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EMAM2Middleware
Commit 7106e69b authored by Evgeny Kusmenko's avatar Evgeny Kusmenko
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Merge branch 'VersionUp' into 'master' 

Version up

See merge request !26
parents 54eb1d19 6ea69c27
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      TUTORIAL_ADD_MIDDLEWARE.md
      View file @ 7106e69b
      ......@@ -10,9 +10,9 @@ for your new MiddlewareSymbol. Make sure to load all your tags before starting g
      ## Generator
      The new middleware generator needs to the following methods
      * `setGenerationTargetPath(String path)`: Sets the directory the generated files are written to.
      * `boolean willAccept(ExpandedComponentInstanceSymbol componentInstanceSymbol)`: Signals the DistributedTargetGenerator if the middleware generator will generate useful files for the given component.
      * `boolean willAccept(EMAComponentInstanceSymbol componentInstanceSymbol)`: Signals the DistributedTargetGenerator if the middleware generator will generate useful files for the given component.
      * Example: If a Component without RosConnections is passed to the ROS generator, it will reject it.
      * `List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver)`: Generates all files(Adapter + CMake) for the given Component.
      * `List<File> generate(EMAComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver)`: Generates all files(Adapter + CMake) for the given Component.
      These 3 methods are combined in the Interface [GeneratorImpl](https://git.rwth-aachen.de/monticore/EmbeddedMontiArc/generators/EMAM2Middleware/blob/master/src/main/java/de/monticore/lang/monticar/generator/middleware/impls/GeneratorImpl.java).
      To avoid a cyclic dependency between the new middleware generator and EMAM2Middleware, it is advised to write a small wrapper in EMAM2Middleware instead of implementing the Interface directly. See [RosCppGenImpl](https://git.rwth-aachen.de/monticore/EmbeddedMontiArc/generators/EMAM2Middleware/blob/master/src/main/java/de/monticore/lang/monticar/generator/middleware/impls/RosCppGenImpl.java) for an example.
      ......
      pom.xml
      View file @ 7106e69b
      ......@@ -9,7 +9,7 @@
      <groupId>de.monticore.lang.monticar</groupId>
      <artifactId>embedded-montiarc-math-middleware-generator</artifactId>
      <version>0.0.13-SNAPSHOT</version>
      <version>0.0.14-SNAPSHOT</version>
      <!-- == PROJECT DEPENDENCIES ============================================= -->
      ......@@ -18,14 +18,13 @@
      <!-- .. SE-Libraries .................................................. -->
      <se-commons.version>1.7.7</se-commons.version>
      <Embedded-montiarc-math-generator.version>0.0.26-SNAPSHOT</Embedded-montiarc-math-generator.version>
      <Embedded-montiarc-math-roscpp-generator.version>0.0.4-SNAPSHOT</Embedded-montiarc-math-roscpp-generator.version>
      <Embedded-montiarc-math-rosmsg-generator.version>0.0.3-SNAPSHOT</Embedded-montiarc-math-rosmsg-generator.version>
      <EMADL.version>0.2.3</EMADL.version>
      <EMADL2CPP.version>0.2.4</EMADL2CPP.version>
      <!--TODO: remove with update to new emam version-->
      <Tagging.version>0.0.6</Tagging.version>
      <embedded-montiarc.version>0.1.9-SNAPSHOT</embedded-montiarc.version>
      <Embedded-montiarc-math-generator.version>0.1.3-SNAPSHOT</Embedded-montiarc-math-generator.version>
      <Embedded-montiarc-math-roscpp-generator.version>0.1.1-SNAPSHOT</Embedded-montiarc-math-roscpp-generator.version>
      <EMADL.version>0.2.4</EMADL.version>
      <EMADL2CPP.version>0.2.6-SNAPSHOT</EMADL2CPP.version>
      <!-- .. Libraries .................................................. -->
      <guava.version>18.0</guava.version>
      <junit.version>4.12</junit.version>
      ......@@ -52,6 +51,12 @@
      </properties>
      <dependencies>
      <dependency>
      <groupId>de.monticore.lang.monticar</groupId>
      <artifactId>embedded-montiarc</artifactId>
      <version>${embedded-montiarc.version}</version>
      </dependency>
      <!-- https://mvnrepository.com/artifact/com.google.code.gson/gson -->
      <dependency>
      <groupId>com.google.code.gson</groupId>
      ......@@ -89,12 +94,6 @@
      <version>${Embedded-montiarc-math-roscpp-generator.version}</version>
      </dependency>
      <dependency>
      <groupId>de.monticore.lang.monticar</groupId>
      <artifactId>embedded-montiarc-math-rosmsg-generator</artifactId>
      <version>${Embedded-montiarc-math-rosmsg-generator.version}</version>
      </dependency>
      <!-- EMADL Dependencies -->
      <dependency>
      <groupId>de.monticore.lang.monticar</groupId>
      ......@@ -108,13 +107,6 @@
      </dependency>
      <!-- MontiCore Dependencies -->
      <dependency>
      <groupId>de.monticore.lang</groupId>
      <artifactId>Tagging</artifactId>
      <version>${Tagging.version}</version>
      </dependency>
      <dependency>
      <groupId>de.se_rwth.commons</groupId>
      <artifactId>se-commons-groovy</artifactId>
      ......
