diff --git a/ros2rag.base/.gitignore b/ragconnect.base/.gitignore
similarity index 100%
rename from ros2rag.base/.gitignore
rename to ragconnect.base/.gitignore
diff --git a/ros2rag.base/build.gradle b/ragconnect.base/build.gradle
similarity index 61%
rename from ros2rag.base/build.gradle
rename to ragconnect.base/build.gradle
index a6a7882eeee6db3cc34887d5b8cce3fe267905d5..c04195a9cc3a7ea4a799a717910a276f18b8d403 100644
--- a/ros2rag.base/build.gradle
+++ b/ragconnect.base/build.gradle
@@ -3,7 +3,7 @@ apply plugin: 'application'
sourceCompatibility = 1.8
-mainClassName = 'org.jastadd.ros2rag.compiler.Compiler'
+mainClassName = 'org.jastadd.ragconnect.compiler.Compiler'
repositories {
jcenter()
@@ -37,7 +37,7 @@ test {
jar {
manifest {
- attributes "Main-Class": 'org.jastadd.ros2rag.compiler.Compiler'
+ attributes "Main-Class": 'org.jastadd.ragconnect.compiler.Compiler'
}
from {
@@ -51,47 +51,47 @@ task relast(type: JavaExec) {
doFirst {
delete "src/gen/jastadd/*.ast"
- delete "src/gen/jastadd/Ros2Rag.jadd"
- delete "src/gen/jastadd/Ros2RagRefResolver.jadd"
- delete "src/gen/jastadd/Ros2RagResolverStubs.jrag"
+ delete "src/gen/jastadd/RagConnect.jadd"
+ delete "src/gen/jastadd/RagConnectRefResolver.jadd"
+ delete "src/gen/jastadd/RagConnectResolverStubs.jrag"
mkdir "src/gen/jastadd/"
}
args = [
"../libs/relast.jar",
"../relast.preprocessor/src/main/jastadd/RelAst.relast",
- "./src/main/jastadd/Ros2Rag.relast",
+ "./src/main/jastadd/RagConnect.relast",
"./src/main/jastadd/MustacheNodes.relast",
"--listClass=java.util.ArrayList",
"--jastAddList=JastAddList",
"--useJastAddNames",
"--file",
"--resolverHelper",
- "--grammarName=./src/gen/jastadd/Ros2Rag"
+ "--grammarName=./src/gen/jastadd/RagConnect"
]
inputs.files file("../libs/relast.jar"),
file("../relast.preprocessor/src/main/jastadd/RelAST.relast"),
- file("./src/main/jastadd/Ros2Rag.relast")
+ file("./src/main/jastadd/RagConnect.relast")
file("./src/main/jastadd/MustacheNodes.relast")
- outputs.files file("./src/gen/jastadd/Ros2Rag.ast"),
- file("./src/gen/jastadd/Ros2Rag.jadd"),
- file("./src/gen/jastadd/Ros2RagRefResolver.jadd"),
- file('./src/gen/jastadd/Ros2RagResolverStubs.jrag')
+ outputs.files file("./src/gen/jastadd/RagConnect.ast"),
+ file("./src/gen/jastadd/RagConnect.jadd"),
+ file("./src/gen/jastadd/RagConnectRefResolver.jadd"),
+ file('./src/gen/jastadd/RagConnectResolverStubs.jrag')
}
jastadd {
configureModuleBuild()
modules {
//noinspection GroovyAssignabilityCheck
- module("Ros2Rag") {
+ module("RagConnect") {
java {
basedir ".."
include "relast.preprocessor/main/**/*.java"
include "relast.preprocessor/gen/**/*.java"
- include "ros2rag.base/src/main/**/*.java"
- include "ros2rag.base/src/gen/**/*.java"
+ include "ragconnect.base/src/main/**/*.java"
+ include "ragconnect.base/src/gen/**/*.java"
}
jastadd {
@@ -99,23 +99,23 @@ jastadd {
include "relast.preprocessor/src/main/jastadd/**/*.ast"
include "relast.preprocessor/src/main/jastadd/**/*.jadd"
include "relast.preprocessor/src/main/jastadd/**/*.jrag"
- include "ros2rag.base/src/main/jastadd/**/*.ast"
- include "ros2rag.base/src/main/jastadd/**/*.jadd"
- include "ros2rag.base/src/main/jastadd/**/*.jrag"
- include "ros2rag.base/src/gen/jastadd/**/*.ast"
- include "ros2rag.base/src/gen/jastadd/**/*.jadd"
- include "ros2rag.base/src/gen/jastadd/**/*.jrag"
+ include "ragconnect.base/src/main/jastadd/**/*.ast"
+ include "ragconnect.base/src/main/jastadd/**/*.jadd"
+ include "ragconnect.base/src/main/jastadd/**/*.jrag"
+ include "ragconnect.base/src/gen/jastadd/**/*.ast"
+ include "ragconnect.base/src/gen/jastadd/**/*.jadd"
+ include "ragconnect.base/src/gen/jastadd/**/*.jrag"
}
scanner {
basedir ".."
- include "ros2rag.base/src/main/jastadd/scanner/Header.flex", [-5]
+ include "ragconnect.base/src/main/jastadd/scanner/Header.flex", [-5]
include "relast.preprocessor/src/main/jastadd/scanner/Preamble.flex", [-4]
include "relast.preprocessor/src/main/jastadd/scanner/Macros.flex", [-3]
- include "ros2rag.base/src/main/jastadd/scanner/Macros.flex", [-3]
+ include "ragconnect.base/src/main/jastadd/scanner/Macros.flex", [-3]
include "relast.preprocessor/src/main/jastadd/scanner/RulesPreamble.flex", [-2]
- include "ros2rag.base/src/main/jastadd/scanner/MappingContent.flex", [-1]
- include "ros2rag.base/src/main/jastadd/scanner/Keywords.flex"
+ include "ragconnect.base/src/main/jastadd/scanner/MappingContent.flex", [-1]
+ include "ragconnect.base/src/main/jastadd/scanner/Keywords.flex"
include "relast.preprocessor/src/main/jastadd/scanner/Keywords.flex"
include "relast.preprocessor/src/main/jastadd/scanner/Symbols.flex", [1]
include "relast.preprocessor/src/main/jastadd/scanner/RulesPostamble.flex", [2]
@@ -123,8 +123,8 @@ jastadd {
parser {
basedir ".."
- include "ros2rag.base/src/main/jastadd/parser/Preamble.parser"
- include "ros2rag.base/src/main/jastadd/parser/Ros2Rag.parser"
+ include "ragconnect.base/src/main/jastadd/parser/Preamble.parser"
+ include "ragconnect.base/src/main/jastadd/parser/RagConnect.parser"
include "relast.preprocessor/src/main/jastadd/parser/RelAst.parser"
}
}
@@ -141,18 +141,18 @@ jastadd {
}
- module = "Ros2Rag"
+ module = "RagConnect"
- astPackage = 'org.jastadd.ros2rag.ast'
+ astPackage = 'org.jastadd.ragconnect.ast'
- parser.name = 'Ros2RagParser'
+ parser.name = 'RagConnectParser'
genDir = 'src/gen/java'
buildInfoDir = 'src/gen-res'
- scanner.genDir = "src/gen/java/org/jastadd/ros2rag/scanner"
- parser.genDir = "src/gen/java/org/jastadd/ros2rag/parser"
+ scanner.genDir = "src/gen/java/org/jastadd/ragconnect/scanner"
+ parser.genDir = "src/gen/java/org/jastadd/ragconnect/parser"
jastaddOptions = ["--lineColumnNumbers", "--List=JastAddList", "--safeLazy", "--visitCheck=true", "--rewrite=cnta", "--cache=all"]
}
diff --git a/ros2rag.base/src/main/jastadd/Analysis.jrag b/ragconnect.base/src/main/jastadd/Analysis.jrag
similarity index 84%
rename from ros2rag.base/src/main/jastadd/Analysis.jrag
rename to ragconnect.base/src/main/jastadd/Analysis.jrag
index 228a3479df5be9d24998479bc3b48bd1626775aa..da9a88b6c0d76925c0876d84063075ed495a02a1 100644
--- a/ros2rag.base/src/main/jastadd/Analysis.jrag
+++ b/ragconnect.base/src/main/jastadd/Analysis.jrag
@@ -1,7 +1,7 @@
aspect Analysis {
// --- lookupTokenUpdateDefinition ---
inh TokenUpdateDefinition TokenUpdateDefinition.lookupTokenUpdateDefinition(TokenComponent token);
- eq Ros2Rag.getUpdateDefinition().lookupTokenUpdateDefinition(TokenComponent token) {
+ eq RagConnect.getUpdateDefinition().lookupTokenUpdateDefinition(TokenComponent token) {
for (UpdateDefinition def : getUpdateDefinitionList()) {
if (def.isTokenUpdateDefinition() && def.asTokenUpdateDefinition().getToken().equals(token)) {
return def.asTokenUpdateDefinition();
@@ -12,7 +12,7 @@ aspect Analysis {
// --- lookupDependencyDefinition ---
inh DependencyDefinition DependencyDefinition.lookupDependencyDefinition(TypeDecl source, String id);
- eq Ros2Rag.getDependencyDefinition().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;
diff --git a/ros2rag.base/src/main/jastadd/Errors.jrag b/ragconnect.base/src/main/jastadd/Errors.jrag
similarity index 91%
rename from ros2rag.base/src/main/jastadd/Errors.jrag
rename to ragconnect.base/src/main/jastadd/Errors.jrag
index ef223a4081e169273555140a35a9f8b47876109d..4ea4c18912a1550938a603090c941ba85397e2ba 100644
--- a/ros2rag.base/src/main/jastadd/Errors.jrag
+++ b/ragconnect.base/src/main/jastadd/Errors.jrag
@@ -3,17 +3,17 @@ import java.util.TreeSet;
import java.util.LinkedList;
aspect Errors {
- coll Set<ErrorMessage> Ros2Rag.errors()
+ coll Set<ErrorMessage> RagConnect.errors()
[new TreeSet<ErrorMessage>()]
- root Ros2Rag;
+ root RagConnect;
ReadFromMqttDefinition contributes error("Read definition already defined for " + getToken().getName())
when isAlreadyDefined()
- to Ros2Rag.errors();
+ to RagConnect.errors();
ReadFromMqttDefinition contributes error("Reading target token must not be an NTA token!")
when getToken().getNTA()
- to Ros2Rag.errors();
+ to RagConnect.errors();
// if first mapping is null, then suitableDefaultMapping() == null
ReadFromMqttDefinition contributes error("No suitable default mapping found for type " +
@@ -21,32 +21,32 @@ aspect Errors {
? getToken().getJavaTypeUse().prettyPrint()
: getMappingList().get(0).getFromType().prettyPrint()))
when effectiveMappings().get(0) == null
- to Ros2Rag.errors();
+ to RagConnect.errors();
ReadFromMqttDefinition contributes error("to-type of last mapping must be type of the Token!")
when getToken().getJavaTypeUse().prettyPrint().equals(
effectiveMappings().get(effectiveMappings().size() - 1))
- to Ros2Rag.errors();
+ to RagConnect.errors();
WriteToMqttDefinition contributes error("Writing target token must be an NTA token!")
