Merge branch 'RosAndAdaptable' into 'master'

CLI, Model updates, assembly of jar with dependencies

See merge request !4

README.md

 # EMAM2Middleware
 
-## Problems
-This generator needs versions of other EMAM libraries that are not yet distributed via Maven.
-Workaround: Download these branches and build each via 'mvn clean install -U -s settings.xml'
-* EmbeddedMontiArc/RosPort: https://github.com/EmbeddedMontiArc/EmbeddedMontiArc/tree/RosPort
-* EmbeddedMontiArcMath/RosPort: https://github.com/EmbeddedMontiArc/EmbeddedMontiArcMath/tree/RosPort
-* EMAM2RosMsg: https://github.com/EmbeddedMontiArc/EMAM2RosMsg
-* EMAM2RosCpp: https://github.com/EmbeddedMontiArc/EMAM2RosCpp
-* EMAM2Cpp/hellwig: https://github.com/EmbeddedMontiArc/EMAM2Cpp/tree/hellwig
-or use this script:
-```bash
-#!/bin/bash
-#fail if any of the commands fail
-set -e
-
-git clone https://github.com/EmbeddedMontiArc/EmbeddedMontiArc
-git clone https://github.com/EmbeddedMontiArc/EmbeddedMontiArcMath
-git clone https://github.com/EmbeddedMontiArc/EMAM2RosMsg
-git clone https://github.com/EmbeddedMontiArc/EMAM2RosCpp
-git clone https://github.com/EmbeddedMontiArc/EMAM2Cpp
-
-
-cd EmbeddedMontiArc
-git checkout RosPort
-mvn clean install -U -s settings.xml
-cd ..
-
-cd EmbeddedMontiArcMath
-git checkout RosPort
-mvn clean install -U -s settings.xml
-cd ..
-
-cd EMAM2RosMsg
-mvn clean install -U -s settings.xml
-cd ..
-
-cd EMAM2RosCpp
-mvn clean install -U -s settings.xml
-cd ..
-
-cd EMAM2Cpp
-git checkout hellwig
-mvn clean install -U -s settings.xml
-cd ..
-```
-
 ## Usage
 ### Defining the connection between a component and the middleware
 The connection between middleware and the component is defined as tags on Ports in .tag files.
@@ -65,9 +20,8 @@ Look at GenerationTest::testDistributedTargetGenerator. The component is defined
 1. install needed software:
     * ROS Kinetic(http://wiki.ros.org/kinetic/Installation)
     * CMake(https://cmake.org/)
-    * Armadillo( www.arma.sourceforge.net)
-        * Ubuntu package: libarmadillo-dev
-        * creating a copy of the library named armadillo.h might be necessary. Ubuntu location: /usr/include/armadillo 
+    * Armadillo 8 or higher( www.arma.sourceforge.net)
+        * creating a copy of the library named armadillo.h might be necessary.
 1. source your ros environment(http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment , 2.)
 1. a) run src/test/resources/TargetCompilation.sh from **this project's** root
 1. or b) compile a single project by

pom.xml

@@ -9,7 +9,7 @@
 
     <groupId>de.monticore.lang.monticar</groupId>
     <artifactId>embedded-montiarc-math-middleware-generator</artifactId>
-    <version>0.0.1-SNAPSHOT</version>
+    <version>0.0.2-SNAPSHOT</version>
 
     <!-- == PROJECT DEPENDENCIES ============================================= -->
 
@@ -305,6 +305,30 @@
                 </configuration>
             </plugin>
 
+            <plugin>
+                <artifactId>maven-assembly-plugin</artifactId>
+                <version>3.1.0</version>
+                <executions>
+                    <execution>
+                        <id>jar-with-dependencies</id>
+                        <phase>package</phase>
+                        <goals>
+                            <goal>single</goal>
+                        </goals>
+                        <configuration>
+                            <archive>
+                                <manifest>
+                                    <mainClass>de.monticore.lang.monticar.generator.middleware.DistributedTargetGeneratorCli</mainClass>
+                                </manifest>
+                            </archive>
+                            <descriptorRefs>
+                                <descriptorRef>jar-with-dependencies</descriptorRef>
+                            </descriptorRefs>
+                        </configuration>
+                    </execution>
+                </executions>
+            </plugin>
+
             <!-- Source Jar Configuration -->
             <plugin>
                 <groupId>org.apache.maven.plugins</groupId>

src/main/java/de/monticore/lang/monticar/generator/middleware/DistributedTargetGeneratorCli.java

