(3, "FromMqtt-102-M2M-ToMqtt",
- "FromRest-202-R2R-ToRest",
- "FromMqtt-302-M2R-ToRest",
- 3, "FromRest-402-R2M-ToMqtt",
- 3, "502-B2M-ToMqtt",
- "502-B2R-ToRest");
-
- // send same values again for other things
- sendData("102", "202", "302", "402");
-
- // check this value
- TestUtils.waitForMqtt();
- checkData(3, "FromMqtt-102-M2M-ToMqtt",
- "FromRest-202-R2R-ToRest",
- "FromMqtt-302-M2R-ToRest",
- 3, "FromRest-402-R2M-ToMqtt",
- 3, "502-B2M-ToMqtt",
- "502-B2R-ToRest");
- }
-
- @Test
- public void communicateOnlyUpdatedValue() throws IOException, InterruptedException {
- createModel();
- setupReceiverAndConnect(false);
-
- // check initial value
- TestUtils.waitForMqtt();
- checkData(0, null,
- "200-R2R-ToRest",
- "300-M2R-ToRest",
- 0, null,
- 0, null,
- "500-B2R-ToRest");
-
- sendData("111", "211", "311", "411");
- sendDataForBoth("511", true);
-
- // check new value
- TestUtils.waitForMqtt();
- checkData(1, "FromMqtt-111-M2M-ToMqtt",
- "FromRest-211-R2R-ToRest",
- "FromMqtt-311-M2R-ToRest",
- 1, "FromRest-411-R2M-ToMqtt",
- 1, "511-B2M-ToMqtt",
- "511-B2R-ToRest");
-
- // send value only for bothInput via REST
- sendDataForBoth("512", false);
-
- // check this value
- TestUtils.waitForMqtt();
- checkData(1, "FromMqtt-111-M2M-ToMqtt",
- "FromRest-211-R2R-ToRest",
- "FromMqtt-311-M2R-ToRest",
- 1, "FromRest-411-R2M-ToMqtt",
- 2, "512-B2M-ToMqtt",
- "512-B2R-ToRest");
-
- // send same value only for bothInput via MQTT
- sendDataForBoth("512", true);
-
- // check this value
- TestUtils.waitForMqtt();
- checkData(1, "FromMqtt-111-M2M-ToMqtt",
- "FromRest-211-R2R-ToRest",
- "FromMqtt-311-M2R-ToRest",
- 1, "FromRest-411-R2M-ToMqtt",
- 2, "512-B2M-ToMqtt",
- "512-B2R-ToRest");
-
- // send values for other things
- sendData("112", "212", "312", "412");
-
- // check this value
- TestUtils.waitForMqtt();
- checkData(2, "FromMqtt-112-M2M-ToMqtt",
- "FromRest-212-R2R-ToRest",
- "FromMqtt-312-M2R-ToRest",
- 2, "FromRest-412-R2M-ToMqtt",
- 2, "512-B2M-ToMqtt",
- "512-B2R-ToRest");
-
- // send same values again for other things
- sendData("112", "212", "312", "412");
-
- // check this value
- TestUtils.waitForMqtt();
- checkData(2, "FromMqtt-112-M2M-ToMqtt",
- "FromRest-212-R2R-ToRest",
- "FromMqtt-312-M2R-ToRest",
- 2, "FromRest-412-R2M-ToMqtt",
- 2, "512-B2M-ToMqtt",
- "512-B2R-ToRest");
- }
-
- private void sendData(String inputMqtt2Mqtt, String inputRest2Rest, String inputMqtt2Rest, String inputRest2Mqtt) {
- handler.publish(TOPIC_MQTT_2_MQTT_RECEIVE, inputMqtt2Mqtt.getBytes());
- senderRest2Rest.request().put(Entity.entity(inputRest2Rest, MediaType.TEXT_PLAIN_TYPE));
- handler.publish(TOPIC_MQTT_2_REST_RECEIVE, inputMqtt2Rest.getBytes());
- senderRest2Mqtt.request().put(Entity.entity(inputRest2Mqtt, MediaType.TEXT_PLAIN_TYPE));
- }
-
- private void sendDataForBoth(String input, boolean useMqtt) {
- if (useMqtt) {
- handler.publish(TOPIC_BOTH_MQTT_RECEIVE, input.getBytes());
- } else {
- senderBoth2Rest.request().put(Entity.entity(input, MediaType.TEXT_PLAIN_TYPE));
- }
- }
-