      src/main/java/de/monticore/lang/monticar/generator/middleware/CMakeGenerator.java
      View file @ 7106e69b
      package de.monticore.lang.monticar.generator.middleware;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.monticar.generator.FileContent;
      import de.monticore.lang.monticar.generator.middleware.helpers.FileHelper;
      import de.monticore.lang.tagging._symboltable.TaggingResolver;
      ......@@ -15,7 +15,7 @@ import java.util.Objects;
      public class CMakeGenerator extends StarBridgeGenerator {
      @Override
      public List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      public List<File> generate(EMAComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      long notInSubdirs = getGeneratorImpls().stream()
      .map(this::getImplSubdir)
      .filter(Objects::isNull)
      ......@@ -31,7 +31,7 @@ public class CMakeGenerator extends StarBridgeGenerator {
      return res;
      }
      protected File generateCMake(ExpandedComponentInstanceSymbol componentInstanceSymbol) throws IOException {
      protected File generateCMake(EMAComponentInstanceSymbol componentInstanceSymbol) throws IOException {
      FileContent fileContent = new FileContent();
      fileContent.setFileName("CMakeLists.txt");
      StringBuilder content = new StringBuilder();
      ......
      src/main/java/de/monticore/lang/monticar/generator/middleware/DistributedTargetGenerator.java
      View file @ 7106e69b
      package de.monticore.lang.monticar.generator.middleware;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.monticar.generator.FileContent;
      import de.monticore.lang.monticar.generator.middleware.helpers.*;
      import de.monticore.lang.monticar.generator.middleware.impls.GeneratorImpl;
      ......@@ -24,12 +24,12 @@ public class DistributedTargetGenerator extends CMakeGenerator {
      }
      @Override
      public List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      Map<ExpandedComponentInstanceSymbol, GeneratorImpl> generatorMap = new HashMap<>();
      public List<File> generate(EMAComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      Map<EMAComponentInstanceSymbol, GeneratorImpl> generatorMap = new HashMap<>();
      fixComponentInstance(componentInstanceSymbol);
      List<ExpandedComponentInstanceSymbol> clusterSubcomponents = ClusterHelper.getClusterSubcomponents(componentInstanceSymbol);
      List<EMAComponentInstanceSymbol> clusterSubcomponents = ClusterHelper.getClusterSubcomponents(componentInstanceSymbol);
      if (clusterSubcomponents.size() > 0) {
      clusterSubcomponents.forEach(clusterECIS -> {
      String nameTargetLanguage = NameHelper.getNameTargetLanguage(clusterECIS.getFullName());
      ......@@ -42,7 +42,7 @@ public class DistributedTargetGenerator extends CMakeGenerator {
      List<File> files = new ArrayList<>();
      for (ExpandedComponentInstanceSymbol comp : generatorMap.keySet()) {
      for (EMAComponentInstanceSymbol comp : generatorMap.keySet()) {
      files.addAll(generatorMap.get(comp).generate(comp, taggingResolver));
      //add empty generator to subDirs so that CMakeLists.txt will be generated correctly
      subDirs.add(NameHelper.getNameTargetLanguage(comp.getFullName()));
      ......@@ -73,12 +73,12 @@ public class DistributedTargetGenerator extends CMakeGenerator {
      return res;
      }
      private void fixComponentInstance(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
      private void fixComponentInstance(EMAComponentInstanceSymbol componentInstanceSymbol) {
      RosHelper.fixRosConnectionSymbols(componentInstanceSymbol);
      }
      @Override
      protected File generateCMake(ExpandedComponentInstanceSymbol componentInstanceSymbol) throws IOException {
      protected File generateCMake(EMAComponentInstanceSymbol componentInstanceSymbol) throws IOException {
      FileContent fileContent = new FileContent();
      fileContent.setFileName("CMakeLists.txt");
      StringBuilder content = new StringBuilder();
      ......