+package de.monticore.lang.monticar.generator.middleware;
+
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
+import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosToEmamTagSchema;
+import de.monticore.lang.monticar.generator.middleware.impls.CPPGenImpl;
+import de.monticore.lang.monticar.generator.middleware.impls.RosCppGenImpl;
+import de.monticore.lang.monticar.generator.order.simulator.AbstractSymtab;
+import de.monticore.lang.monticar.generator.roscpp.helper.TagHelper;
+import de.monticore.lang.tagging._symboltable.TaggingResolver;
+import de.se_rwth.commons.logging.Log;
+import org.apache.commons.cli.*;
+
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Paths;
+import java.util.Arrays;
+import java.util.HashSet;
+import java.util.Set;
+import java.util.stream.Collectors;
+
+/**
+ * java -cp target/embedded-montiarc-math-middleware-generator-0.0.1-SNAPSHOT-jar-with-dependencies.jar \
+ * de.monticore.lang.monticar.generator.middleware.DistributedTargetGeneratorCli \
+ * --models-dir=src/test/resources/ \
+ * --root-model=tests.a.addComp \
+ * --output-dir=target/cli-test/src \
+ * --generators=cpp,roscpp
+ */
+public final class DistributedTargetGeneratorCli {
+
+    private static final Option OPTION_MODELS_PATH = Option.builder("m")
+            .longOpt("models-dir")
+            .desc("full path to directory with EMAM models")
+            .hasArg(true)
+            .required(true)
+            .build();
+
+    private static final Option OPTION_ROOT_MODEL = Option.builder("r")
+            .longOpt("root-model")
+            .desc("fully qualified name of the root model")
+            .hasArg(true)
+            .required(true)
+            .build();
+
+    private static final Option OPTION_OUTPUT_PATH = Option.builder("o")
+            .longOpt("output-dir")
+            .desc("full path to output directory for tests")
+            .hasArg(true)
+            .required(true)
+            .build();
+
+    private static final Option OPTION_GENERATORS = Option.builder("g")
+            .longOpt("generators")
+            .desc("identifiers for the generators that should be used")
+            .hasArg(true)
+            .required(true)
+            .numberOfArgs(10)
+            .valueSeparator(',')
+            .build();
+
+    public static final String GENERATOR_CPP = "cpp";
+    public static final String GENERATOR_ROSCPP = "roscpp";
+
+    private DistributedTargetGeneratorCli() {}
+
+    public static void main(String[] args) {
+        System.out.println(Arrays.toString(args));
+
+        Options options = getOptions();
+        CommandLineParser parser = new DefaultParser();
+        CommandLine cliArgs = parseArgs(options, parser, args);
+        if (cliArgs != null) {
+            runGenerator(cliArgs);
+        }
+    }
+
+    private static Options getOptions() {
+        Options options = new Options();
+        options.addOption(OPTION_MODELS_PATH);
+        options.addOption(OPTION_ROOT_MODEL);
+        options.addOption(OPTION_OUTPUT_PATH);
+        options.addOption(OPTION_GENERATORS);
+        return options;
+    }
+
+    private static Set<String> getGeneratorNames() {
+        HashSet<String> res = new HashSet<>();
+        res.add(GENERATOR_CPP);
+        res.add(GENERATOR_ROSCPP);
+        return res;
+    }
+
+    private static CommandLine parseArgs(Options options, CommandLineParser parser, String[] args) {
+        CommandLine cliArgs;
+        try {
+            cliArgs = parser.parse(options, args);
+        } catch (ParseException e) {
+            Log.error("0x9A1AC: Argument parsing exception", e);
+            return null;
+        }
+        return cliArgs;
+    }
+
+    private static void runGenerator(CommandLine cliArgs) {
+        String modelsDirPath = expandHomeDir(cliArgs.getOptionValue(OPTION_MODELS_PATH.getOpt()));
+        if(!Files.isDirectory(Paths.get(modelsDirPath))){
+            Log.error("0x6444B: Models dir does not exist: " + modelsDirPath);
+            return;
+        }
+
+        String outputPath = expandHomeDir(cliArgs.getOptionValue(OPTION_OUTPUT_PATH.getOpt()));
+        String rootModelName = cliArgs.getOptionValue(OPTION_ROOT_MODEL.getOpt());
+        Set<String> generators = Arrays.stream(cliArgs.getOptionValues(OPTION_GENERATORS.getOpt())).collect(Collectors.toSet());
+        TaggingResolver taggingResolver = AbstractSymtab.createSymTabAndTaggingResolver(modelsDirPath);
+
+        DistributedTargetGenerator generator = new DistributedTargetGenerator();
+        generator.setGenerationTargetPath(outputPath);
+
+        Set<String> validGenNames = getGeneratorNames();
+        generators.forEach(genName -> {
+            if (validGenNames.contains(genName)) {
+                Log.warn("Using generator " + genName);
+            } else {
+                Log.error("0xE28B6: Not a valid generator Name:" + genName  +".");
+            }
+        });
+
+        ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve(rootModelName, ExpandedComponentInstanceSymbol.KIND).orElse(null);
+
+        if (componentInstanceSymbol == null) {
+            Log.error("0x5FFAE: The given component cannot be resolved.");
+            return;
+        }
+
+        if (generators.contains(GENERATOR_CPP)) {
+            generator.add(new CPPGenImpl(), "cpp");
+        }
+
+        if (generators.contains(GENERATOR_ROSCPP)) {
+            generator.add(new RosCppGenImpl(), "roscpp");
+            RosToEmamTagSchema.registerTagTypes(taggingResolver);
+            TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
+        }
+
+        try {
+            generator.generate(componentInstanceSymbol, taggingResolver);
+        } catch (IOException e) {
+            Log.error("Error generating files", e);
+        }
+
+    }
+
+    private static String expandHomeDir(String path) {
+        if (path.startsWith("~")) {
+            return System.getProperty("user.home") + path.substring(1);
+        }
+        return path;
+    }
+}