when !getToken().getNTA()
- to Ros2Rag.errors();
+ to RagConnect.errors();
WriteToMqttDefinition contributes error("Write definition already defined for " + getToken().getName())
when isAlreadyDefined()
- to Ros2Rag.errors();
+ to RagConnect.errors();
DependencyDefinition contributes error("Dependency definition already defined for " + getSource().containingTypeDecl().getName() + " with name " + getID())
when isAlreadyDefined()
- to Ros2Rag.errors();
+ to RagConnect.errors();
DependencyDefinition contributes error("The name of a dependency definition must not be equal to a list-node on the source")
when isAlreadyDefinedAsList()
- to Ros2Rag.errors();
+ to RagConnect.errors();
DependencyDefinition contributes error("There must be a write update definition targeting " + getSource().parentTypeypeAndName() + " for dependency definition " + getID())
when targetUpdateDefinition() == null
- to Ros2Rag.errors();
+ to RagConnect.errors();
}
aspect ErrorHelpers {
diff --git a/ros2rag.base/src/main/jastadd/MustacheNodes.relast b/ragconnect.base/src/main/jastadd/MustacheNodes.relast
similarity index 75%
rename from ros2rag.base/src/main/jastadd/MustacheNodes.relast
rename to ragconnect.base/src/main/jastadd/MustacheNodes.relast
index 69d4280f9d9038c838e83767c6e72be9a8d6d5d8..f213a35741dd514ac86201c7e6ee32f2053a7a83 100644
--- a/ros2rag.base/src/main/jastadd/MustacheNodes.relast
+++ b/ragconnect.base/src/main/jastadd/MustacheNodes.relast
@@ -1,7 +1,7 @@
//TypeComponentMustache ;
//rel TypeComponentMustache.TypeComponent -> TypeComponent ;
-MRos2Rag ::= ReadDefinition:MReadDefinition* WriteDefinition:MWriteDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeComponent:MTypeComponent* TokenComponent:MTokenComponent*;
+MRagConnect ::= ReadDefinition:MReadDefinition* WriteDefinition:MWriteDefinition* MappingDefinition:MMappingDefinition* DependencyDefinition:MDependencyDefinition* RootTypeComponent:MTypeComponent* TokenComponent:MTokenComponent*;
abstract MUpdateDefinition ::= InnerMappingDefinition:MInnerMappingDefinition*;
MReadDefinition : MUpdateDefinition;
MWriteDefinition : MUpdateDefinition;
@@ -11,7 +11,7 @@ MDependencyDefinition;
MTypeComponent;
MTokenComponent;
-rel MRos2Rag.Ros2Rag -> Ros2Rag;
+rel MRagConnect.RagConnect -> RagConnect;
rel MInnerMappingDefinition.MappingDefinition -> MappingDefinition;
rel MReadDefinition.ReadFromMqttDefinition -> ReadFromMqttDefinition;
rel MWriteDefinition.WriteToMqttDefinition -> WriteToMqttDefinition;
diff --git a/ros2rag.base/src/main/jastadd/NameResolution.jrag b/ragconnect.base/src/main/jastadd/NameResolution.jrag
similarity index 79%
rename from ros2rag.base/src/main/jastadd/NameResolution.jrag
rename to ragconnect.base/src/main/jastadd/NameResolution.jrag
index fc4485858d199f352c18fcd188914020666ef619..6d5ebe27211b6a83917126201cfa09e3d63f4064 100644
--- a/ros2rag.base/src/main/jastadd/NameResolution.jrag
+++ b/ragconnect.base/src/main/jastadd/NameResolution.jrag
@@ -2,7 +2,7 @@ aspect NameResolution {
refine RefResolverStubs eq UpdateDefinition.resolveMappingByToken(String id, int position) {
// return a MappingDefinition
- for (MappingDefinition mappingDefinition : ros2rag().getMappingDefinitionList()) {
+ for (MappingDefinition mappingDefinition : ragconnect().getMappingDefinitionList()) {
if (mappingDefinition.getID().equals(id)) {
return mappingDefinition;
}
diff --git a/ros2rag.base/src/main/jastadd/Navigation.jrag b/ragconnect.base/src/main/jastadd/Navigation.jrag
similarity index 83%
rename from ros2rag.base/src/main/jastadd/Navigation.jrag
rename to ragconnect.base/src/main/jastadd/Navigation.jrag
index a4f21e6e8d79c549a63d54474792382457bf74fd..b031267ab8dc8ddcbaf3d5a75e4b8fe5a068f0bb 100644
--- a/ros2rag.base/src/main/jastadd/Navigation.jrag
+++ b/ragconnect.base/src/main/jastadd/Navigation.jrag
@@ -1,17 +1,17 @@
aspect Navigation {
// --- program ---
- eq Ros2Rag.getChild().program() = getProgram();
- eq MRos2Rag.getChild().program() = getRos2Rag().program();
+ eq RagConnect.getChild().program() = getProgram();
+ eq MRagConnect.getChild().program() = getRagConnect().program();
- // --- ros2rag ---
- inh Ros2Rag ASTNode.ros2rag();
- eq Ros2Rag.getChild().ros2rag() = this;
- eq MRos2Rag.getChild().ros2rag() = getRos2Rag();
+ // --- ragconnect ---
+ inh RagConnect ASTNode.ragconnect();
+ eq RagConnect.getChild().ragconnect() = this;
+ eq MRagConnect.getChild().ragconnect() = getRagConnect();
// --- containedFile (first equation should be in preprocessor) ---
eq Program.getChild().containedFile() = null;
- eq Ros2Rag.getChild().containedFile() = null;
+ eq RagConnect.getChild().containedFile() = null;
// --- isTypeComponent (should be in preprocessor) ---
syn boolean Component.isTypeComponent() = false;
@@ -32,9 +32,9 @@ aspect Navigation {
// --- containedFileName (should replace containedFile in preprocessor) ---
inh String ASTNode.containedFileName();
eq GrammarFile.getChild().containedFileName() = getFileName();
- eq Ros2Rag.getChild().containedFileName() = getFileName();
+ eq RagConnect.getChild().containedFileName() = getFileName();
eq Program.getChild().containedFileName() = null;
- eq MRos2Rag.getChild().containedFileName() = null;
+ eq MRagConnect.getChild().containedFileName() = null;
// --- isTokenUpdateDefinition ---
syn boolean UpdateDefinition.isTokenUpdateDefinition() = false;
@@ -59,7 +59,7 @@ aspect Navigation {
// --- targetUpdateDefinition ---
syn WriteToMqttDefinition DependencyDefinition.targetUpdateDefinition() {
// resolve definition in here, as we do not need resolveMethod in any other place (yet)
- for (UpdateDefinition updateDefinition : ros2rag().getUpdateDefinitionList()) {
+ for (UpdateDefinition updateDefinition : ragconnect().getUpdateDefinitionList()) {
if (updateDefinition.isWriteToMqttDefinition() &&
updateDefinition.asWriteToMqttDefinition().getToken().equals(this.getTarget())) {
return updateDefinition.asWriteToMqttDefinition();
diff --git a/ros2rag.base/src/main/jastadd/Ros2Rag.relast b/ragconnect.base/src/main/jastadd/RagConnect.relast
similarity index 89%
rename from ros2rag.base/src/main/jastadd/Ros2Rag.relast
rename to ragconnect.base/src/main/jastadd/RagConnect.relast
index e1a84e8beac44fcbc23d09fc56ed536586bde4e8..e3ab24ad171007ea53ed78314b89b079d574d508 100644
--- a/ros2rag.base/src/main/jastadd/Ros2Rag.relast
+++ b/ragconnect.base/src/main/jastadd/RagConnect.relast
@@ -1,4 +1,4 @@
-Ros2Rag ::= UpdateDefinition* DependencyDefinition* MappingDefinition* Program <FileName> ;
+RagConnect ::= UpdateDefinition* DependencyDefinition* MappingDefinition* Program <FileName> ;
abstract UpdateDefinition ::= <AlwaysApply:boolean> ;
diff --git a/ros2rag.base/src/main/jastadd/backend/Configuration.jadd b/ragconnect.base/src/main/jastadd/backend/Configuration.jadd
similarity index 100%
rename from ros2rag.base/src/main/jastadd/backend/Configuration.jadd
rename to ragconnect.base/src/main/jastadd/backend/Configuration.jadd
diff --git a/ros2rag.base/src/main/jastadd/backend/Generation.jadd b/ragconnect.base/src/main/jastadd/backend/Generation.jadd
similarity index 88%
rename from ros2rag.base/src/main/jastadd/backend/Generation.jadd
rename to ragconnect.base/src/main/jastadd/backend/Generation.jadd
index 9179b3d5ad520e4a3255a5b26c7ea86deaeef50b..060d4dfb6c9a87b7601391e1d5adf081c6666f78 100644
--- a/ros2rag.base/src/main/jastadd/backend/Generation.jadd
+++ b/ragconnect.base/src/main/jastadd/backend/Generation.jadd
@@ -26,15 +26,16 @@ aspect GenerationUtils {
*/
aspect AttributesForMustache {
- // --- MRos2Rag ---
- eq MRos2Rag.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
- eq MRos2Rag.getChild().mqttHandlerField() = mqttHandlerField();
+ // --- MRagConnect ---
+ eq MRagConnect.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
+ eq MRagConnect.getChild().mqttHandlerField() = mqttHandlerField();
+ eq MRagConnect.getRootTypeComponent(int i).isFirst() = i == 0;
- syn String MRos2Rag.mqttHandlerAttribute() = getRos2Rag().mqttHandlerAttribute();
- syn String MRos2Rag.mqttHandlerField() = getRos2Rag().mqttHandlerField();
- syn String MRos2Rag.mqttSetHostMethod() = getRos2Rag().mqttSetHostMethod();
- syn String MRos2Rag.mqttWaitUntilReadyMethod() = getRos2Rag().mqttWaitUntilReadyMethod();
- syn String MRos2Rag.mqttCloseMethod() = getRos2Rag().mqttCloseMethod();
+ syn String MRagConnect.mqttHandlerAttribute() = getRagConnect().mqttHandlerAttribute();
+ syn String MRagConnect.mqttHandlerField() = getRagConnect().mqttHandlerField();
+ syn String MRagConnect.mqttSetHostMethod() = getRagConnect().mqttSetHostMethod();
+ syn String MRagConnect.mqttWaitUntilReadyMethod() = getRagConnect().mqttWaitUntilReadyMethod();
+ syn String MRagConnect.mqttCloseMethod() = getRagConnect().mqttCloseMethod();
// --- MUpdateDefinition ---
syn String MUpdateDefinition.preemptiveExpectedValue();
@@ -116,6 +117,7 @@ aspect AttributesForMustache {
syn String MTypeComponent.name() = getTypeComponent().getName();
inh String MTypeComponent.mqttHandlerAttribute();
inh String MTypeComponent.mqttHandlerField();
+ inh boolean MTypeComponent.isFirst();
// --- MTokenComponent ---
syn String MTokenComponent.parentTypeName() = getTokenComponent().containingTypeDecl().getName();
@@ -124,9 +126,9 @@ aspect AttributesForMustache {
syn String MTokenComponent.internalName() = getTokenComponent().internalName();
// --- toMustache ---
- syn lazy MRos2Rag Ros2Rag.toMustache() {
- MRos2Rag result = new MRos2Rag();
- result.setRos2Rag(this);
+ syn lazy MRagConnect RagConnect.toMustache() {
+ MRagConnect result = new MRagConnect();
+ result.setRagConnect(this);
for (UpdateDefinition def : getUpdateDefinitionList()) {
if (def.isWriteToMqttDefinition()) {
result.addWriteDefinition(def.asWriteToMqttDefinition().toMustache());
@@ -216,29 +218,29 @@ aspect AspectGeneration {
syn String DependencyDefinition.internalRelationPrefix() = "_internal_" + getID();
syn String DependencyDefinition.internalTokenName() = getSource().internalName();
- syn String Ros2Rag.mqttHandlerAttribute() = "_mqttHandler";
- syn String Ros2Rag.mqttHandlerField() = "_mqttHandler";
+ syn String RagConnect.mqttHandlerAttribute() = "_mqttHandler";
+ syn String RagConnect.mqttHandlerField() = "_mqttHandler";
- syn String Ros2Rag.mqttSetHostMethod() = "MqttSetHost";
- syn String Ros2Rag.mqttWaitUntilReadyMethod() = "MqttWaitUntilReady";
- syn String Ros2Rag.mqttCloseMethod() = "MqttCloseConnections";
+ syn String RagConnect.mqttSetHostMethod() = "MqttSetHost";
+ syn String RagConnect.mqttWaitUntilReadyMethod() = "MqttWaitUntilReady";
+ syn String RagConnect.mqttCloseMethod() = "MqttCloseConnections";
// naming copy attributes
// --- mqttHandlerAttribute ---
inh String UpdateDefinition.mqttHandlerAttribute();
inh String MappingDefinition.mqttHandlerAttribute();
inh String DependencyDefinition.mqttHandlerAttribute();
- eq Ros2Rag.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
+ eq RagConnect.getChild().mqttHandlerAttribute() = mqttHandlerAttribute();
// --- rootNodeName ---
syn String ASTNode.rootNodeName() = rootNode.getName();