      src/main/java/de/monticore/lang/monticar/generator/middleware/DistributedTargetGeneratorCli.java
      View file @ 7106e69b
      ......@@ -2,7 +2,7 @@ package de.monticore.lang.monticar.generator.middleware;
      import com.google.gson.Gson;
      import com.google.gson.stream.JsonReader;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosToEmamTagSchema;
      import de.monticore.lang.monticar.emadl.generator.EMADLAbstractSymtab;
      import de.monticore.lang.monticar.emadl.generator.EMADLGeneratorCli;
      ......@@ -127,7 +127,7 @@ public final class DistributedTargetGeneratorCli {
      }
      });
      ExpandedComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<ExpandedComponentInstanceSymbol>resolve(cliParameters.getRootModel(), ExpandedComponentInstanceSymbol.KIND).orElse(null);
      EMAComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<EMAComponentInstanceSymbol>resolve(cliParameters.getRootModel(), EMAComponentInstanceSymbol.KIND).orElse(null);
      if (componentInstanceSymbol == null) {
      Log.error("0x5FFAE: The given component cannot be resolved.");
      ......
      src/main/java/de/monticore/lang/monticar/generator/middleware/MiddlewareGenerator.java
      View file @ 7106e69b
      package de.monticore.lang.monticar.generator.middleware;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.monticar.generator.FileContent;
      import de.monticore.lang.monticar.generator.cpp.converter.ComponentConverter;
      import de.monticore.lang.monticar.generator.middleware.helpers.FileHelper;
      ......@@ -17,7 +17,7 @@ import java.util.stream.Collectors;
      public class MiddlewareGenerator extends CMakeGenerator {
      @Override
      public List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      public List<File> generate(EMAComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      //Add dummy GeneratorImpl for the subdir
      String subdir = "coordinator/";
      this.add(new GeneratorImpl() {
      ......@@ -30,7 +30,7 @@ public class MiddlewareGenerator extends CMakeGenerator {
      return files;
      }
      private FileContent generateIAdapter(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
      private FileContent generateIAdapter(EMAComponentInstanceSymbol componentInstanceSymbol) {
      FileContent res = new FileContent();
      String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
      res.setFileName("IAdapter_" + name + ".h");
      ......@@ -39,7 +39,7 @@ public class MiddlewareGenerator extends CMakeGenerator {
      }
      private FileContent generateCoordinator(ExpandedComponentInstanceSymbol componentInstanceSymbol, List<File> files) {
      private FileContent generateCoordinator(EMAComponentInstanceSymbol componentInstanceSymbol, List<File> files) {
      String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
      ......@@ -80,7 +80,7 @@ public class MiddlewareGenerator extends CMakeGenerator {
      }
      private FileContent generateCoordinatorCMakeList(ExpandedComponentInstanceSymbol componentInstanceSymbol, List<File> files) {
      private FileContent generateCoordinatorCMakeList(EMAComponentInstanceSymbol componentInstanceSymbol, List<File> files) {
      FileContent res = new FileContent();
      String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
      ......
      src/main/java/de/monticore/lang/monticar/generator/middleware/StarBridgeGenerator.java
      View file @ 7106e69b
      package de.monticore.lang.monticar.generator.middleware;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.monticar.generator.middleware.impls.GeneratorImpl;
      import de.monticore.lang.tagging._symboltable.TaggingResolver;
      import de.se_rwth.commons.logging.Log;
      ......@@ -34,7 +34,7 @@ public class StarBridgeGenerator implements GeneratorImpl {
      this.generationTargetPath = path.endsWith("/") ? path : path + "/";
      }
      public List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      public List<File> generate(EMAComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      List<File> result = new ArrayList<>();
      generatorImpls.forEach((key, value) -> {
      if (key.willAccept(componentInstanceSymbol)) {
      ......