src/main/java/de/monticore/lang/monticar/generator/middleware/MiddlewareGenerator.java

@@ -51,6 +51,7 @@ public class MiddlewareGenerator extends CMakeGenerator {
                 .filter(fn -> fn.matches("(\\w+(Adapter_))?(" + name + "\\.h)"))
                 .filter(fn -> !fn.startsWith("IAdapter"))
                 .map(fn -> "#include \"" + fn + "\"")
+                .sorted()
                 .collect(Collectors.joining("\n"));
 
         String addAdapters = filesNames.stream()
@@ -58,6 +59,7 @@ public class MiddlewareGenerator extends CMakeGenerator {
                 .filter(fn -> !fn.startsWith("IAdapter"))
                 .map(fn -> fn.substring(0, fn.length() - 2))
                 .map(fn -> "  adapters.push_back(new " + fn + "());")
+                .sorted()
                 .collect(Collectors.joining("\n"));
 
         String initParams = componentInstanceSymbol.getArguments().stream()
@@ -87,6 +89,7 @@ public class MiddlewareGenerator extends CMakeGenerator {
                 .filter(fn -> fn.matches("(\\w+(Adapter_))?(" + name + "\\.h)"))
                 .filter(fn -> !fn.startsWith("IAdapter"))
                 .map(fn -> fn.substring(0, fn.length() - 2))
+                .sorted()
                 .collect(Collectors.joining(" "));
 
