diff --git a/siaras/ConfigGen.jrag b/siaras/ConfigGen.jrag
new file mode 100644
index 0000000000000000000000000000000000000000..d3414836aaf30d3ff140e7d8dc71e881bf2d7577
--- /dev/null
+++ b/siaras/ConfigGen.jrag
@@ -0,0 +1,83 @@
+/* -*-Java-*- */
+
+/*
+ * Copyright (C) 2007 Anders Nilsson <anders.nilsson@cs.lth.se>
+ *
+ * This file is part of SkillServer.
+ */
+
+import java.util.*;
+
+aspect ConfigGen {
+ /********************************
+ * String genConfig()
+ ********************************/
+ syn String Device.genConfig() = "No configuration for type: "+
+ getClass().getName()+"\n";
+ eq Controller.genConfig() {
+ if (id().contains("ABB")) {
+ StringBuffer s = new StringBuffer();
+ s.append("EIO:CFG_1.0:4:0::\n");
+ s.append("#\n");
+ s.append("EIO_BUS_USER:\n");
+ s.append(" -Name \"SIM\" -Driver \"/sim1:\"\n");
+ s.append(" -Name \"SW\" -Driver \"/sw1:\"\n");
+ s.append(" -Name \"BASE\" -Driver \"/BASE1:\"\n");
+ s.append("#\n");
+ s.append("EIO_UNIT:\n");
+ s.append(" -Name \"BOARD1\" -Type \"eip000\" -Bus \"SIM\" -Address \"6\" -Digin 16 -Digout 16\n");
+ s.append(" -Name \"BOARDSIM\" -Type \"eip000\" -Bus \"SIM\" -Address \"1\" -Digin 16 -Digout 16\n");
+// System.out.println("devices: "+getNumDevice());
+ for (int i=0; i<getNumDevice(); i++) {
+ Device d = (Device) getDevice(i);
+// System.out.println("Subdevice: "+d.id());
+ if (d instanceof IO_Board) {
+ s.append(" -Name ");
+ s.append("\""+d.id()+"\" ");
+ s.append("-Type ");
+ s.append("\""+d.id()+"\" ");
+ s.append("-Bus \"BASE\" ");
+ System.out.println(d.getNumProperty());
+ d.dumpTree("",System.out);
+ for (int j=0; j<d.getNumProperty(); j++) {
+ System.out.println(d.getProperty(j).decl().name());
+ if (d.getProperty(j).decl() instanceof Signal) {
+ Signal sig = (Signal) d.getProperty(j).decl();
+ if (sig instanceof DigIn) {
+ s.append(" -Digin ");
+ } else if (sig instanceof DigOut) {
+ s.append(" -DigOut ");
+ } else {
+ s.append(" Unknown_Signal ");
+ }
+ s.append(sig.getValue());
+ }
+ }
+ s.append("\n");
+// s.append("-Digin 16 -Digout 16\n");
+
+ }
+ }
+ s.append("#\n");
+ s.append("EIO_SAFETY_SIGNAL = EIO_SIGNAL:\n");
+ s.append(" -Name \"BatAlarm\" -Type \"DO\" -Unit \"BOARD1\" -Phsig 3 -Store\n");
+ s.append(" -Name \"Charge\" -Type \"DO\" -Unit \"BOARD1\" -Phsig 1 -Store\n");
+ s.append(" -Name \"Discharge\" -Type \"DO\" -Unit \"BOARD1\" -Phsig 2 -Store\n");
+ s.append("#\n");
+ s.append("EIO_USER_SIGNAL = EIO_SIGNAL:\n");
+ s.append(" -Name \"Batlow\" -Type \"DI\" -Unit \"BOARD1\" -Phsig 5\n");
+ s.append(" -Name \"Batmeasure\" -Type \"DO\" -Unit \"BOARD1\" -Phsig 4 -Store\n");