      src/main/java/de/monticore/lang/monticar/generator/middleware/helpers/ClusterHelper.java
      View file @ 7106e69b
      package de.monticore.lang.monticar.generator.middleware.helpers;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.*;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.cncModel.EMAConnectorBuilder;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.cncModel.EMAConnectorSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.cncModel.EMAPortBuilder;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.cncModel.EMAPortSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceBuilder;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAConnectorInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAPortInstanceSymbol;
      import de.monticore.symboltable.CommonScope;
      import de.monticore.symboltable.MutableScope;
      import de.monticore.symboltable.Symbol;
      ......@@ -19,40 +26,40 @@ public class ClusterHelper {
      private ClusterHelper() {
      }
      public static List<Set<ExpandedComponentInstanceSymbol>> getClusters(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
      Graph<ExpandedComponentInstanceSymbol, DefaultEdge> graph = new SimpleGraph<>(DefaultEdge.class);
      public static List<Set<EMAComponentInstanceSymbol>> getClusters(EMAComponentInstanceSymbol componentInstanceSymbol) {
      Graph<EMAComponentInstanceSymbol, DefaultEdge> graph = new SimpleGraph<>(DefaultEdge.class);
      componentInstanceSymbol.getSubComponents().forEach(graph::addVertex);
      graph.addVertex(componentInstanceSymbol);
      componentInstanceSymbol.getConnectors().stream()
      componentInstanceSymbol.getConnectorInstances().stream()
      .filter(c -> !(c.getSourcePort().getMiddlewareSymbol().isPresent() && c.getTargetPort().getMiddlewareSymbol().isPresent()))
      .forEach(c -> {
      ExpandedComponentInstanceSymbol compSource = c.getSourcePort().getComponentInstance().orElse(null);
      ExpandedComponentInstanceSymbol compTarget = c.getTargetPort().getComponentInstance().orElse(null);
      EMAComponentInstanceSymbol compSource = c.getSourcePort().getComponentInstance();
      EMAComponentInstanceSymbol compTarget = c.getTargetPort().getComponentInstance();
      if (compSource == null || compTarget == null)
      Log.error("ComponentInstance of source or target not found!");
      if(!compSource.equals(compTarget))
      graph.addEdge(compSource, compTarget);
      if (!compSource.equals(compTarget))
      graph.addEdge(compSource, compTarget);
      });
      ConnectivityInspector<ExpandedComponentInstanceSymbol, DefaultEdge> connectivityInspector = new ConnectivityInspector<>(graph);
      ConnectivityInspector<EMAComponentInstanceSymbol, DefaultEdge> connectivityInspector = new ConnectivityInspector<>(graph);
      int instanceSetSize = connectivityInspector.connectedSetOf(componentInstanceSymbol).size();
      if (instanceSetSize != 1) {
      Log.warn("0x8EFC3: The supercomponent can only be connected to subcomponents via middleware ports!");
      return new ArrayList<>();
      }
      //All subcomps are connected via non mw -> only highest level needs to be generated
      if(instanceSetSize != componentInstanceSymbol.getSubComponents().size() + 1)
      if (instanceSetSize != componentInstanceSymbol.getSubComponents().size() + 1)
      graph.removeVertex(componentInstanceSymbol);
      List<Set<ExpandedComponentInstanceSymbol>> res = connectivityInspector.connectedSets();
      List<Set<EMAComponentInstanceSymbol>> res = connectivityInspector.connectedSets();
      return res;
      }
      public static List<ExpandedComponentInstanceSymbol> getClusterSubcomponents(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
      List<Set<ExpandedComponentInstanceSymbol>> clusters = getClusters(componentInstanceSymbol);
      List<ExpandedComponentInstanceSymbol> res = new ArrayList<>();
