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EMAM2MQTT
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Opened by Alexander David Hellwig@alexander.hellwigMaintainer

Add basic Adapter generation

Add basic generation of a Adapter .cpp and .h files

Deliverables:

  • new Template Adapter.cpp.ftl and/or Adapter.h.ftl

    • Can be based on Adapter.ftl template in EMAM2Roscpp. Possible easiest if you implement your own MQTTMacro.ftl(reference: RosMacros.ftl) and use the original Adapter.ftl.
    • Result should look or work similar to your example adapter .cpp and .h
    • Assume all values are written/read as doubles for now(e.g. ignore all Matrix/Vector types, Struct Types)
    • You can ignore all generics, for now
    • The resulting class should should be named MQTTAdapter_${escapedCompName}, where ${escapedCompName} is componentInstance.getFullName() with all ., [,] replaced by _

  • In MQTTTemplates:

    • A new constant + fill method pair for the new template(s)

  • A new Class MQTTAdapterModel:

    • can be based on the RosAdapterModel in RosCpp
    • should contain all information needed to generate the Adapter
      • (escaped) name of the component instance
      • MQTTPorts of the component
        • Possibly grouped by incomming/outgoing(for subscribers/publishers respectivly)

  • In MQTTGenerator:

    • a method + List<File> generateAdapter(EMAComponentInstanceSymbol) that generates the CMake file using the MQTTTemplate Class and the template Adapter.cpp.ftl and/or Adapter.h.ftl.

  • Add a test case:

    • as previously(Issue #13 (closed)):
      • parse a simple componentInstance
      • manually add MQTTConnectionSymbols with EMAPortInstanceSymbol::setMiddlewareSymbol
    • call generateCMake on the componentInstance
    • compare the resulting File(s) with an expected result(AbstractSymtabTest::testFilesAreEqual)