- public String Ros2Rag.generateAspect(String rootNodeName) {
+ public String RagConnect.generateAspect(String rootNodeName) {
rootNode = getProgram().resolveTypeDecl(rootNodeName);
return toMustache().generateAspect();
}
- public String MRos2Rag.generateAspect() {
+ public String MRagConnect.generateAspect() {
StringBuilder sb = new StringBuilder();
com.github.mustachejava.reflect.ReflectionObjectHandler roh = new com.github.mustachejava.reflect.ReflectionObjectHandler() {
@Override
@@ -257,14 +259,14 @@ aspect AspectGeneration {
};
com.github.mustachejava.DefaultMustacheFactory mf = new com.github.mustachejava.DefaultMustacheFactory();
mf.setObjectHandler(roh);
- com.github.mustachejava.Mustache m = mf.compile("ros2rag.mustache");
- m.execute(new java.io.PrintWriter(new org.jastadd.ros2rag.compiler.AppendableWriter(sb)), this);
+ com.github.mustachejava.Mustache m = mf.compile("ragconnect.mustache");
+ m.execute(new java.io.PrintWriter(new org.jastadd.ragconnect.compiler.AppendableWriter(sb)), this);
return sb.toString();
}
}
aspect RelationGeneration {
- syn java.util.List<Relation> Ros2Rag.additionalRelations() {
+ syn java.util.List<Relation> RagConnect.additionalRelations() {
java.util.List<Relation> result = new java.util.ArrayList<>();
for (DependencyDefinition dd : getDependencyDefinitionList()) {
result.add(dd.getRelationToCreate());
diff --git a/ros2rag.base/src/main/jastadd/backend/Mappings.jrag b/ragconnect.base/src/main/jastadd/backend/Mappings.jrag
similarity index 76%
rename from ros2rag.base/src/main/jastadd/backend/Mappings.jrag
rename to ragconnect.base/src/main/jastadd/backend/Mappings.jrag
index 600ce92ee064f45fe0f41860dd3ab0bc5e334bd3..8232e8ffbf4d099023f3d215666d47cfce179fa0 100644
--- a/ros2rag.base/src/main/jastadd/backend/Mappings.jrag
+++ b/ragconnect.base/src/main/jastadd/backend/Mappings.jrag
@@ -1,6 +1,6 @@
aspect DefaultMappings {
- private DefaultMappingDefinition Ros2Rag.baseDefaultMappingDefinitionFromBytes(String typeName) {
+ private DefaultMappingDefinition RagConnect.baseDefaultMappingDefinitionFromBytes(String typeName) {
DefaultMappingDefinition result = new DefaultMappingDefinition();
result.setID("_DefaultBytesTo" + Character.toUpperCase(typeName.charAt(0)) + typeName.substring(1) + "Mapping");
result.setFromType(new JavaArrayMappingDefinitionType(new SimpleJavaTypeUse("byte")));
@@ -9,7 +9,7 @@ aspect DefaultMappings {
return result;
}
- private DefaultMappingDefinition Ros2Rag.baseDefaultMappingDefinitionToBytes(String typeName) {
+ private DefaultMappingDefinition RagConnect.baseDefaultMappingDefinitionToBytes(String typeName) {
DefaultMappingDefinition result = new DefaultMappingDefinition();
result.setID("_Default" + Character.toUpperCase(typeName.charAt(0)) + typeName.substring(1) + "ToBytesMapping");
result.setFromType(new JavaMappingDefinitionType(new SimpleJavaTypeUse(typeName)));
@@ -18,85 +18,85 @@ aspect DefaultMappings {
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToIntMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToIntMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("int");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getInt();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToShortMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToShortMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("short");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getShort();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToLongMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToLongMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("long");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getLong();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToFloatMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToFloatMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("float");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getFloat();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToDoubleMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToDoubleMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("double");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getDouble();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToCharMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToCharMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("char");
result.setContent("return java.nio.ByteBuffer.wrap(bytes).getChar();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultBytesToStringMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultBytesToStringMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionFromBytes("String");
result.setContent("return new String(bytes);");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultIntToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultIntToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("int");
result.setContent("return java.nio.ByteBuffer.allocate(4).putInt(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultShortToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultShortToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("short");
result.setContent("return java.nio.ByteBuffer.allocate(2).putShort(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultLongToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultLongToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("long");
result.setContent("return java.nio.ByteBuffer.allocate(8).putLong(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultFloatToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultFloatToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("float");
result.setContent("return java.nio.ByteBuffer.allocate(4).putFloat(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultDoubleToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultDoubleToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("double");
result.setContent("return java.nio.ByteBuffer.allocate(8).putDouble(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultCharToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultCharToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("char");
result.setContent("return java.nio.ByteBuffer.allocate(2).putChar(input).array();");
return result;
}
- syn nta DefaultMappingDefinition Ros2Rag.defaultStringToBytesMapping() {
+ syn nta DefaultMappingDefinition RagConnect.defaultStringToBytesMapping() {
DefaultMappingDefinition result = baseDefaultMappingDefinitionToBytes("String");
result.setContent("return input.getBytes();");
return result;
@@ -166,18 +166,18 @@ aspect Mappings {
getMappingList().get(0).getFromType().prettyPrint();
switch(typeName) {
case "int":
- case "Integer": return ros2rag().defaultBytesToIntMapping();
+ case "Integer": return ragconnect().defaultBytesToIntMapping();
case "short":
- case "Short": return ros2rag().defaultBytesToShortMapping();
+ case "Short": return ragconnect().defaultBytesToShortMapping();
case "long":
- case "Long": return ros2rag().defaultBytesToLongMapping();
+ case "Long": return ragconnect().defaultBytesToLongMapping();
case "float":
- case "Float": return ros2rag().defaultBytesToFloatMapping();
+ case "Float": return ragconnect().defaultBytesToFloatMapping();
case "double":
- case "Double": return ros2rag().defaultBytesToDoubleMapping();
+ case "Double": return ragconnect().defaultBytesToDoubleMapping();
case "char":
- case "Character": return ros2rag().defaultBytesToCharMapping();
- case "String": return ros2rag().defaultBytesToStringMapping();
+ case "Character": return ragconnect().defaultBytesToCharMapping();
+ case "String": return ragconnect().defaultBytesToStringMapping();
default: return null;
}
}
@@ -187,18 +187,18 @@ aspect Mappings {
getMappingList().get(getMappingList().size() - 1).getFromType().prettyPrint();
switch(typeName) {
case "int":
- case "Integer": return ros2rag().defaultIntToBytesMapping();
+ case "Integer": return ragconnect().defaultIntToBytesMapping();
case "short":
- case "Short": return ros2rag().defaultShortToBytesMapping();
+ case "Short": return ragconnect().defaultShortToBytesMapping();
case "long":
- case "Long": return ros2rag().defaultLongToBytesMapping();
+ case "Long": return ragconnect().defaultLongToBytesMapping();
case "float":
- case "Float": return ros2rag().defaultFloatToBytesMapping();
+ case "Float": return ragconnect().defaultFloatToBytesMapping();
case "double":
- case "Double": return ros2rag().defaultDoubleToBytesMapping();
+ case "Double": return ragconnect().defaultDoubleToBytesMapping();
case "char":
- case "Character": return ros2rag().defaultCharToBytesMapping();
- case "String": return ros2rag().defaultStringToBytesMapping();
+ case "Character": return ragconnect().defaultCharToBytesMapping();
+ case "String": return ragconnect().defaultStringToBytesMapping();
default: return null;
}
}
@@ -208,7 +208,7 @@ aspect Mappings {
eq JavaArrayMappingDefinitionType.isByteArray() = getType().getName().equals("byte");
// --- allMappingDefinitions ---
- syn java.util.List<MappingDefinition> Ros2Rag.allMappingDefinitions() {
+ syn java.util.List<MappingDefinition> RagConnect.allMappingDefinitions() {
java.util.List<MappingDefinition> result = new java.util.ArrayList<>();
getMappingDefinitionList().iterator().forEachRemaining(result::add);
result.add(defaultBytesToIntMapping());
diff --git a/ragconnect.base/src/main/jastadd/parser/Preamble.parser b/ragconnect.base/src/main/jastadd/parser/Preamble.parser
new file mode 100644
index 0000000000000000000000000000000000000000..d701db19d6edb6d6c616bc79fc0145ea59d2713d
--- /dev/null
+++ b/ragconnect.base/src/main/jastadd/parser/Preamble.parser
@@ -0,0 +1,7 @@
+%header {:
+package org.jastadd.ragconnect.parser;
+import org.jastadd.ragconnect.ast.*;
+:};
+
+%goal goal;
+%goal ragconnect;
diff --git a/ros2rag.base/src/main/jastadd/parser/Ros2Rag.parser b/ragconnect.base/src/main/jastadd/parser/RagConnect.parser
similarity index 86%
rename from ros2rag.base/src/main/jastadd/parser/Ros2Rag.parser
rename to ragconnect.base/src/main/jastadd/parser/RagConnect.parser
index 015b4e664950fd9f49601dbea53fc67225c41169..3fbf4b8ef3c7abdfc10b72c38938ba980079d653 100644
--- a/ros2rag.base/src/main/jastadd/parser/Ros2Rag.parser
+++ b/ragconnect.base/src/main/jastadd/parser/RagConnect.parser
@@ -1,9 +1,9 @@
-Ros2Rag ros2rag
- = update_definition.d ros2rag.r {: r.getUpdateDefinitionList().insertChild(d, 0); return r; :}
- | dependency_definition.d ros2rag.r {: r.getDependencyDefinitionList().insertChild(d, 0); return r; :}
- | mapping_definition.d ros2rag.r {: r.getMappingDefinitionList().insertChild(d, 0); return r; :}
- | comment ros2rag.r {: return r; :}
- | {: return new Ros2Rag(); :}
+RagConnect ragconnect
+ = update_definition.d ragconnect.r {: r.getUpdateDefinitionList().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 {:
diff --git a/ragconnect.base/src/main/jastadd/scanner/Header.flex b/ragconnect.base/src/main/jastadd/scanner/Header.flex
new file mode 100644
index 0000000000000000000000000000000000000000..53f20ea9b3ea615da3c90ac3120ddea033afc4c0
--- /dev/null