      public static List<EMAComponentInstanceSymbol> getClusterSubcomponents(EMAComponentInstanceSymbol componentInstanceSymbol) {
      List<Set<EMAComponentInstanceSymbol>> clusters = getClusters(componentInstanceSymbol);
      List<EMAComponentInstanceSymbol> res = new ArrayList<>();
      int[] i = {0};
      clusters.forEach(c -> {
      if (c.size() == 1) {
      ......@@ -79,13 +86,13 @@ public class ClusterHelper {
      // Sub Ros -> Super Ros: handled(let ros connect)
      // Sub Ros -> Sub Ros: do nothing, wrapper and therefore the mw does not affect this level
      // Sub Ros -> Sub normal: handled(let comp connect)
      private static ExpandedComponentInstanceSymbol createECISFromCluster(ExpandedComponentInstanceSymbol inst, Set<ExpandedComponentInstanceSymbol> cluster, String clusterName) {
      Set<PortSymbol> curClusterPorts = cluster.stream().flatMap(ecis -> ecis.getPortsList().stream()).collect(Collectors.toSet());
      Set<PortSymbol> combinedPorts = new HashSet<>();
      private static EMAComponentInstanceSymbol createECISFromCluster(EMAComponentInstanceSymbol inst, Set<EMAComponentInstanceSymbol> cluster, String clusterName) {
      Set<EMAPortInstanceSymbol> curClusterPorts = cluster.stream().flatMap(ecis -> ecis.getPortInstanceList().stream()).collect(Collectors.toSet());
      Set<EMAPortInstanceSymbol> combinedPorts = new HashSet<>();
      combinedPorts.addAll(curClusterPorts);
      combinedPorts.addAll(inst.getPortsList());
      combinedPorts.addAll(inst.getPortInstanceList());
      Set<ConnectorSymbol> tmpConnectiors = inst.getConnectors().stream()
      Set<EMAConnectorSymbol> tmpConnectiors = inst.getConnectorInstances().stream()
      //remove all connections that use subcomponents not in cluster
      .filter(c -> combinedPorts.contains(c.getSourcePort()) && combinedPorts.contains(c.getTargetPort()))
      //remove all connections from super -> super and warn
      ......@@ -97,19 +104,20 @@ public class ClusterHelper {
      return true;
      })
      //remove all connections super <-> cluster
      .filter(c -> !(inst.getPortsList().contains(c.getSourcePort()) || (inst.getPortsList().contains(c.getTargetPort()))))
      .filter(c -> !(inst.getPortInstanceList().contains(c.getSourcePort()) || (inst.getPortInstanceList().contains(c.getTargetPort()))))
      .collect(Collectors.toSet());
      Collection<PortSymbol> mwPorts = curClusterPorts.stream()
      Collection<EMAPortInstanceSymbol> mwPorts = curClusterPorts.stream()
      .filter(p -> p.getMiddlewareSymbol().isPresent())
      .collect(Collectors.toSet());
      List<PortSymbol> tmpPorts = mwPorts.stream()
      //TODO: use EMAPortSymbol and EMAConnectorSymbol
      List<EMAPortSymbol> tmpPorts = mwPorts.stream()
      .filter(p -> p.getMiddlewareSymbol().isPresent())
      .map(p -> {
      String sourcePortName;
      String targetPortName;
      String subName = p.getComponentInstance().get().getName();
      String subName = p.getComponentInstance().getName();
      if (p.isIncoming()) {
      sourcePortName = p.getName();
      targetPortName = subName + "." + p.getName();
      ......@@ -117,7 +125,7 @@ public class ClusterHelper {
      sourcePortName = subName + "." + p.getName();
      targetPortName = p.getName();
      }
      ConnectorSymbol tmpConnector = ConnectorSymbol.builder()
      EMAConnectorSymbol tmpConnector = EMAConnectorSymbol.builder()
      .setSource(sourcePortName)
      .setTarget(targetPortName)
      .build();
      ......@@ -127,10 +135,11 @@ public class ClusterHelper {
      .collect(Collectors.toList());
      Set<ResolvingFilter<? extends Symbol>> resolvingFilters = inst.getSpannedScope().getResolvingFilters();
      List<ExpandedComponentInstanceSymbol> tmpSubcomps = cluster.stream().map(ExpandedComponentInstanceBuilder::clone).collect(Collectors.toList());
      List<EMAComponentInstanceSymbol> tmpSubcomps = cluster.stream().map(EMAComponentInstanceBuilder::clone).collect(Collectors.toList());