+ s.append(" -Name \"Batreset\" -Type \"DO\" -Unit \"BOARDSIM\" -Phsig 9\n");
+ s.append(" -Name \"toollock\" -Type \"DO\" -Unit \"dig328\" -Phsig 1\n");
+ s.append(" -Name \"drillfeed\" -Type \"DO\" -Unit \"dig328\" -Phsig 2\n");
+ s.append(" -Name \"drillstop\" -Type \"DO\" -Unit \"dig328\" -Phsig 3\n");
+ s.append(" -Name \"drillstart\" -Type \"DO\" -Unit \"dig328\" -Phsig 6\n");
+ s.append("#\n");
+ s.append("EIO_GROUP_PHS = EIO_SIGNAL:\n");
+ s.append(" -Name \"Batresult\" -Type \"GO\" -Unit \"BOARDSIM\" -Phsig 1 -Length 8 -Store\n");
+ return s.toString();
+ } else {
+ return "No configuration support for controller: "+id();
+ }
+ }
+}
diff --git a/siaras/Ontology.java b/siaras/Ontology.java
index 7ecad7b4181bbe16cec42e917f594aa0d5e8692e..dce031b209157ad7daeb1573de4f170eb6933ad3 100644
--- a/siaras/Ontology.java
+++ b/siaras/Ontology.java
@@ -29,6 +29,7 @@ public class Ontology extends Parser {
SiarasParser parser = new SiarasParser(r);
ast = parser.Start();
+ ast.traverseAST();
} catch (ParseException e) {
System.out.println(e.getMessage());
}
@@ -60,6 +61,6 @@ public class Ontology extends Parser {
public static void main(String[] args) {
Start ast = getAST(args[0]);
- ast.getIndividual("CLOOS_R350").dumpTree("",System.out);
+ ast.getIndividual("ABB_IRB-140").dumpTree("",System.out);
}
}
diff --git a/siaras/Rewrites.jrag b/siaras/Rewrites.jrag
index f9160eae69fe2e8fc281c273cefb383318707ab8..e230d80af3b551ccf2ae2ffa0096849004a13985 100644
--- a/siaras/Rewrites.jrag
+++ b/siaras/Rewrites.jrag
@@ -64,3 +64,30 @@ aspect Qualification {
}
}
}
+
+aspect Property {
+ syn boolean Device.hasElement(String name) {
+ for (int i=0; i<getNumElement(); i++) {
+ if (((ComplexElement) getElement(i)).name().equals(name)) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ rewrite Device {
+ when (hasElement("hasProperty")) to Device {
+ List remainList = new List();
+ for (int i=0; i<getNumElement(); i++) {
+ ComplexElement e = (ComplexElement) getElement(i);
+ if (e.name().equals("hasProperty")) {
+ addProperty((Thing) e);
+ } else {
+ remainList.add(e);
+ }
+ }
+ setElementList(remainList);
+ return this;
+ }
+ }
+}
diff --git a/siaras/SkillserverInterface.jrag b/siaras/SkillserverInterface.jrag
index af9607713bbaaa059b9ecf59660ac3b96258a2b4..3189e6c1164bf627a76d85d9434acf46f4588cbe 100644
--- a/siaras/SkillserverInterface.jrag
+++ b/siaras/SkillserverInterface.jrag
@@ -3,19 +3,43 @@
/*
* Copyright (C) 2007 Anders Nilsson <anders.nilsson@cs.lth.se>
*
- * This file is part of OntologyCompiler.
+ * This file is part of SkillServer.