+++ b/ragconnect.base/src/main/jastadd/scanner/Header.flex
@@ -0,0 +1,17 @@
+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
+
+%line
+%column
diff --git a/ros2rag.base/src/main/jastadd/scanner/Keywords.flex b/ragconnect.base/src/main/jastadd/scanner/Keywords.flex
similarity index 100%
rename from ros2rag.base/src/main/jastadd/scanner/Keywords.flex
rename to ragconnect.base/src/main/jastadd/scanner/Keywords.flex
diff --git a/ros2rag.base/src/main/jastadd/scanner/Macros.flex b/ragconnect.base/src/main/jastadd/scanner/Macros.flex
similarity index 100%
rename from ros2rag.base/src/main/jastadd/scanner/Macros.flex
rename to ragconnect.base/src/main/jastadd/scanner/Macros.flex
diff --git a/ros2rag.base/src/main/jastadd/scanner/MappingContent.flex b/ragconnect.base/src/main/jastadd/scanner/MappingContent.flex
similarity index 100%
rename from ros2rag.base/src/main/jastadd/scanner/MappingContent.flex
rename to ragconnect.base/src/main/jastadd/scanner/MappingContent.flex
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
similarity index 93%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
index 97680b18dc4fd1d8af3df75f35221e059355e19e..55818dcda1c89948726065c9d11640fcb6601130 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/AppendableWriter.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/AppendableWriter.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler;
+package org.jastadd.ragconnect.compiler;
import java.io.IOException;
import java.io.Writer;
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
similarity index 76%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
index b6331130a7b338ef1bf37f6ac372d612cb1754f1..e23d4bdd168c1b5f40fb95c7cc9a2a5f02c43cdf 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Compiler.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Compiler.java
@@ -1,14 +1,13 @@
-package org.jastadd.ros2rag.compiler;
+package org.jastadd.ragconnect.compiler;
import beaver.Parser;
-import org.jastadd.ros2rag.ast.*;
-import org.jastadd.ros2rag.compiler.options.CommandLine;
-import org.jastadd.ros2rag.compiler.options.CommandLine.CommandLineException;
-import org.jastadd.ros2rag.compiler.options.FlagOption;
-import org.jastadd.ros2rag.compiler.options.Option;
-import org.jastadd.ros2rag.compiler.options.StringOption;
-import org.jastadd.ros2rag.parser.Ros2RagParser;
-import org.jastadd.ros2rag.scanner.Ros2RagScanner;
+import org.jastadd.ragconnect.compiler.options.CommandLine;
+import org.jastadd.ragconnect.compiler.options.FlagOption;
+import org.jastadd.ragconnect.compiler.options.Option;
+import org.jastadd.ragconnect.compiler.options.StringOption;
+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;
@@ -22,7 +21,7 @@ public class Compiler {
private StringOption optionOutputDir;
private StringOption optionInputGrammar;
private StringOption optionRootNode;
- private StringOption optionInputRos2Rag;
+ private StringOption optionInputRagConnect;
private FlagOption optionHelp;
private FlagOption optionVerbose;
private FlagOption optionLogReads;
@@ -36,7 +35,7 @@ public class Compiler {
addOptions();
}
- public void run(String[] args) throws CommandLineException, CompilerException {
+ public void run(String[] args) throws CommandLine.CommandLineException, CompilerException {
System.setProperty("java.util.logging.manager", "org.apache.logging.log4j.jul.LogManager");
System.setProperty("mustache.debug", "true");
options = new ArrayList<>();
@@ -75,7 +74,7 @@ public class Compiler {
throw new CompilerException("Error creating output dir " + outputDir, e);
}
- printMessage("Running Ros2Rag Preprocessor");
+ printMessage("Running RagConnect Preprocessor");
if (anyRequiredOptionIsUnset()) {
throw new CompilerException("Aborting due to missing values for required options.");
@@ -85,11 +84,11 @@ public class Compiler {
if (!otherArgs.isEmpty()) {
printMessage("Superfluous arguments will be ignored: " + otherArgs);
}
- Ros2Rag ros2Rag = parseProgram(optionInputGrammar.getValue(), optionInputRos2Rag.getValue());
+ RagConnect ragConnect = parseProgram(optionInputGrammar.getValue(), optionInputRagConnect.getValue());
- if (!ros2Rag.errors().isEmpty()) {
+ if (!ragConnect.errors().isEmpty()) {
System.err.println("Errors:");
- for (ErrorMessage e : ros2Rag.errors()) {
+ for (ErrorMessage e : ragConnect.errors()) {
System.err.println(e);
}
System.exit(1);
@@ -109,8 +108,8 @@ public class Compiler {
} catch (IOException e) {
throw new CompilerException("Could not copy " + mqttHandlerFileName, e);
}
- writeToFile(outputDir + "/Grammar.relast", ros2Rag.getProgram().generateAbstractGrammar());
- writeToFile(outputDir + "/ROS2RAG.jadd", ros2Rag.generateAspect(optionRootNode.getValue()));
+ writeToFile(outputDir + "/Grammar.relast", ragConnect.getProgram().generateAbstractGrammar());
+ writeToFile(outputDir + "/RagConnect.jadd", ragConnect.generateAspect(optionRootNode.getValue()));
}
private boolean anyRequiredOptionIsUnset() {
@@ -129,7 +128,7 @@ public class Compiler {
public static void main(String[] args) {
try {
new Compiler().run(args);
- } catch (CommandLineException | CompilerException e) {
+ } catch (CommandLine.CommandLineException | CompilerException e) {
System.err.println(e.getMessage());
System.exit(-1);
}
@@ -153,7 +152,7 @@ public class Compiler {
optionOutputDir = addOption(new StringOption("outputDir", "target directory for the generated files."));
optionInputGrammar = addOption(new StringOption("inputGrammar", "base grammar."));
optionRootNode = addOption(new StringOption("rootNode", "root node in the base grammar."));
- optionInputRos2Rag = addOption(new StringOption("inputRos2Rag", "ros2rag definition file."));
+ optionInputRagConnect = addOption(new StringOption("inputRagConnect", "connect definition file."));
optionHelp = addOption(new FlagOption("help", "Print usage and exit."));
optionVerbose = addOption(new FlagOption("verbose", "Print more messages while compiling."));
optionLogReads = addOption(new FlagOption("logReads", "Enable logging for every read."));
@@ -165,14 +164,14 @@ public class Compiler {
return option;
}
- private Ros2Rag parseProgram(String inputGrammarFileName, String inputRos2RagFileName) throws CompilerException {
+ private RagConnect parseProgram(String inputGrammarFileName, String inputRagConnectFileName) throws CompilerException {
Program program = new Program();
- Ros2Rag ros2Rag;
+ RagConnect ros2Rag;
GrammarFile inputGrammar;
try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputGrammarFileName))) {
- Ros2RagScanner scanner = new Ros2RagScanner(reader);
- Ros2RagParser parser = new Ros2RagParser();
+ RagConnectScanner scanner = new RagConnectScanner(reader);
+ RagConnectParser parser = new RagConnectParser();
inputGrammar = (GrammarFile) parser.parse(scanner);
if (optionVerbose.isSet()) {
inputGrammar.dumpTree(System.out);
@@ -184,14 +183,14 @@ public class Compiler {
throw new CompilerException("Could not parse grammar file " + inputGrammarFileName, e);
}
- try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputRos2RagFileName))) {
- Ros2RagScanner scanner = new Ros2RagScanner(reader);
- Ros2RagParser parser = new Ros2RagParser();
- ros2Rag = (Ros2Rag) parser.parse(scanner, Ros2RagParser.AltGoals.ros2rag);
+ try (BufferedReader reader = Files.newBufferedReader(Paths.get(inputRagConnectFileName))) {
+ RagConnectScanner scanner = new RagConnectScanner(reader);
+ RagConnectParser parser = new RagConnectParser();
+ ros2Rag = (RagConnect) parser.parse(scanner, RagConnectParser.AltGoals.ragconnect);
ros2Rag.setProgram(program);
- ros2Rag.setFileName(inputRos2RagFileName);
+ ros2Rag.setFileName(inputRagConnectFileName);
} catch (IOException | Parser.Exception e) {
- throw new CompilerException("Could not parse ros2rag file " + inputRos2RagFileName, e);
+ throw new CompilerException("Could not parse ros2rag file " + inputRagConnectFileName, e);
}
ros2Rag.treeResolveAll();
ros2Rag.additionalRelations().forEach(inputGrammar::addDeclaration);
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
similarity index 81%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
index 74406f87a166732efedafbc772d114185f24e227..2e7d5c9cc72b5f1915ef0c73090e30dd21fb2ae6 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/SimpleMain.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/SimpleMain.java
@@ -1,9 +1,9 @@
-package org.jastadd.ros2rag.compiler;
+package org.jastadd.ragconnect.compiler;
import beaver.Parser;
-import org.jastadd.ros2rag.ast.*;
-import org.jastadd.ros2rag.parser.Ros2RagParser;
-import org.jastadd.ros2rag.scanner.Ros2RagScanner;
+import org.jastadd.ragconnect.ast.*;
+import org.jastadd.ragconnect.parser.RagConnectParser;
+import org.jastadd.ragconnect.scanner.RagConnectScanner;
import java.io.BufferedReader;
import java.io.IOException;
@@ -102,18 +102,18 @@ public class SimpleMain {
}
public static void main(String[] args) {
- testing();
-// createManualAST();
+// testing();
+ createManualAST();
}
private static void createManualAST() {
- Ros2Rag model = new Ros2Rag();
- Program program = parseProgram(Paths.get("src", "test", "resources", "Example.relast"));
+ RagConnect model = new RagConnect();
+ Program program = parseProgram(Paths.get("ros2rag.starter","src", "main", "jastadd", "RobotModel.relast"));
model.setProgram(program);
MappingDefinition mappingDefinition = new MappingDefinition();
mappingDefinition.setID("PoseToPosition");
- mappingDefinition.setFromType(makeMappingDefinitionType("PBPose"));
+ mappingDefinition.setFromType(makeMappingDefinitionType("int"));
mappingDefinition.setFromVariableName("x");
mappingDefinition.setToType(makeMappingDefinitionType("Position"));
mappingDefinition.setContent(" pose.position.x += sqrt(.5 * size.x)\n" +
@@ -125,11 +125,14 @@ public class SimpleMain {
ReadFromMqttDefinition readFromMqttDefinition = new ReadFromMqttDefinition();
readFromMqttDefinition.setAlwaysApply(false);
- readFromMqttDefinition.setToken(TokenComponent.createRef("Joint.CurrentPosition"));
+ readFromMqttDefinition.setToken(TokenComponent.createRef("Link.CurrentPosition"));
readFromMqttDefinition.addMapping(mappingDefinition);
model.addUpdateDefinition(readFromMqttDefinition);
model.treeResolveAll();
+ for (ErrorMessage error : model.errors()) {
+ System.err.println(error);
+ }
System.out.println(model.generateAspect("Model"));
}
@@ -142,9 +145,12 @@ public class SimpleMain {
private static Program parseProgram(Path path) {
try (BufferedReader reader = Files.newBufferedReader(path)) {
- Ros2RagScanner scanner = new Ros2RagScanner(reader);
- Ros2RagParser parser = new Ros2RagParser();
- return (Program) parser.parse(scanner);
+ RagConnectScanner scanner = new RagConnectScanner(reader);
+ RagConnectParser parser = new RagConnectParser();
+ GrammarFile grammarFile = (GrammarFile) parser.parse(scanner);
+ Program program = new Program();
+ program.addGrammarFile(grammarFile);
+ return program;
} catch (IOException | Parser.Exception e) {
e.printStackTrace();
}
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Utils.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Utils.java