      tmpSubcomps.forEach(sc -> ((CommonScope) sc.getSpannedScope()).setResolvingFilters(resolvingFilters));
      ExpandedComponentInstanceSymbol res = new ExpandedComponentInstanceBuilder()
      EMAComponentInstanceSymbol res = new EMAComponentInstanceBuilder()
      .setName(clusterName)
      .setPackageName(inst.getPackageName())
      .setSymbolReference(inst.getComponentType())
      .addPorts(tmpPorts)
      .addConnectors(tmpConnectiors)
      ......@@ -143,5 +152,4 @@ public class ClusterHelper {
      return res;
      }
      }
      src/main/java/de/monticore/lang/monticar/generator/middleware/helpers/RosHelper.java
      View file @ 7106e69b
      package de.monticore.lang.monticar.generator.middleware.helpers;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ConnectorSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.PortSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAConnectorInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAPortInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.tagging.middleware.MiddlewareSymbol;
      import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosConnectionSymbol;
      import de.monticore.lang.monticar.generator.rosmsg.GeneratorRosMsg;
      ......@@ -16,15 +16,15 @@ public class RosHelper {
      }
      public static void fixRosConnectionSymbols(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
      componentInstanceSymbol.getConnectors().stream()
      public static void fixRosConnectionSymbols(EMAComponentInstanceSymbol componentInstanceSymbol) {
      componentInstanceSymbol.getConnectorInstances().stream()
      .filter(connectorSymbol -> connectorSymbol.getSourcePort().isRosPort() && connectorSymbol.getTargetPort().isRosPort())
      .forEach(connectorSymbol -> {
      if (Objects.equals(connectorSymbol.getSourcePort().getComponentInstance().orElse(null), componentInstanceSymbol)) {
      if (Objects.equals(connectorSymbol.getSourcePort().getComponentInstance(), componentInstanceSymbol)) {
      //In port of supercomp
      inferRosConnectionIfPossible(connectorSymbol.getSourcePort(), connectorSymbol.getTargetPort());
      generateRosConnectionIfPossible(connectorSymbol);
      } else if (Objects.equals(connectorSymbol.getTargetPort().getComponentInstance().orElse(null), componentInstanceSymbol)) {
      } else if (Objects.equals(connectorSymbol.getTargetPort().getComponentInstance(), componentInstanceSymbol)) {
      //out port of supercomp
      inferRosConnectionIfPossible(connectorSymbol.getTargetPort(), connectorSymbol.getSourcePort());
      generateRosConnectionIfPossible(connectorSymbol);
      ......@@ -37,7 +37,7 @@ public class RosHelper {
      }
      //Cannot be moved to GeneratorRosCpp: target port name needed for topic name
      private static void generateRosConnectionIfPossible(ConnectorSymbol connectorSymbol) {
      private static void generateRosConnectionIfPossible(EMAConnectorInstanceSymbol connectorSymbol) {
      MiddlewareSymbol sourceTag = connectorSymbol.getSourcePort().getMiddlewareSymbol().orElse(null);
      MiddlewareSymbol targetTag = connectorSymbol.getTargetPort().getMiddlewareSymbol().orElse(null);
      if (sourceTag == null || targetTag == null || !sourceTag.isKindOf(RosConnectionSymbol.KIND) || !targetTag.isKindOf(RosConnectionSymbol.KIND)) {
      ......@@ -72,7 +72,7 @@ public class RosHelper {
      }
      }
      private static void inferRosConnectionIfPossible(PortSymbol sourcePort, PortSymbol targetPort) {
      private static void inferRosConnectionIfPossible(EMAPortInstanceSymbol sourcePort, EMAPortInstanceSymbol targetPort) {
      MiddlewareSymbol sourceTag = sourcePort.getMiddlewareSymbol().orElse(null);
      MiddlewareSymbol targetTag = targetPort.getMiddlewareSymbol().orElse(null);
      if (sourceTag == null || targetTag == null || !sourceTag.isKindOf(RosConnectionSymbol.KIND) || !targetTag.isKindOf(RosConnectionSymbol.KIND)) {
      ......