         String content = TemplateHelper.getCoordinatorCmakeListsTemplate()

src/main/java/de/monticore/lang/monticar/generator/middleware/helpers/TemplateHelper.java

 package de.monticore.lang.monticar.generator.middleware.helpers;
 
 import de.se_rwth.commons.logging.Log;
-import org.apache.commons.io.FileUtils;
+import org.apache.commons.io.IOUtils;
 
-import java.io.File;
 import java.util.HashMap;
 import java.util.Map;
 
@@ -16,12 +15,13 @@ public class TemplateHelper {
         }
 
         String tmpStr = "";
-        String fullFileName = "src/main/resources/de/monticore/lang/monticar/generator/middleware/" + fileName;
+        String resourceFileName = "/de/monticore/lang/monticar/generator/middleware/" + fileName;
+
         try {
-            tmpStr = FileUtils.readFileToString(new File(fullFileName));
+            tmpStr = IOUtils.toString(TemplateHelper.class.getResourceAsStream(resourceFileName));
         } catch (Exception e) {
             //Not recoverable
-            Log.error("Template file not found: " + fullFileName);
+            Log.error("Template file not found: " + resourceFileName);
         }
 
         cache.put(fileName, tmpStr);

src/main/java/de/monticore/lang/monticar/generator/middleware/impls/CPPGenImpl.java

@@ -9,6 +9,11 @@ import de.monticore.lang.tagging._symboltable.TaggingResolver;
 
 import java.io.File;
 import java.io.IOException;
+import java.nio.charset.Charset;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -34,6 +39,8 @@ public class CPPGenImpl implements GeneratorImpl {
         files.add(generatorCPP.generateFile(generateCMake(componentInstanceSymbol)));
         files.addAll(generatorCPP.generateFiles(componentInstanceSymbol, taggingResolver));
 
+        fixKnownErrors(files);
+
         return files;
     }
 
@@ -49,4 +56,21 @@ public class CPPGenImpl implements GeneratorImpl {
         cmake.setFileContent(TemplateHelper.getCmakeCppTemplate().replace("${compName}", name));
         return cmake;
     }
+
+    private void fixKnownErrors(List<File> files) throws IOException {
+        for (File f : files) {
+            Path path = Paths.get(f.getAbsolutePath());
+            Charset charset = StandardCharsets.UTF_8;
+            String content = new String(Files.readAllBytes(path), charset);
+
+            content = content
+                    //Matrix access problems
+                    .replace("int curIndex = indexLookup(i);","int curIndex = indexLookup(i-1);")
+                    .replace("-1-1", "-1") //not present in emam2cpp master
+                    .replace("] ;","];")
+            ;
+
+            Files.write(path, content.getBytes(charset));
+        }
+    }
 }

src/main/java/de/monticore/lang/monticar/generator/middleware/impls/RosCppGenImpl.java

@@ -4,6 +4,7 @@ import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.Expanded
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.PortSymbol;
 import de.monticore.lang.monticar.generator.roscpp.GeneratorRosCpp;
 import de.monticore.lang.tagging._symboltable.TaggingResolver;
+import de.se_rwth.commons.logging.Log;
 
 import java.io.File;
 import java.io.IOException;
@@ -36,8 +37,13 @@ public class RosCppGenImpl implements GeneratorImpl {
 
     @Override
     public boolean willAccept(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
-        return componentInstanceSymbol.getPortsList().stream()
+        boolean result = componentInstanceSymbol.getPortsList().stream()
                 .filter(PortSymbol::isRosPort)
                 .count() > 0;
+        if(!result){
+            Log.warn("GeneratorRosCpp: No ROS Ports found! Ignoring component " + componentInstanceSymbol.getName());
+        }
+
+        return result;
     }
 }