similarity index 90%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Utils.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Utils.java
index 6a229cd7e9a2551578a87f1c7b5fcccfebd31ff7..c083fe1d912fa74cb4461fce5fcb839f5b88a40f 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/Utils.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/Utils.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler;
+package org.jastadd.ragconnect.compiler;
import java.util.*;
import java.util.function.Predicate;
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/CommandLine.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/CommandLine.java
similarity index 98%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/CommandLine.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/CommandLine.java
index 89a1335c5440cc88fc8ee7c0c22552fffd86c13b..dc29ba032e1a7cdc234a9fdac60064205b5ca5ea 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/CommandLine.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/CommandLine.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler.options;
+package org.jastadd.ragconnect.compiler.options;
import java.util.*;
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/EnumOption.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/EnumOption.java
similarity index 97%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/EnumOption.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/EnumOption.java
index 67ada98e8c2483b8d29ffeb73f99e4be8e6244c8..a5278d36a39d12e21b2015cca2659321ced5117f 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/EnumOption.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/EnumOption.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler.options;
+package org.jastadd.ragconnect.compiler.options;
import java.util.Collection;
import java.util.TreeSet;
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/FlagOption.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/FlagOption.java
similarity index 91%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/FlagOption.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/FlagOption.java
index ad87ed19e91b03f05d163f0cc123af15a4a4e2e2..c16e20dc2075ad1a472bbc483e312561f9cd1d1a 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/FlagOption.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/FlagOption.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler.options;
+package org.jastadd.ragconnect.compiler.options;
public class FlagOption extends Option<Boolean> {
private boolean value;
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/Option.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/Option.java
similarity index 96%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/Option.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/Option.java
index 0f57f9899ba5f28ee80ca6d37788a6e31123ac47..cc1469cfa49e8b85ea95dda0de5509e91027b315 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/Option.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/Option.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler.options;
+package org.jastadd.ragconnect.compiler.options;
abstract public class Option<ValueType> implements Comparable<Option<?>> {
public final static String PREFIX = "--";
diff --git a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/StringOption.java b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/StringOption.java
similarity index 93%
rename from ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/StringOption.java
rename to ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/StringOption.java
index 19082b5ae6b9fa90145a73ff4ddc4b58b2f9b122..51ee57a5c999f32822b249d5caf48a2f4de8ce7d 100644
--- a/ros2rag.base/src/main/java/org/jastadd/ros2rag/compiler/options/StringOption.java
+++ b/ragconnect.base/src/main/java/org/jastadd/ragconnect/compiler/options/StringOption.java
@@ -1,4 +1,4 @@
-package org.jastadd.ros2rag.compiler.options;
+package org.jastadd.ragconnect.compiler.options;
public class StringOption extends Option<String> {
private String value;
diff --git a/ros2rag.base/src/main/resources/MqttHandler.jadd b/ragconnect.base/src/main/resources/MqttHandler.jadd
similarity index 99%
rename from ros2rag.base/src/main/resources/MqttHandler.jadd
rename to ragconnect.base/src/main/resources/MqttHandler.jadd
index c3e98dc89377e6217946fafa54a9eb7ab7594c61..493d8e4452e81c5dbfa45a522a6366345908cdcc 100644
--- a/ros2rag.base/src/main/resources/MqttHandler.jadd
+++ b/ragconnect.base/src/main/resources/MqttHandler.jadd
@@ -24,7 +24,7 @@ public class MqttHandler {
private final java.util.Map<String, java.util.List<java.util.function.Consumer<byte[]>>> callbacks;
public MqttHandler() {
- this("Ros2Rag");
+ this("RagConnect");
}
public MqttHandler(String name) {
diff --git a/ros2rag.base/src/main/resources/dependencyDefinition.mustache b/ragconnect.base/src/main/resources/dependencyDefinition.mustache
similarity index 100%
rename from ros2rag.base/src/main/resources/dependencyDefinition.mustache
rename to ragconnect.base/src/main/resources/dependencyDefinition.mustache
diff --git a/ros2rag.base/src/main/resources/log4j2.xml b/ragconnect.base/src/main/resources/log4j2.xml
similarity index 100%
rename from ros2rag.base/src/main/resources/log4j2.xml
rename to ragconnect.base/src/main/resources/log4j2.xml
diff --git a/ros2rag.base/src/main/resources/mappingApplication.mustache b/ragconnect.base/src/main/resources/mappingApplication.mustache
similarity index 100%
rename from ros2rag.base/src/main/resources/mappingApplication.mustache
rename to ragconnect.base/src/main/resources/mappingApplication.mustache
diff --git a/ros2rag.base/src/main/resources/mappingDefinition.mustache b/ragconnect.base/src/main/resources/mappingDefinition.mustache
similarity index 100%
rename from ros2rag.base/src/main/resources/mappingDefinition.mustache
rename to ragconnect.base/src/main/resources/mappingDefinition.mustache
diff --git a/ros2rag.base/src/main/resources/mqtt.mustache b/ragconnect.base/src/main/resources/mqtt.mustache
similarity index 92%
rename from ros2rag.base/src/main/resources/mqtt.mustache
rename to ragconnect.base/src/main/resources/mqtt.mustache
index d65ca944a9dc7e881ff75d89ea696d4bb1fe09fc..dbdb85e7954dbf50ae7e150ffc43dd4cbda0fd80 100644
--- a/ros2rag.base/src/main/resources/mqtt.mustache
+++ b/ragconnect.base/src/main/resources/mqtt.mustache
@@ -16,8 +16,8 @@ aspect MQTT {
{{mqttHandlerField}}.close();
}
- inh MqttHandler ASTNode.{{mqttHandlerAttribute}}();
{{#getRootTypeComponents}}
+ {{#first}}inh MqttHandler ASTNode.{{mqttHandlerAttribute}}();{{/first}}
eq {{rootNodeName}}.get{{name}}().{{mqttHandlerAttribute}}() = {{mqttHandlerField}};
{{/getRootTypeComponents}}
}
diff --git a/ros2rag.base/src/main/resources/ros2rag.mustache b/ragconnect.base/src/main/resources/ragconnect.mustache
similarity index 100%
rename from ros2rag.base/src/main/resources/ros2rag.mustache
rename to ragconnect.base/src/main/resources/ragconnect.mustache
diff --git a/ros2rag.base/src/main/resources/readDefinition.mustache b/ragconnect.base/src/main/resources/readDefinition.mustache
similarity index 100%
rename from ros2rag.base/src/main/resources/readDefinition.mustache
rename to ragconnect.base/src/main/resources/readDefinition.mustache
diff --git a/ros2rag.base/src/main/resources/tokenComponent.mustache b/ragconnect.base/src/main/resources/tokenComponent.mustache
similarity index 100%
rename from ros2rag.base/src/main/resources/tokenComponent.mustache
rename to ragconnect.base/src/main/resources/tokenComponent.mustache
diff --git a/ros2rag.base/src/main/resources/writeDefinition.mustache b/ragconnect.base/src/main/resources/writeDefinition.mustache
similarity index 100%
rename from ros2rag.base/src/main/resources/writeDefinition.mustache
rename to ragconnect.base/src/main/resources/writeDefinition.mustache
diff --git a/ros2rag.starter/.gitignore b/ragconnect.tests/.gitignore
similarity index 100%
rename from ros2rag.starter/.gitignore
rename to ragconnect.tests/.gitignore
diff --git a/ros2rag.tests/README.md b/ragconnect.tests/README.md
similarity index 100%
rename from ros2rag.tests/README.md
rename to ragconnect.tests/README.md
diff --git a/ros2rag.tests/build.gradle b/ragconnect.tests/build.gradle
similarity index 55%
rename from ros2rag.tests/build.gradle
rename to ragconnect.tests/build.gradle
index efff9a553b1da39904b80933df36e4e4d809f526..ab534e4e47548c416e99769616d85f3de190ab70 100644
--- a/ros2rag.tests/build.gradle
+++ b/ragconnect.tests/build.gradle
@@ -1,6 +1,7 @@
import org.jastadd.relast.plugin.RelastPlugin
import org.jastadd.relast.plugin.RelastTest
apply plugin: 'jastadd'
+apply plugin: 'com.google.protobuf'
apply plugin: RelastPlugin
sourceCompatibility = 1.8
@@ -13,12 +14,12 @@ buildscript {
repositories.jcenter()
dependencies {
classpath 'org.jastadd:jastaddgradle:1.13.3'
+ classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.12'
}
}
dependencies {
- implementation project(':ros2rag.base')
- implementation project(':ros2rag.common')
+ implementation project(':ragconnect.base')
runtime group: 'org.jastadd', name: 'jastadd', version: '2.3.4'
testImplementation group: 'org.junit.jupiter', name: 'junit-jupiter-api', version: '5.4.0'
@@ -26,6 +27,7 @@ dependencies {
testImplementation group: 'org.assertj', name: 'assertj-core', version: '3.12.1'
testImplementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
testImplementation group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
+ api group: 'com.google.protobuf', name: 'protobuf-java', version: '3.0.0'
}
test {
@@ -36,6 +38,13 @@ test {
maxHeapSize = '1G'
}
+protobuf {
+ protoc {
+ // The artifact spec for the Protobuf Compiler
+ artifact = 'com.google.protobuf:protoc:3.0.0'
+ }
+}
+
task allTests(type: Test, dependsOn: testClasses) {
description = 'Run every test'
group = 'verification'
@@ -58,16 +67,16 @@ sourceSets {
// --- Test: Example ---
task preprocessExampleTest(type: JavaExec, group: 'verification') {
doFirst {
- delete 'src/test/02-after-ros2rag/example/Grammar.relast',
- 'src/test/02-after-ros2rag/example/MqttHandler.java',
- 'src/test/02-after-ros2rag/example/ROS2RAG.jadd'
+ delete 'src/test/02-after-ragconnect/example/Grammar.relast',
+ 'src/test/02-after-ragconnect/example/MqttHandler.java',
+ 'src/test/02-after-ragconnect/example/RagConnect.jadd'
}
classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ros2rag.compiler.Compiler'
- args '--outputDir=src/test/02-after-ros2rag/example',
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ args '--outputDir=src/test/02-after-ragconnect/example',
'--inputGrammar=src/test/01-input/example/Test.relast',
- '--inputRos2Rag=src/test/01-input/example/Test.ros2rag',
+ '--inputRagConnect=src/test/01-input/example/Test.ragconnect',
'--rootNode=Model',
'--logReads', '--logWrites'
}
@@ -75,12 +84,12 @@ task preprocessExampleTest(type: JavaExec, group: 'verification') {
task compileExampleTest(type: RelastTest) {
useJastAddNames = true
jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ros2rag/example/Grammar.relast'