*/
+import java.util.*;
+
aspect SkillserverInterface {
+ /********************************
+ * isConfigurable()
+ ********************************/
+ syn boolean Thing.isConfigurable() = false;
+ eq Controller.isConfigurable() = true;
+ // We should probably look for properties instead. AndersN 070612
+
+ /********************************
+ * getIndividual(String id)
+ ********************************/
public Thing Start.getIndividual(String id) {
// System.out.println("getIndividual: "+id);
- return super.getIndividual(id);
+ for (int i=0; i<getNumElement(); i++) {
+ Thing t = getElement(i).getIndividual(id);
+ if (t!=null) {
+// System.out.println("Found: "+t);
+ return t;
+ }
+ }
+ return null;
+// return super.getIndividual(id);
+ }
+
+ public Thing Element.getIndividual(String id) {
+ return null;
}
- public Thing ASTNode.getIndividual(String id) {
+ public Thing ComplexElement.getIndividual(String id) {
// System.out.println("foo: "+this);
- for (int i=0; i<getNumChild(); i++) {
- Thing t = getChild(i).getIndividual(id);
+ for (int i=0; i<getNumElement(); i++) {
+ Thing t = getElement(i).getIndividual(id);
if (t!=null) {
// System.out.println("Found: "+t);
return t;
@@ -25,49 +49,201 @@ aspect SkillserverInterface {
}
public Thing Thing.getIndividual(String id) {
-// System.out.println("Looking for: "+id+" in: "+id());
+// System.out.println(" "+name());
+// System.out.println("Looking for: "+id+" in: "+id()+" ("+name()+")");
// System.out.println("Looking in: "+id());
- if (id().contains(id)) {
+// if (id().contains(id) &&
+// (this instanceof Device)) {
+ if (id.equals(id())) {
return this;
} else {
return super.getIndividual(id);
}
}
+ public Thing ClassUse.getIndividual(String id) {
+ return null;
+ }
+
+ /********************************
+ * getOWLNamedClass(String skill)
+ ********************************/
+ public Thing Start.getOWLNamedClass(String skill) {
+ System.out.println("Looking for OWL class: "+skill);
+ return super.getOWLNamedClass(skill);
+ }
+
+ public Thing ASTNode.getOWLNamedClass(String skill) {
+ for (int i=0; i<getNumChild(); i++) {
+ Thing t = getChild(i).getOWLNamedClass(skill);
+ if (t!=null) {
+// System.out.println("Found: "+t);
+ return t;
+ }
+ }
+ return null;
+ }
+
+ public Thing Thing.getOWLNamedClass(String skill) {
+ if (id().contains(skill)) {
+ return this;
+ } else {
+ return super.getOWLNamedClass(skill);
+ }
+ }
+
+ /********************************
+ * getPropertyValues(String name)
+ ********************************/
+ public Collection Thing.getPropertyValues(String name) {
+// System.out.println("Looking for property: "+name+" in "+id());
+ LinkedList l = new LinkedList();
+ for (int i=0; i<getNumElement(); i++) {
+ if (getElement(i) instanceof ClassUse) {
+ ClassUse c = (ClassUse) getElement(i);
+ if (c.name().equals(name)) {
+ l.add(c.decl());
+ }
+ }
+ }
+// System.out.println(name()+" "+id()+" has the following "+name+" properties:");
+// Iterator iter = l.iterator();
+// while (iter.hasNext()) {
+// System.out.println(" "+((Thing) iter.next()).name());
+// }
+ return l;
+ }
+
+ /********************************
+ * Thing Thing.getDirectType()
+ ********************************/
+ public Thing Thing.getDirectType() {
+ return this;
+ }
+
+ /********************************
+ * boolean Device.canDo(String skill)
+ ********************************/
+ public boolean Device.canDo(String skill) {
+ try {
+ Class skillClass = Class.forName("AST."+skill);
+ Iterator i = getPropertyValues("hasSkill").iterator();
+ while (i.hasNext()) {
+ if (skillClass.isAssignableFrom(i.next().getClass())) {
+ return true;
+ }
+ }
+ } catch (ClassNotFoundException e) {
+ System.out.println("Skill class not found: "+skill);
+ }
+ return false;
+ }
+
+ /********************************
+ * boolean Skill.canBeDoneBy(Skill skill)
+ ********************************/
+ public boolean Skill.canBeDoneBy(Skill skill) {
+// System.out.println(name()+" canBeDoneBy "+skill.name()+" => "+