      src/main/java/de/monticore/lang/monticar/generator/middleware/impls/CPPGenImpl.java
      View file @ 7106e69b
      package de.monticore.lang.monticar.generator.middleware.impls;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.monticar.generator.FileContent;
      import de.monticore.lang.monticar.generator.cmake.CMakeConfig;
      import de.monticore.lang.monticar.generator.cpp.GeneratorCPP;
      ......@@ -28,7 +28,7 @@ public class CPPGenImpl implements GeneratorImpl {
      }
      @Override
      public List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      public List<File> generate(EMAComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      List<File> files = new ArrayList<>();
      generatorCPP.setGenerationTargetPath(generationTargetPath);
      ......
      src/main/java/de/monticore/lang/monticar/generator/middleware/impls/DummyMiddlewareGenImpl.java
      View file @ 7106e69b
      package de.monticore.lang.monticar.generator.middleware.impls;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.PortSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAPortInstanceSymbol;
      import de.monticore.lang.monticar.generator.FileContent;
      import de.monticore.lang.monticar.generator.middleware.helpers.FileHelper;
      import de.monticore.lang.monticar.generator.middleware.helpers.NameHelper;
      ......@@ -19,7 +19,7 @@ public class DummyMiddlewareGenImpl implements GeneratorImpl {
      private String generationTargetPath;
      @Override
      public List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      public List<File> generate(EMAComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      List<File> res = new ArrayList<>();
      res.add(FileHelper.generateFile(generationTargetPath, generateCMake(componentInstanceSymbol)));
      ......@@ -28,7 +28,7 @@ public class DummyMiddlewareGenImpl implements GeneratorImpl {
      }
      private FileContent generateAdapter(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
      private FileContent generateAdapter(EMAComponentInstanceSymbol componentInstanceSymbol) {
      String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
      String content = TemplateHelper.getDummyAdapterTemplate()
      .replace("${compName}", name);
      ......@@ -45,16 +45,16 @@ public class DummyMiddlewareGenImpl implements GeneratorImpl {
      }
      @Override
      public boolean willAccept(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
      return componentInstanceSymbol.getPortsList().stream()
      .map(PortSymbol::getMiddlewareSymbol)
      public boolean willAccept(EMAComponentInstanceSymbol componentInstanceSymbol) {
      return componentInstanceSymbol.getPortInstanceList().stream()
      .map(EMAPortInstanceSymbol::getMiddlewareSymbol)
      .filter(Optional::isPresent)
      .map(Optional::get)
      .filter(mws -> mws.isKindOf(DummyMiddlewareSymbol.KIND))
      .count() > 0;
      }
      private FileContent generateCMake(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
      private FileContent generateCMake(EMAComponentInstanceSymbol componentInstanceSymbol) {
      FileContent res = new FileContent();
      String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
      String content = TemplateHelper.getDummyCmakeTemplate()
      ......
      src/main/java/de/monticore/lang/monticar/generator/middleware/impls/EMADLGeneratorImpl.java
      View file @ 7106e69b
      package de.monticore.lang.monticar.generator.middleware.impls;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.monticar.emadl.generator.Backend;
      import de.monticore.lang.monticar.emadl.generator.EMADLGenerator;
      import de.monticore.lang.monticar.generator.FileContent;
      ......@@ -32,7 +32,7 @@ public class EMADLGeneratorImpl implements GeneratorImpl {
      @Override
      public List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      public List<File> generate(EMAComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      List<File> files = new ArrayList<>();
      emadlGenerator.setGenerationTargetPath(generationTargetPath);
      ......
      src/main/java/de/monticore/lang/monticar/generator/middleware/impls/GeneratorImpl.java
      View file @ 7106e69b
      package de.monticore.lang.monticar.generator.middleware.impls;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.ExpandedComponentInstanceSymbol;
      import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
      import de.monticore.lang.tagging._symboltable.TaggingResolver;
      import java.io.File;
      ......@@ -9,7 +9,7 @@ import java.util.ArrayList;
      import java.util.List;
      public interface GeneratorImpl {
      default List<File> generate(ExpandedComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      default List<File> generate(EMAComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
      return new ArrayList<>();
      }
      ......@@ -17,7 +17,7 @@ public interface GeneratorImpl {
      }
      default boolean willAccept(ExpandedComponentInstanceSymbol componentInstanceSymbol) {
      default boolean willAccept(EMAComponentInstanceSymbol componentInstanceSymbol) {
      return true;
      }
      }