+ relastFiles 'src/test/02-after-ragconnect/example/Grammar.relast'
grammarName = 'src/test/03-after-relast/example/example'
packageName = 'example.ast'
moreInputFiles 'src/test/01-input/example/Test.jadd',
- 'src/test/02-after-ros2rag/example/MqttHandler.jadd',
- 'src/test/02-after-ros2rag/example/ROS2RAG.jadd'
+ 'src/test/02-after-ragconnect/example/MqttHandler.jadd',
+ 'src/test/02-after-ragconnect/example/RagConnect.jadd'
}
testClasses.dependsOn compileExampleTest
@@ -89,16 +98,16 @@ compileExampleTest.dependsOn preprocessExampleTest
// --- Test: default-only-read ---
task preprocessDefaultOnlyReadTest(type: JavaExec, group: 'verification') {
doFirst {
- delete 'src/test/02-after-ros2rag/defaultOnlyRead/Grammar.relast',
- 'src/test/02-after-ros2rag/defaultOnlyRead/MqttHandler.java',
- 'src/test/02-after-ros2rag/defaultOnlyRead/ROS2RAG.jadd'
+ delete 'src/test/02-after-ragconnect/defaultOnlyRead/Grammar.relast',
+ 'src/test/02-after-ragconnect/defaultOnlyRead/MqttHandler.java',
+ 'src/test/02-after-ragconnect/defaultOnlyRead/RagConnect.jadd'
}
classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ros2rag.compiler.Compiler'
- args '--outputDir=src/test/02-after-ros2rag/defaultOnlyRead',
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ args '--outputDir=src/test/02-after-ragconnect/defaultOnlyRead',
'--inputGrammar=src/test/01-input/defaultOnlyRead/Test.relast',
- '--inputRos2Rag=src/test/01-input/defaultOnlyRead/Test.ros2rag',
+ '--inputRagConnect=src/test/01-input/defaultOnlyRead/Test.ragconnect',
'--rootNode=A',
'--verbose'
}
@@ -106,11 +115,11 @@ task preprocessDefaultOnlyReadTest(type: JavaExec, group: 'verification') {
task compileDefaultOnlyReadTest(type: RelastTest) {
useJastAddNames = true
jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ros2rag/defaultOnlyRead/Grammar.relast'
+ relastFiles 'src/test/02-after-ragconnect/defaultOnlyRead/Grammar.relast'
grammarName = 'src/test/03-after-relast/defaultOnlyRead/defaultOnlyRead'
packageName = 'defaultOnlyRead.ast'
- moreInputFiles 'src/test/02-after-ros2rag/defaultOnlyRead/MqttHandler.jadd',
- 'src/test/02-after-ros2rag/defaultOnlyRead/ROS2RAG.jadd'
+ moreInputFiles 'src/test/02-after-ragconnect/defaultOnlyRead/MqttHandler.jadd',
+ 'src/test/02-after-ragconnect/defaultOnlyRead/RagConnect.jadd'
}
testClasses.dependsOn compileDefaultOnlyReadTest
@@ -119,16 +128,16 @@ compileDefaultOnlyReadTest.dependsOn preprocessDefaultOnlyReadTest
// --- Test: default-only-write ---
task preprocessDefaultOnlyWriteTest(type: JavaExec, group: 'verification') {
doFirst {
- delete 'src/test/02-after-ros2rag/defaultOnlyWrite/Grammar.relast',
- 'src/test/02-after-ros2rag/defaultOnlyWrite/MqttHandler.java',
- 'src/test/02-after-ros2rag/defaultOnlyWrite/ROS2RAG.jadd'
+ delete 'src/test/02-after-ragconnect/defaultOnlyWrite/Grammar.relast',
+ 'src/test/02-after-ragconnect/defaultOnlyWrite/MqttHandler.java',
+ 'src/test/02-after-ragconnect/defaultOnlyWrite/RagConnect.jadd'
}
classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ros2rag.compiler.Compiler'
- args '--outputDir=src/test/02-after-ros2rag/defaultOnlyWrite',
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ args '--outputDir=src/test/02-after-ragconnect/defaultOnlyWrite',
'--inputGrammar=src/test/01-input/defaultOnlyWrite/Test.relast',
- '--inputRos2Rag=src/test/01-input/defaultOnlyWrite/Test.ros2rag',
+ '--inputRagConnect=src/test/01-input/defaultOnlyWrite/Test.ragconnect',
'--rootNode=A',
'--verbose'
}
@@ -136,12 +145,12 @@ task preprocessDefaultOnlyWriteTest(type: JavaExec, group: 'verification') {
task compileDefaultOnlyWriteTest(type: RelastTest) {
useJastAddNames = true
jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ros2rag/defaultOnlyWrite/Grammar.relast'
+ relastFiles 'src/test/02-after-ragconnect/defaultOnlyWrite/Grammar.relast'
grammarName = 'src/test/03-after-relast/defaultOnlyWrite/defaultOnlyWrite'
packageName = 'defaultOnlyWrite.ast'
moreInputFiles 'src/test/01-input/defaultOnlyWrite/Test.jadd',
- 'src/test/02-after-ros2rag/defaultOnlyWrite/MqttHandler.jadd',
- 'src/test/02-after-ros2rag/defaultOnlyWrite/ROS2RAG.jadd'
+ 'src/test/02-after-ragconnect/defaultOnlyWrite/MqttHandler.jadd',
+ 'src/test/02-after-ragconnect/defaultOnlyWrite/RagConnect.jadd'
}
testClasses.dependsOn compileDefaultOnlyWriteTest
@@ -150,16 +159,16 @@ compileDefaultOnlyWriteTest.dependsOn preprocessDefaultOnlyWriteTest
// --- Test: read1write2 ---
task preprocessRead1Write2Test(type: JavaExec, group: 'verification') {
doFirst {
- delete 'src/test/02-after-ros2rag/read1write2/Grammar.relast',
- 'src/test/02-after-ros2rag/read1write2/MqttHandler.java',
- 'src/test/02-after-ros2rag/read1write2/ROS2RAG.jadd'
+ delete 'src/test/02-after-ragconnect/read1write2/Grammar.relast',
+ 'src/test/02-after-ragconnect/read1write2/MqttHandler.java',
+ 'src/test/02-after-ragconnect/read1write2/RagConnect.jadd'
}
classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ros2rag.compiler.Compiler'
- args '--outputDir=src/test/02-after-ros2rag/read1write2',
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ args '--outputDir=src/test/02-after-ragconnect/read1write2',
'--inputGrammar=src/test/01-input/read1write2/Test.relast',
- '--inputRos2Rag=src/test/01-input/read1write2/Test.ros2rag',
+ '--inputRagConnect=src/test/01-input/read1write2/Test.ragconnect',
'--rootNode=A',
'--logReads', '--logWrites'
}
@@ -167,12 +176,12 @@ task preprocessRead1Write2Test(type: JavaExec, group: 'verification') {
task compileRead1Write2Test(type: RelastTest) {
useJastAddNames = true
jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ros2rag/read1write2/Grammar.relast'
+ relastFiles 'src/test/02-after-ragconnect/read1write2/Grammar.relast'
grammarName = 'src/test/03-after-relast/read1write2/read1write2'
packageName = 'read1write2.ast'
moreInputFiles 'src/test/01-input/read1write2/Test.jadd',
- 'src/test/02-after-ros2rag/read1write2/MqttHandler.jadd',
- 'src/test/02-after-ros2rag/read1write2/ROS2RAG.jadd'
+ 'src/test/02-after-ragconnect/read1write2/MqttHandler.jadd',
+ 'src/test/02-after-ragconnect/read1write2/RagConnect.jadd'
}
testClasses.dependsOn compileRead1Write2Test
@@ -181,16 +190,16 @@ compileRead1Write2Test.dependsOn preprocessRead1Write2Test
// --- Test: read2write1 ---
task preprocessRead2Write1Test(type: JavaExec, group: 'verification') {
doFirst {
- delete 'src/test/02-after-ros2rag/read2write1/Grammar.relast',
- 'src/test/02-after-ros2rag/read2write1/MqttHandler.java',
- 'src/test/02-after-ros2rag/read2write1/ROS2RAG.jadd'
+ delete 'src/test/02-after-ragconnect/read2write1/Grammar.relast',
+ 'src/test/02-after-ragconnect/read2write1/MqttHandler.java',
+ 'src/test/02-after-ragconnect/read2write1/RagConnect.jadd'
}
classpath = sourceSets.main.runtimeClasspath
- main = 'org.jastadd.ros2rag.compiler.Compiler'
- args '--outputDir=src/test/02-after-ros2rag/read2write1',
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+ args '--outputDir=src/test/02-after-ragconnect/read2write1',
'--inputGrammar=src/test/01-input/read2write1/Test.relast',
- '--inputRos2Rag=src/test/01-input/read2write1/Test.ros2rag',
+ '--inputRagConnect=src/test/01-input/read2write1/Test.ragconnect',
'--rootNode=A', '--verbose',
'--logReads', '--logWrites'
}
@@ -198,17 +207,17 @@ task preprocessRead2Write1Test(type: JavaExec, group: 'verification') {
task compileRead2Write1Test(type: RelastTest) {
useJastAddNames = true
jastAddList = 'JastAddList'
- relastFiles 'src/test/02-after-ros2rag/read2write1/Grammar.relast'
+ relastFiles 'src/test/02-after-ragconnect/read2write1/Grammar.relast'
grammarName = 'src/test/03-after-relast/read2write1/read2write1'
packageName = 'read2write1.ast'
moreInputFiles 'src/test/01-input/read2write1/Test.jadd',
- 'src/test/02-after-ros2rag/read2write1/MqttHandler.jadd',
- 'src/test/02-after-ros2rag/read2write1/ROS2RAG.jadd'
+ 'src/test/02-after-ragconnect/read2write1/MqttHandler.jadd',
+ 'src/test/02-after-ragconnect/read2write1/RagConnect.jadd'
}
testClasses.dependsOn compileRead2Write1Test
compileRead2Write1Test.dependsOn preprocessRead2Write1Test
clean {
- delete 'src/test/02-after-ros2rag/*/', 'src/test/03-after-relast/*/', 'src/test/java-gen/*/'
+ delete 'src/test/02-after-ragconnect/*/', 'src/test/03-after-relast/*/', 'src/test/java-gen/*/'
}
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyRead/README.md b/ragconnect.tests/src/test/01-input/defaultOnlyRead/README.md
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyRead/README.md
rename to ragconnect.tests/src/test/01-input/defaultOnlyRead/README.md
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyRead/Test.ros2rag b/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.ragconnect
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyRead/Test.ros2rag
rename to ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.ragconnect
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyRead/Test.relast b/ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyRead/Test.relast
rename to ragconnect.tests/src/test/01-input/defaultOnlyRead/Test.relast
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyWrite/README.md b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/README.md
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyWrite/README.md
rename to ragconnect.tests/src/test/01-input/defaultOnlyWrite/README.md
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.jadd b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.jadd
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.jadd
rename to ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.jadd
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.ros2rag b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.ragconnect
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.ros2rag
rename to ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.ragconnect
diff --git a/ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.relast b/ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/defaultOnlyWrite/Test.relast
rename to ragconnect.tests/src/test/01-input/defaultOnlyWrite/Test.relast
diff --git a/ros2rag.tests/src/test/01-input/errors/Errors.expected b/ragconnect.tests/src/test/01-input/errors/Errors.expected
similarity index 100%
rename from ros2rag.tests/src/test/01-input/errors/Errors.expected
rename to ragconnect.tests/src/test/01-input/errors/Errors.expected
diff --git a/ros2rag.tests/src/test/01-input/errors/Errors.ros2rag b/ragconnect.tests/src/test/01-input/errors/Errors.ragconnect
similarity index 100%
rename from ros2rag.tests/src/test/01-input/errors/Errors.ros2rag
rename to ragconnect.tests/src/test/01-input/errors/Errors.ragconnect
diff --git a/ros2rag.tests/src/test/01-input/errors/Errors.relast b/ragconnect.tests/src/test/01-input/errors/Errors.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/errors/Errors.relast
rename to ragconnect.tests/src/test/01-input/errors/Errors.relast
diff --git a/ros2rag.tests/src/test/01-input/errors/README.md b/ragconnect.tests/src/test/01-input/errors/README.md
similarity index 100%