src/test/java/de/monticore/lang/monticar/generator/middleware/CliTest.java

+package de.monticore.lang.monticar.generator.middleware;
+
+import de.monticore.lang.embeddedmontiarc.LogConfig;
+import de.se_rwth.commons.logging.Finding;
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Test;
+
+import java.nio.file.Files;
+import java.nio.file.Paths;
+
+import static org.junit.Assert.assertTrue;
+
+
+public class CliTest{
+    private static final String VALID_MODELS_DIR_OPTION = "--models-dir=src/test/resources/";
+    private static final String VALID_ROOT_MODEL_OPTION = "--root-model=tests.a.addComp";
+    private static final String VALID_GENERATOR_CPP_OPTION = "--generators=cpp";
+    private static final String VALID_GENERATOR_ALL_OPTION = "--generators=cpp,roscpp";
+
+    private static final String INVALID_MODELS_DIR_OPTION = "--models-dir=src/invalid/resources/";
+    private static final String INVALID_ROOT_MODEL_OPTION = "--root-model=invalid.invalid.addComp";
+    private static final String INVALID_GENERATOR_OPTION = "--generators=invalid";
+    private static final String INVALID_GENERATOR_EMPTY_OPTION = "--generators=";
+
+    @BeforeClass
+    public static void initLog(){
+        LogConfig.init();
+        LogConfig.enableFailQuick(false);
+    }
+
+    @Before
+    public void clearFindings(){
+        LogConfig.getFindings().clear();
+    }
+
+    @AfterClass
+    public static void resetLog(){
+        LogConfig.getFindings().clear();
+        LogConfig.enableFailQuick(true);
+    }
+
+
+    @Test
+    public void testParserError(){
+        String[] args = {
+                "invalidParsingArg"};
+
+        DistributedTargetGeneratorCli.main(args);
+        assertTrue(LogConfig.getErrorCount() == 1);
+        assertTrue(LogConfig.getFindings().stream().map(Finding::getMsg).anyMatch(msg -> msg.contains("0x9A1AC")));
+    }
+
+
+    @Test
+    public void testNoGenerators(){
+        String[] args = {
+                VALID_MODELS_DIR_OPTION,
+                VALID_ROOT_MODEL_OPTION,
+                INVALID_GENERATOR_EMPTY_OPTION,
+                "--output-dir=target/cliTest/NoGenerators/"};
+        DistributedTargetGeneratorCli.main(args);
+        assertTrue(LogConfig.getErrorCount() == 1);
+        assertTrue(LogConfig.getFindings().stream().map(Finding::getMsg).anyMatch(msg -> msg.contains("0xE28B6")));
+    }
+
+    @Test
+    public void testInvalidGenerator(){
+        String[] args = {
+                VALID_MODELS_DIR_OPTION,
+                VALID_ROOT_MODEL_OPTION,
+                INVALID_GENERATOR_OPTION,
+                "--output-dir=target/cliTest/InvalidGenerators/"};
+        DistributedTargetGeneratorCli.main(args);
+        assertTrue(LogConfig.getErrorCount() == 1);
+        assertTrue(logContains("0xE28B6"));
+    }
+
+    @Test
+    public void testOneGenerator(){
+        String targetDir = "target/cliTest/OneGenerator/";
+        String[] args = {
+                VALID_MODELS_DIR_OPTION,
+                VALID_ROOT_MODEL_OPTION,
+                VALID_GENERATOR_CPP_OPTION,
+                "--output-dir=" + targetDir};
+        DistributedTargetGeneratorCli.main(args);
+
+
+        String[] positiveFileNames = {
+                "CMakeLists.txt",
+                "tests_a_addComp/cpp/tests_a_addComp.h",
+                "tests_a_addComp/cpp/CMakeLists.txt",
+                "tests_a_addComp/coordinator/CMakeLists.txt",
+                "tests_a_addComp/coordinator/Coordinator_tests_a_addComp.cpp"
+        };
+
+        for (String positiveFileName : positiveFileNames) {
+            assertTrue(Files.exists(Paths.get(targetDir + positiveFileName)));
+        }
+    }
+
+    @Test
+    public void testAllGenerators(){
+        String targetDir = "target/cliTest/AllGenerators/";
+        String[] args = {
+                VALID_MODELS_DIR_OPTION,
+                VALID_ROOT_MODEL_OPTION,
+                VALID_GENERATOR_ALL_OPTION,
+                "--output-dir=" + targetDir};
+        DistributedTargetGeneratorCli.main(args);
+
+
+        String[] positiveFileNames = {
+                "CMakeLists.txt",
+                "tests_a_addComp/cpp/tests_a_addComp.h",
+                "tests_a_addComp/cpp/CMakeLists.txt",
+                "tests_a_addComp/coordinator/CMakeLists.txt",
+                "tests_a_addComp/coordinator/Coordinator_tests_a_addComp.cpp",
+                "tests_a_addComp/roscpp/RosAdapter_tests_a_addComp.h",
+                "tests_a_addComp/roscpp/CMakeLists.txt",
+        };
+
+        for (String positiveFileName : positiveFileNames) {
+            assertTrue(Files.exists(Paths.get(targetDir + positiveFileName)));
+        }
+    }
+
+    @Test
+    public void testInvalidRootModelError(){
+        String[] args = {
+                VALID_MODELS_DIR_OPTION,
+                INVALID_ROOT_MODEL_OPTION,
+                VALID_GENERATOR_CPP_OPTION,
+                "--output-dir=target/cliTest/InvalidRootModel/"};
+        DistributedTargetGeneratorCli.main(args);
+        assertTrue(LogConfig.getErrorCount() == 1);
+        assertTrue(logContains("0x5FFAE"));
+    }
+
+    @Test
+    public void testInvalidModelsDirError(){
+        String[] args = {
+                INVALID_MODELS_DIR_OPTION,
+                VALID_ROOT_MODEL_OPTION,
+                VALID_GENERATOR_CPP_OPTION,
+                "--output-dir=target/cliTest/InvalidModelsDir/"};
+        DistributedTargetGeneratorCli.main(args);
+        assertTrue(LogConfig.getErrorCount() == 1);
+        assertTrue(logContains("0x6444B"));
+    }
+
+
+    private boolean logContains(String errorCode){
+        return LogConfig.getFindings().stream().map(Finding::getMsg).anyMatch(msg -> msg.contains(errorCode));
+    }
+}