- private void checkData(int numberOfMqtt2MqttValues, String mqtt2MqttValue, String rest2RestValue, String mqtt2RestValue, int numberOfRest2MqttValues, String rest2MqttValue, int numberOfBoth2MqttValues, String both2MqttValue, String both2RestValue) {
- dataMqtt2Mqtt.assertEqualData(numberOfMqtt2MqttValues, mqtt2MqttValue);
- dataRest2Mqtt.assertEqualData(numberOfRest2MqttValues, rest2MqttValue);
- dataBoth2Mqtt.assertEqualData(numberOfBoth2MqttValues, both2MqttValue);
- assertEquals(rest2RestValue, readRest2Rest());
- assertEquals(mqtt2RestValue, readMqtt2Rest());
- assertEquals(both2RestValue, readBoth2Rest());
- }
-
- private String readRest2Rest() {
- return dataRest2Rest.request().get().readEntity(String.class);
- }
-
- private String readMqtt2Rest() {
- return dataMqtt2Rest.request().get().readEntity(String.class);
- }
-
- private String readBoth2Rest() {
- return dataBoth2Rest.request().get().readEntity(String.class);
- }
-
- private void createModel() {
- // Setting value for Input without dependencies does not trigger any updates
- model = new A();
- model.setMqtt2MqttInput("100");
- model.setRest2RestInput("200");
- model.setMqtt2RestInput("300");
- model.setRest2MqttInput("400");
- model.setBoth2BothInput("500");
- }
-
- private void setupReceiverAndConnect(boolean writeCurrentValue) throws IOException {
- model.ragconnectSetupMqttWaitUntilReady(2, TimeUnit.SECONDS);
-
- handler = new MqttHandler().dontSendWelcomeMessage().setHost(TestUtils.getMqttHost());
- assertTrue(handler.waitUntilReady(2, TimeUnit.SECONDS));
-
- model.addDependencyMqtt2Mqtt(model);
- model.addDependencyRest2Rest(model);
- model.addDependencyMqtt2Rest(model);
- model.addDependencyRest2Mqtt(model);
- model.addDependencyBoth2Mqtt(model);
- model.addDependencyBoth2Rest(model);
-
- dataMqtt2Mqtt = new ReceiverData();
- dataRest2Mqtt = new ReceiverData();
- dataBoth2Mqtt = new ReceiverData();
-
- handler.newConnection(TOPIC_MQTT_2_MQTT_SEND, bytes -> {
- dataMqtt2Mqtt.numberOfStringValues += 1;
- dataMqtt2Mqtt.lastStringValue = new String(bytes);
- });
- handler.newConnection(TOPIC_REST_2_MQTT_SEND, bytes -> {
- dataRest2Mqtt.numberOfStringValues += 1;
- dataRest2Mqtt.lastStringValue = new String(bytes);
- });
- handler.newConnection(TOPIC_BOTH_2_MQTT_SEND, bytes -> {
- dataBoth2Mqtt.numberOfStringValues += 1;
- dataBoth2Mqtt.lastStringValue = new String(bytes);
- });
-
- Client client = ClientBuilder.newClient();
- dataRest2Rest = client.target(REST_SERVER_BASE_URL + PATH_REST_2_REST_SEND);
- dataMqtt2Rest = client.target(REST_SERVER_BASE_URL + PATH_MQTT_2_REST_SEND);
- dataBoth2Rest = client.target(REST_SERVER_BASE_URL + PATH_BOTH_2_REST_SEND);
- senderRest2Rest = client.target(REST_SERVER_BASE_URL + PATH_REST_2_REST_RECEIVE);
- senderRest2Mqtt = client.target(REST_SERVER_BASE_URL + PATH_REST_2_MQTT_RECEIVE);
- senderBoth2Rest = client.target(REST_SERVER_BASE_URL + PATH_BOTH_REST_RECEIVE);
-
- model.connectMqtt2MqttInput(mqttUri(TOPIC_MQTT_2_MQTT_RECEIVE));
- model.connectMqtt2MqttOutput(mqttUri(TOPIC_MQTT_2_MQTT_SEND), writeCurrentValue);
- model.connectMqtt2RestInput(mqttUri(TOPIC_MQTT_2_REST_RECEIVE));