rename from ros2rag.tests/src/test/01-input/errors/README.md
rename to ragconnect.tests/src/test/01-input/errors/README.md
diff --git a/ros2rag.tests/src/test/01-input/example/README.md b/ragconnect.tests/src/test/01-input/example/README.md
similarity index 100%
rename from ros2rag.tests/src/test/01-input/example/README.md
rename to ragconnect.tests/src/test/01-input/example/README.md
diff --git a/ros2rag.tests/src/test/01-input/example/Test.jadd b/ragconnect.tests/src/test/01-input/example/Test.jadd
similarity index 100%
rename from ros2rag.tests/src/test/01-input/example/Test.jadd
rename to ragconnect.tests/src/test/01-input/example/Test.jadd
diff --git a/ros2rag.tests/src/test/01-input/example/Test.ros2rag b/ragconnect.tests/src/test/01-input/example/Test.ragconnect
similarity index 100%
rename from ros2rag.tests/src/test/01-input/example/Test.ros2rag
rename to ragconnect.tests/src/test/01-input/example/Test.ragconnect
diff --git a/ros2rag.tests/src/test/01-input/example/Test.relast b/ragconnect.tests/src/test/01-input/example/Test.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/example/Test.relast
rename to ragconnect.tests/src/test/01-input/example/Test.relast
diff --git a/ros2rag.tests/src/test/01-input/read1write2/README.md b/ragconnect.tests/src/test/01-input/read1write2/README.md
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read1write2/README.md
rename to ragconnect.tests/src/test/01-input/read1write2/README.md
diff --git a/ros2rag.tests/src/test/01-input/read1write2/Test.jadd b/ragconnect.tests/src/test/01-input/read1write2/Test.jadd
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read1write2/Test.jadd
rename to ragconnect.tests/src/test/01-input/read1write2/Test.jadd
diff --git a/ros2rag.tests/src/test/01-input/read1write2/Test.ros2rag b/ragconnect.tests/src/test/01-input/read1write2/Test.ragconnect
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read1write2/Test.ros2rag
rename to ragconnect.tests/src/test/01-input/read1write2/Test.ragconnect
diff --git a/ros2rag.tests/src/test/01-input/read1write2/Test.relast b/ragconnect.tests/src/test/01-input/read1write2/Test.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read1write2/Test.relast
rename to ragconnect.tests/src/test/01-input/read1write2/Test.relast
diff --git a/ros2rag.tests/src/test/01-input/read2write1/Test.jadd b/ragconnect.tests/src/test/01-input/read2write1/Test.jadd
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read2write1/Test.jadd
rename to ragconnect.tests/src/test/01-input/read2write1/Test.jadd
diff --git a/ros2rag.tests/src/test/01-input/read2write1/Test.ros2rag b/ragconnect.tests/src/test/01-input/read2write1/Test.ragconnect
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read2write1/Test.ros2rag
rename to ragconnect.tests/src/test/01-input/read2write1/Test.ragconnect
diff --git a/ros2rag.tests/src/test/01-input/read2write1/Test.relast b/ragconnect.tests/src/test/01-input/read2write1/Test.relast
similarity index 100%
rename from ros2rag.tests/src/test/01-input/read2write1/Test.relast
rename to ragconnect.tests/src/test/01-input/read2write1/Test.relast
diff --git a/ros2rag.tests/src/test/02-after-ros2rag/.gitignore b/ragconnect.tests/src/test/03-after-relast/.gitignore
similarity index 100%
rename from ros2rag.tests/src/test/02-after-ros2rag/.gitignore
rename to ragconnect.tests/src/test/03-after-relast/.gitignore
diff --git a/ros2rag.tests/src/test/03-after-relast/.gitignore b/ragconnect.tests/src/test/java-gen/.gitignore
similarity index 100%
rename from ros2rag.tests/src/test/03-after-relast/.gitignore
rename to ragconnect.tests/src/test/java-gen/.gitignore
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/AbstractMqttTest.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/AbstractMqttTest.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/AbstractMqttTest.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/AbstractMqttTest.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java
similarity index 98%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java
index a0fd5e7682f1accef3333eaf72261a6593e1c4d6..be45a8080cc251191c62fcbc3b1793129a45dee3 100644
--- a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java
+++ b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Errors.java
@@ -2,7 +2,7 @@ package org.jastadd.ros2rag.tests;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
-import org.jastadd.ros2rag.compiler.Compiler;
+import org.jastadd.ragconnect.compiler.Compiler;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java b/ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
similarity index 100%
rename from ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
rename to ragconnect.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
diff --git a/ragconnect.tests/src/test/proto/config.proto b/ragconnect.tests/src/test/proto/config.proto
new file mode 100644
index 0000000000000000000000000000000000000000..38cb5d0a25b02c96dcbdf30f685212ea972feee6
--- /dev/null
+++ b/ragconnect.tests/src/test/proto/config.proto
@@ -0,0 +1,7 @@
+syntax = "proto3";
+
+package config;
+
+message RobotConfig {
+ double speed = 1;
+}
\ No newline at end of file
diff --git a/ragconnect.tests/src/test/proto/robot_state.proto b/ragconnect.tests/src/test/proto/robot_state.proto
new file mode 100644
index 0000000000000000000000000000000000000000..6630631f16e00493be3f50307c9092e56184e9c6
--- /dev/null
+++ b/ragconnect.tests/src/test/proto/robot_state.proto
@@ -0,0 +1,37 @@
+syntax = "proto3";
+
+package robot;
+
+message RobotState {
+
+ message Position {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ }
+
+ message Orientation {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ double w = 4;
+ }
+
+ message LinearTwist {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ }
+
+ message AngularTwist {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ }
+
+ string name = 1;
+ Position position = 2;
+ Orientation orientation = 3;
+ LinearTwist linear_twist = 4;
+ AngularTwist angular_twist = 5;
+}
\ No newline at end of file
diff --git a/ragconnect.tests/src/test/proto/trajectory.proto b/ragconnect.tests/src/test/proto/trajectory.proto
new file mode 100644
index 0000000000000000000000000000000000000000..4a7f375e1ae37ba386f45e1149dc38990d0c7a0e
--- /dev/null
+++ b/ragconnect.tests/src/test/proto/trajectory.proto
@@ -0,0 +1,33 @@
+syntax = "proto3";
+
+package plan;
+
+message Trajectory {
+
+ message Position {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ }
+
+ message Orientation {
+ double x = 1;
+ double y = 2;
+ double z = 3;
+ double w = 4;
+ }
+
+ enum PlanningMode {
+ FLUID = 0;
+ CARTESIAN = 1;
+ }
+
+ message Pose {
+ Position position = 1;
+ Orientation orientation = 2;
+ PlanningMode mode = 3;
+ }
+
+ repeated Pose pose = 1;
+ bool loop = 2;
+}
diff --git a/ros2rag.base/src/main/jastadd/parser/Preamble.parser b/ros2rag.base/src/main/jastadd/parser/Preamble.parser
deleted file mode 100644
index 43fa51e769eed054371cecae2cde354b44e115a3..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/jastadd/parser/Preamble.parser
+++ /dev/null
@@ -1,7 +0,0 @@
-%header {:
-package org.jastadd.ros2rag.parser;
-import org.jastadd.ros2rag.ast.*;
-:};
-
-%goal goal;
-%goal ros2rag;
diff --git a/ros2rag.base/src/main/jastadd/scanner/Header.flex b/ros2rag.base/src/main/jastadd/scanner/Header.flex
deleted file mode 100644
index 974aa01fe70d15edbd4c80ac67169a18fe95f9e8..0000000000000000000000000000000000000000
--- a/ros2rag.base/src/main/jastadd/scanner/Header.flex
+++ /dev/null
@@ -1,17 +0,0 @@
-package org.jastadd.ros2rag.scanner;
-
-import org.jastadd.ros2rag.parser.Ros2RagParser.Terminals;
-%%
-
-%public
-%final
-%class Ros2RagScanner
-%extends beaver.Scanner
-
-%type beaver.Symbol
-%function nextToken
-%yylexthrow beaver.Scanner.Exception
-%scanerror Ros2RagScanner.ScannerError
-
-%line
-%column
diff --git a/ros2rag.common/build.gradle b/ros2rag.common/build.gradle
index 6d0657ba2384835d8ffd8cd8f283535753f96822..28d38267854756aed20a50250814e51ff090afa9 100644
--- a/ros2rag.common/build.gradle
+++ b/ros2rag.common/build.gradle
@@ -28,8 +28,6 @@ test {
}
protobuf {
- // create strange directories, so use default here
-// generatedFilesBaseDir = "$projectDir/src/gen/java"
protoc {
// The artifact spec for the Protobuf Compiler
artifact = 'com.google.protobuf:protoc:3.0.0'
diff --git a/ros2rag.goal/build.gradle b/ros2rag.goal/build.gradle
index c124190b772948fa6bdcff959c4fdc68769d793a..d325acd2ebfef7b7ed1655b19e5f05db9b910395 100644
--- a/ros2rag.goal/build.gradle
+++ b/ros2rag.goal/build.gradle
@@ -21,9 +21,9 @@ configurations {
sourceSets.main.java.srcDir "src/gen/java"
dependencies {
- implementation project (':ros2rag.base')
+ implementation project (':ragconnect.base')
implementation project (':ros2rag.common')
- baseRuntimeClasspath project (':ros2rag.base')
+ baseRuntimeClasspath project (':ragconnect.base')
api group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
jastadd2 "org.jastadd:jastadd:2.3.4"
@@ -32,19 +32,19 @@ dependencies {
// Input files for relast
def relastFiles = ["src/gen/jastadd/Grammar.relast"]
-// phases: Ros2Rag -> RelAst -> JastAdd
-// phase: Ros2Rag
-task ros2rag(type: JavaExec) {
+// phases: ragConnect -> RelAst -> JastAdd
+// phase: ragConnect
+task ragConnect(type: JavaExec) {
classpath = configurations.baseRuntimeClasspath
group = 'Build'
- main = 'org.jastadd.ros2rag.compiler.Compiler'
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
args([
'--verbose',
'--outputDir=src/gen/jastadd',
'--inputGrammar=src/main/jastadd/GoalModel.relast',
- '--inputRos2Rag=src/main/jastadd/GoalModel.ros2rag',
+ '--inputRagConnect=src/main/jastadd/GoalModel.connect',
'--rootNode=GoalModel'
])
}
@@ -119,4 +119,4 @@ jastadd {
// Workflow configuration for phases
generateAst.dependsOn relastToJastAdd
-relastToJastAdd.dependsOn ros2rag
+relastToJastAdd.dependsOn ragConnect
diff --git a/ros2rag.goal/src/main/jastadd/GoalModel.ros2rag b/ros2rag.goal/src/main/jastadd/GoalModel.connect
similarity index 100%
rename from ros2rag.goal/src/main/jastadd/GoalModel.ros2rag
rename to ros2rag.goal/src/main/jastadd/GoalModel.connect
diff --git a/ros2rag.receiverstub/build.gradle b/ros2rag.receiverstub/build.gradle
index db37ca24aa4b861c2153967a3092f38f685a5dfa..73d331a982f1c3229058eb7cc71b1b893a38970c 100644
--- a/ros2rag.receiverstub/build.gradle
+++ b/ros2rag.receiverstub/build.gradle
@@ -1,3 +1,4 @@
+apply plugin: 'jastadd'
apply plugin: 'application'
mainClassName = 'de.tudresden.inf.st.ros2rag.receiverstub.ReceiverMain'
@@ -8,11 +9,76 @@ repositories {
buildscript {
repositories.jcenter()
+ dependencies {
+ classpath 'org.jastadd:jastaddgradle:1.13.3'
+ }
}
sourceSets.main.java.srcDir "src/gen/java"
+configurations {
+ baseRuntimeClasspath
+}
+
dependencies {
- implementation project(':ros2rag.starter')
+ implementation project(':ragconnect.base')
implementation project(':ros2rag.common')
+ baseRuntimeClasspath project (':ragconnect.base')
+ api group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
+
+ jastadd2 "org.jastadd:jastadd:2.3.4"