src/test/java/de/monticore/lang/monticar/generator/middleware/GenerationTest.java

 package de.monticore.lang.monticar.generator.middleware;
 
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._ast.ASTComponent;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ComponentSymbol;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.PortSymbol;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarcmath.cocos.EmbeddedMontiArcMathCoCos;
 import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosConnectionSymbol;
 import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosToEmamTagSchema;
 import de.monticore.lang.monticar.generator.cpp.GeneratorCPP;
@@ -66,7 +69,7 @@ public class GenerationTest extends AbstractSymtabTest {
     }
 
     @Test
-    public void testCppOnlyMiddlewareGeneration() throws IOException{
+    public void testCppOnlyMiddlewareGeneration() throws IOException {
         TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
         ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve("tests.a.addComp", ExpandedComponentInstanceSymbol.KIND).orElse(null);
         assertNotNull(componentInstanceSymbol);
@@ -74,11 +77,37 @@ public class GenerationTest extends AbstractSymtabTest {
         MiddlewareGenerator middlewareGenerator = new MiddlewareGenerator();
         String generationTargetPath = "./target/generated-sources-cmake/CMakeCppOnly/src/";
         middlewareGenerator.setGenerationTargetPath(generationTargetPath);
-        middlewareGenerator.add(new CPPGenImpl(),"cpp");
+        middlewareGenerator.add(new CPPGenImpl(), "cpp");
 
         List<File> files = middlewareGenerator.generate(componentInstanceSymbol, taggingResolver);
-        testFilesAreEqual(files,"CMakeCppOnly/src/",generationTargetPath);
+        testFilesAreEqual(files, "CMakeCppOnly/src/", generationTargetPath);
+
+    }
+
+    @Test
+    public void testBaSystem() throws IOException {
+        TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
+        RosToEmamTagSchema.registerTagTypes(taggingResolver);