- model.connectMqtt2RestOutput(restUri(PATH_MQTT_2_REST_SEND, REST_PORT), writeCurrentValue);
- model.connectRest2MqttInput(restUri(PATH_REST_2_MQTT_RECEIVE, REST_PORT));
- model.connectRest2MqttOutput(mqttUri(TOPIC_REST_2_MQTT_SEND), writeCurrentValue);
- model.connectRest2RestInput(restUri(PATH_REST_2_REST_RECEIVE, REST_PORT));
- model.connectRest2RestOutput(restUri(PATH_REST_2_REST_SEND, REST_PORT), writeCurrentValue);
- model.connectBoth2BothInput(mqttUri(TOPIC_BOTH_MQTT_RECEIVE));
- model.connectBoth2BothInput(restUri(PATH_BOTH_REST_RECEIVE, REST_PORT));
- model.connectBoth2MqttOutput(mqttUri(TOPIC_BOTH_2_MQTT_SEND), writeCurrentValue);
- model.connectBoth2RestOutput(restUri(PATH_BOTH_2_REST_SEND, REST_PORT), writeCurrentValue);
- }
-
- private static class ReceiverData {
- String lastStringValue;
- int numberOfStringValues = 0;
-
- public void assertEqualData(int expectedNumberOfValues, String expectedLastValue) {
- assertEquals(expectedNumberOfValues, this.numberOfStringValues);
- assertEquals(expectedLastValue, this.lastStringValue);
- }
- }
-}
diff --git a/ragconnect.tests/src/test/proto/config.proto b/ragconnect.tests/src/test/proto/config.proto
deleted file mode 100644
index 38cb5d0a25b02c96dcbdf30f685212ea972feee6..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/proto/config.proto
+++ /dev/null
@@ -1,7 +0,0 @@
-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
deleted file mode 100644
index 6630631f16e00493be3f50307c9092e56184e9c6..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/proto/robot_state.proto
+++ /dev/null
@@ -1,37 +0,0 @@
-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
deleted file mode 100644
index 4a7f375e1ae37ba386f45e1149dc38990d0c7a0e..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/proto/trajectory.proto
+++ /dev/null
@@ -1,33 +0,0 @@
-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/ragconnect.tests/src/test/resources/log4j2.xml b/ragconnect.tests/src/test/resources/log4j2.xml
deleted file mode 100644
index 4c0d4548c61b23abad6aabc6811e68cd8a928871..0000000000000000000000000000000000000000
--- a/ragconnect.tests/src/test/resources/log4j2.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Configuration status="INFO">
- <Appenders>
- <Console name="Console" target="SYSTEM_OUT">
- <PatternLayout pattern="%d{HH:mm:ss.SSS} [%t] %-5level %logger{36} - %msg%n"/>
- </Console>
- </Appenders>
- <Loggers>
- <Root level="debug">
- <AppenderRef ref="Console"/>
- </Root>
- <Logger name="org.eclipse.jetty" level="info" additivity="false">
- <AppenderRef ref="Console"/>
- </Logger>
- </Loggers>
-</Configuration>
diff --git a/relast.preprocessor b/relast.preprocessor
deleted file mode 160000
index 79d237fda220364ffebf77dc7de0a7b29635e360..0000000000000000000000000000000000000000
--- a/relast.preprocessor
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 79d237fda220364ffebf77dc7de0a7b29635e360
diff --git a/ros2rag.goal/build.gradle b/ros2rag.goal/build.gradle
index 3bfe45ab6c9aef96b069ff56faf8c47597f11acf..d372747e0417f0dcf17aa9ecac084e3163e56a19 100644
--- a/ros2rag.goal/build.gradle
+++ b/ros2rag.goal/build.gradle