+}
+
+task ragConnect(type: JavaExec) {
+ classpath = configurations.baseRuntimeClasspath
+
+ group = 'Build'
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+
+ args([
+ '--verbose',
+ '--outputDir=src/gen/jastadd',
+ '--inputGrammar=src/main/jastadd/Receiver.ast',
+ '--inputRagConnect=src/main/jastadd/Receiver.connect',
+ '--rootNode=Receiver'
+ ])
+}
+
+// phase: JastAdd
+jastadd {
+ configureModuleBuild()
+ modules {
+ //noinspection GroovyAssignabilityCheck
+ module("receiver") {
+
+ java {
+ basedir "src/"
+ include "main/**/*.java"
+ include "gen/**/*.java"
+ }
+
+ jastadd {
+ basedir "src/"
+ include "main/jastadd/Receiver.ast"
+ include "gen/jastadd/**/*.jadd"
+ }
+ }
+ }
+ cleanGen.doFirst {
+ delete "src/gen/java/de"
+ delete "src/gen-res/BuildInfo.properties"
+ }
+ preprocessParser.doFirst {
+ args += ["--no-beaver-symbol"]
+ }
+ module = "receiver"
+ astPackage = 'de.tudresden.inf.st.ros2rag.receiverstub.ast'
+ genDir = 'src/gen/java'
+ buildInfoDir = 'src/gen-res'
+ // jastaddOptions = ["--lineColumnNumbers", "--visitCheck=true", "--rewrite=cnta", "--cache=all"]
+ // default options are: '--rewrite=cnta', '--safeLazy', '--visitCheck=false', '--cacheCycle=false'
+ extraJastAddOptions = ["--lineColumnNumbers", '--List=JastAddList']
}
+
+// Workflow configuration for phases
+generateAst.dependsOn ragConnect
diff --git a/ros2rag.receiverstub/src/main/jastadd/Receiver.ast b/ros2rag.receiverstub/src/main/jastadd/Receiver.ast
new file mode 100644
index 0000000000000000000000000000000000000000..6990d9fd4828b80622d0b4e0767eac2a79481e18
--- /dev/null
+++ b/ros2rag.receiverstub/src/main/jastadd/Receiver.ast
@@ -0,0 +1 @@
+Receiver;
diff --git a/ros2rag.receiverstub/src/main/jastadd/Receiver.connect b/ros2rag.receiverstub/src/main/jastadd/Receiver.connect
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/ReceiverMain.java b/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/ReceiverMain.java
index 0ea8aa94ea831952b846cb99bd8451d64ebca12c..c56175a3c4401006c807343ce111236746805ebf 100644
--- a/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/ReceiverMain.java
+++ b/ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/ReceiverMain.java
@@ -4,7 +4,7 @@ import com.google.protobuf.InvalidProtocolBufferException;
import config.Config.RobotConfig;
import de.tudresden.inf.st.ros2rag.common.DataConfiguration.ActualConfiguration;
import de.tudresden.inf.st.ros2rag.common.Util;
-import de.tudresden.inf.st.ros2rag.starter.ast.MqttHandler;
+import de.tudresden.inf.st.ros2rag.receiverstub.ast.MqttHandler;
import org.apache.logging.log4j.Level;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
diff --git a/ros2rag.tests/.gitignore b/ros2rag.safety/.gitignore
similarity index 100%
rename from ros2rag.tests/.gitignore
rename to ros2rag.safety/.gitignore
diff --git a/ros2rag.starter/build.gradle b/ros2rag.safety/build.gradle
similarity index 90%
rename from ros2rag.starter/build.gradle
rename to ros2rag.safety/build.gradle
index 88f304aa3177f09de185f0bafe0e507e80a2d919..f6578202df8290088369a7653a8bbb7b948443c0 100644
--- a/ros2rag.starter/build.gradle
+++ b/ros2rag.safety/build.gradle
@@ -21,9 +21,9 @@ configurations {
sourceSets.main.java.srcDir "src/gen/java"
dependencies {
- implementation project (':ros2rag.base')
+ implementation project (':ragconnect.base')
implementation project (':ros2rag.common')
- baseRuntimeClasspath project (':ros2rag.base')
+ baseRuntimeClasspath project (':ragconnect.base')
api group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
jastadd2 "org.jastadd:jastadd:2.3.4"
@@ -38,13 +38,13 @@ task ros2rag(type: JavaExec) {
classpath = configurations.baseRuntimeClasspath
group = 'Build'
- main = 'org.jastadd.ros2rag.compiler.Compiler'
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
args([
'--verbose',
'--outputDir=src/gen/jastadd',
- '--inputGrammar=src/main/jastadd/RobotModel.relast',
- '--inputRos2Rag=src/main/jastadd/Definitions.ros2rag',
+ '--inputGrammar=src/main/jastadd/SafetyModel.relast',
+ '--inputRagConnect=src/main/jastadd/SafetyModel.connect',
'--rootNode=Model'
])
}
diff --git a/ros2rag.starter/src/main/jastadd/Computation.jrag b/ros2rag.safety/src/main/jastadd/Computation.jrag
similarity index 100%
rename from ros2rag.starter/src/main/jastadd/Computation.jrag
rename to ros2rag.safety/src/main/jastadd/Computation.jrag
diff --git a/ros2rag.starter/src/main/jastadd/Navigation.jrag b/ros2rag.safety/src/main/jastadd/Navigation.jrag
similarity index 100%
rename from ros2rag.starter/src/main/jastadd/Navigation.jrag
rename to ros2rag.safety/src/main/jastadd/Navigation.jrag
diff --git a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag b/ros2rag.safety/src/main/jastadd/SafetyModel.connect
similarity index 100%
rename from ros2rag.starter/src/main/jastadd/Definitions.ros2rag
rename to ros2rag.safety/src/main/jastadd/SafetyModel.connect
diff --git a/ros2rag.starter/src/main/jastadd/RobotModel.jadd b/ros2rag.safety/src/main/jastadd/SafetyModel.jadd
similarity index 100%
rename from ros2rag.starter/src/main/jastadd/RobotModel.jadd
rename to ros2rag.safety/src/main/jastadd/SafetyModel.jadd
diff --git a/ros2rag.starter/src/main/jastadd/RobotModel.relast b/ros2rag.safety/src/main/jastadd/SafetyModel.relast
similarity index 100%
rename from ros2rag.starter/src/main/jastadd/RobotModel.relast
rename to ros2rag.safety/src/main/jastadd/SafetyModel.relast
diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java b/ros2rag.safety/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
similarity index 100%
rename from ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
rename to ros2rag.safety/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
diff --git a/ros2rag.starter/src/main/resources/log4j2.xml b/ros2rag.safety/src/main/resources/log4j2.xml
similarity index 100%
rename from ros2rag.starter/src/main/resources/log4j2.xml
rename to ros2rag.safety/src/main/resources/log4j2.xml
diff --git a/ros2rag.senderstub/build.gradle b/ros2rag.senderstub/build.gradle
index 063f22ec23add73ccaaf1c50fbab95b2510c425c..4996963f3cd48d81554a3ee91a860d2b88f18751 100644
--- a/ros2rag.senderstub/build.gradle
+++ b/ros2rag.senderstub/build.gradle
@@ -1,3 +1,4 @@
+apply plugin: 'jastadd'
apply plugin: 'application'
mainClassName = 'de.tudresden.inf.st.ros2rag.senderstub.SenderMain'
@@ -8,11 +9,76 @@ repositories {
buildscript {
repositories.jcenter()
+ dependencies {
+ classpath 'org.jastadd:jastaddgradle:1.13.3'
+ }
}
sourceSets.main.java.srcDir "src/gen/java"
+configurations {
+ baseRuntimeClasspath
+}
+
dependencies {
- implementation project(':ros2rag.starter')
+ implementation project(':ragconnect.base')
implementation project(':ros2rag.common')
+ baseRuntimeClasspath project (':ragconnect.base')
+ api group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
+
+ jastadd2 "org.jastadd:jastadd:2.3.4"
+}
+
+task ragConnect(type: JavaExec) {
+ classpath = configurations.baseRuntimeClasspath
+
+ group = 'Build'
+ main = 'org.jastadd.ragconnect.compiler.Compiler'
+
+ args([
+ '--verbose',
+ '--outputDir=src/gen/jastadd',
+ '--inputGrammar=src/main/jastadd/Sender.ast',
+ '--inputRagConnect=src/main/jastadd/Sender.connect',
+ '--rootNode=Sender'
+ ])
+}
+
+// phase: JastAdd
+jastadd {
+ configureModuleBuild()
+ modules {
+ //noinspection GroovyAssignabilityCheck
+ module("receiver") {
+
+ java {
+ basedir "src/"
+ include "main/**/*.java"
+ include "gen/**/*.java"
+ }
+
+ jastadd {
+ basedir "src/"
+ include "main/jastadd/Sender.ast"
+ include "gen/jastadd/**/*.jadd"
+ }
+ }
+ }
+ cleanGen.doFirst {
+ delete "src/gen/java/de"
+ delete "src/gen-res/BuildInfo.properties"
+ }
+ preprocessParser.doFirst {
+ args += ["--no-beaver-symbol"]
+ }
+ module = "receiver"
+ astPackage = 'de.tudresden.inf.st.ros2rag.senderstub.ast'
+ genDir = 'src/gen/java'
+ buildInfoDir = 'src/gen-res'
+ // jastaddOptions = ["--lineColumnNumbers", "--visitCheck=true", "--rewrite=cnta", "--cache=all"]
+ // default options are: '--rewrite=cnta', '--safeLazy', '--visitCheck=false', '--cacheCycle=false'
+ extraJastAddOptions = ["--lineColumnNumbers", '--List=JastAddList']
}
+
+// Workflow configuration for phases
+generateAst.dependsOn ragConnect
diff --git a/ros2rag.senderstub/src/main/jastadd/Sender.ast b/ros2rag.senderstub/src/main/jastadd/Sender.ast
new file mode 100644
index 0000000000000000000000000000000000000000..1510af62c83e12b04bafcf810209367a505b3d70
--- /dev/null
+++ b/ros2rag.senderstub/src/main/jastadd/Sender.ast
@@ -0,0 +1 @@
+Sender;
diff --git a/ros2rag.senderstub/src/main/jastadd/Sender.connect b/ros2rag.senderstub/src/main/jastadd/Sender.connect
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java b/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java
index e767cdd92c57d713597ddf69c414a0308f24f1e4..63e29964de2cb6ddaa8e44948a110af2474148b7 100644
--- a/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java
+++ b/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java
@@ -1,6 +1,6 @@
package de.tudresden.inf.st.ros2rag.senderstub;
-import de.tudresden.inf.st.ros2rag.starter.ast.MqttHandler;
+import de.tudresden.inf.st.ros2rag.senderstub.ast.MqttHandler;
import robot.RobotStateOuterClass.RobotState;
import java.nio.file.Files;
diff --git a/ros2rag.tests/src/test/java-gen/.gitignore b/ros2rag.tests/src/test/java-gen/.gitignore
deleted file mode 100644
index d6b7ef32c8478a48c3994dcadc86837f4371184d..0000000000000000000000000000000000000000
--- a/ros2rag.tests/src/test/java-gen/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-*
-!.gitignore
diff --git a/ros2rag.tests/src/test/proto b/ros2rag.tests/src/test/proto
deleted file mode 120000
index bb7d2bae29902b994e92987325a878a0fe318c69..0000000000000000000000000000000000000000
--- a/ros2rag.tests/src/test/proto
+++ /dev/null
@@ -1 +0,0 @@
-../../../ros2rag.common/proto/
\ No newline at end of file
diff --git a/safety.sh b/safety.sh
new file mode 100755
index 0000000000000000000000000000000000000000..369bcfd4bd24301758961d656b6e4661151b0efd
--- /dev/null
+++ b/safety.sh
@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+./gradlew :ros2rag.safety:installDist && \
+ ./ros2rag.safety/build/install/ros2rag.safety/bin/ros2rag.safety $@
diff --git a/settings.gradle b/settings.gradle
index 9235870b25a07e39bdaed474d79643bc80928795..cc56321647f48ec49cd042b9a2ae609a13cf5398 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -1,9 +1,9 @@
rootProject.name = 'ros2rag'
include 'relast.preprocessor'
-include 'ros2rag.base'
-include 'ros2rag.tests'
-include 'ros2rag.starter'
+include 'ragconnect.base'
+include 'ragconnect.tests'
+include 'ros2rag.safety'
include 'ros2rag.senderstub'
include 'ros2rag.receiverstub'
include 'ros2rag.goal'
diff --git a/starter.sh b/starter.sh
deleted file mode 100755
index e3bb9b9e8e3bb6684b32edb0b5eec17c00529048..0000000000000000000000000000000000000000
--- a/starter.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/usr/bin/env bash
-./gradlew :ros2rag.starter:installDist && \
- ./ros2rag.starter/build/install/ros2rag.starter/bin/ros2rag.starter $@