@@ -23,9 +23,7 @@ sourceSets.main.java.srcDir genSrc
idea.module.generatedSourceDirs += genSrc
dependencies {
- 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"
@@ -37,12 +35,11 @@ def relastFiles = ["src/gen/jastadd/GoalModel.relast", "src/gen/jastadd/RagConne
// phases: ragConnect -> RelAst -> JastAdd
// phase: ragConnect
task ragConnect(type: JavaExec) {
- classpath = configurations.baseRuntimeClasspath
-
group = 'Build'
- main = 'org.jastadd.ragconnect.compiler.Compiler'
+ main = '-jar'
args([
+ '../libs/ragconnect.jar',
'--verbose',
'--o=src/gen/jastadd',
'src/main/jastadd/GoalModel.relast',
diff --git a/ros2rag.receiverstub/build.gradle b/ros2rag.receiverstub/build.gradle
index 02b49e36590bc01a544bcc9a7fc839109d32d817..e774287a067bffbcd0de8938a05f703e59b9407d 100644
--- a/ros2rag.receiverstub/build.gradle
+++ b/ros2rag.receiverstub/build.gradle
@@ -21,9 +21,7 @@ configurations {
}
dependencies {
- 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"
@@ -33,9 +31,10 @@ task ragConnect(type: JavaExec) {
classpath = configurations.baseRuntimeClasspath
group = 'Build'
- main = 'org.jastadd.ragconnect.compiler.Compiler'
+ main = '-jar'
args([
+ '../libs/ragconnect.jar',
'--o=src/gen/jastadd',
'src/main/jastadd/Receiver.ast',
'src/main/jastadd/Receiver.connect',
diff --git a/ros2rag.safety/build.gradle b/ros2rag.safety/build.gradle
index 4bfec22f282ed5700cd4bf05edfd4791b0f4515a..ea820a988b3077ce3fb0d0f38ccc42473f82a7c6 100644
--- a/ros2rag.safety/build.gradle
+++ b/ros2rag.safety/build.gradle
@@ -24,9 +24,7 @@ sourceSets.main.java.srcDir genSrc
idea.module.generatedSourceDirs += genSrc
dependencies {
- 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"
@@ -41,9 +39,10 @@ task ragConnect(type: JavaExec) {
classpath = configurations.baseRuntimeClasspath
group = 'Build'
- main = 'org.jastadd.ragconnect.compiler.Compiler'
+ main = '-jar'
args([
+ '../libs/ragconnect.jar',
'--o=src/gen/jastadd',
'src/main/jastadd/SafetyModel.relast',
'src/main/jastadd/SafetyModel.connect',
diff --git a/ros2rag.senderstub/build.gradle b/ros2rag.senderstub/build.gradle
index 1497d02abfcb5882708dd12497686c893976d772..66d17274772d01c4643f9f204c6fafad046c0d91 100644
--- a/ros2rag.senderstub/build.gradle
+++ b/ros2rag.senderstub/build.gradle
@@ -21,9 +21,7 @@ configurations {
}
dependencies {
- 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"
@@ -33,9 +31,10 @@ task ragConnect(type: JavaExec) {
classpath = configurations.baseRuntimeClasspath
group = 'Build'
- main = 'org.jastadd.ragconnect.compiler.Compiler'
+ main = '-jar'
args([
+ '../libs/ragconnect.jar',
'--o=src/gen/jastadd',
'src/main/jastadd/Sender.ast',
'src/main/jastadd/Sender.connect',
diff --git a/settings.gradle b/settings.gradle
index cc56321647f48ec49cd042b9a2ae609a13cf5398..bc157327cc0b950e86b6412268067219547231d0 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -1,8 +1,5 @@
rootProject.name = 'ros2rag'
-include 'relast.preprocessor'
-include 'ragconnect.base'
-include 'ragconnect.tests'
include 'ros2rag.safety'
include 'ros2rag.senderstub'
include 'ros2rag.receiverstub'