+// getClass().isAssignableFrom(skill.getClass()));
+ return getClass().isAssignableFrom(skill.getClass());
+ }
+
+ public boolean ClassUse.canBeDoneBy(Skill skill) {
+// System.out.println(decl().name()+" canBeDoneBy "+skill.name()+" => "+
+// ((Skill) decl()).canBeDoneBy(skill));
+ return ((Skill) decl()).canBeDoneBy(skill);
+ }
+
+ /********************************
+ * String Thing.getName()
+ ********************************/
+ public String Thing.getName() {
+ return name();
+ }
+
+ public String ClassUse.getName() {
+ return decl().name();
+ }
+
+ /********************************
+ * String Thing.getValue()
+ ********************************/
+ public String ComplexElement.getValue() {
+ return "no_value";
+ }
+
+ public String ClassUse.getValue() {
+ return decl().getValue();
+ }
+
+ public String Property.getValue() {
+ for (int i=0; i<getNumElement(); i++) {
+ ComplexElement e = (ComplexElement) getElement(i);
+ if (e instanceof ValueElement) {
+ return e.getValue();
+ }
+ }
+ return "no_value";
+ }
+
+ public String ValueElement.getValue() {
+ return ((SimpleElement) getElement(0)).getValue();
+ }
+
+ public String SimpleElement.getValue() {
+ return "no_value";
+ }
+
+ public String StringElement.getValue() {
+ return getLITERAL();
+ }
+
+ public String FloatElement.getValue() {
+ return getLITERAL();
+ }
+
+ public String IntElement.getValue() {
+ return getLITERAL();
+ }
+
+ /********************************
+ * boolean Device.instanceOf(String klass)
+ ********************************/
+ public boolean Device.instanceOf(String klass) {
+ try {
+ return Class.forName("AST."+klass).isAssignableFrom(getClass());
+ } catch (ClassNotFoundException e) {
+ e.printStackTrace();
+ return false;
+ }
+ }
}
aspect Misc {
public String Thing.id() {
- if (getNumAttribute() > 0) {
- return getAttribute(0).name();
- } else {
- return "unknown_id";
- }
-// for (int i=0; i<getNumElement(); i++) {
-// // System.out.println(" Checking "+getElement(i));
-// if (getElement(i).isIdentifier()) {
-// // System.out.println(" Found identifier: "+((ComplexElement) getElement(i)).name());
-// Identifier ident = (Identifier) ((ClassUse) getElement(i)).decl();
+// if (getNumAttribute() > 0) {
+// return getAttribute(0).name();
+// } else {
+// return "unknown_id";
+// }
+ for (int i=0; i<getNumElement(); i++) {
+// System.out.println(" Checking "+getElement(i));
+ if (getElement(i).isIdentifier()) {
+// System.out.println(" Found identifier: "+((ComplexElement) getElement(i)).getAttribute(0).name());
+ Identifier ident = (Identifier) ((ClassUse) getElement(i)).decl();
// System.out.println(" "+((ComplexElement) ident.getElement(0)).name());
// return ident.value();
-// }
-// }
-// return "unknown_id";
+ return ident.getValue();
+ }
+ }
+ return "unknown_id";
}
syn boolean Element.isIdentifier() = false;
eq ComplexElement.isIdentifier() = name().equals("hasIdentifier"); // Ugly hack!
eq Identifier.isIdentifier() = true;
-// eq ClassUse.isIdentifier() {
-// Thing decl = decl();
-// if (decl != null) {
-// return decl.isIdentifier();
-// } else {
-// System.out.println("Couldn't find decl for: "+name());
-// }
-// return false;
-// }
+// eq ClassUse.isIdentifier() = decl().isIdentifier();
syn lazy String Identifier.value() {
for (int i=0; i<getNumElement(); i++) {
@@ -82,9 +258,10 @@ aspect Misc {
aspect Decl {
- syn lazy Thing ClassUse.decl() {
+ syn lazy Thing Thing.decl() = null;
+ eq ClassUse.decl() {
String id = getAttribute(0).getValue().getSTRING_LITERAL();
- System.out.println("Find decl for: "+id);
+// System.out.println("Find decl for: "+id);
return rootNode().findDecl(id);
}
@@ -119,7 +296,7 @@ aspect Decl {
eq Thing.findDecl(String id) {
for (int i=0; i<getNumAttribute(); i++) {
if (getAttribute(i).isEqualId(id)) {
- System.out.println(" Found it: "+name());
+// System.out.println(" Found it: "+name());
return this;
}
}
@@ -130,9 +307,17 @@ aspect Decl {
eq RdfId.isEqualId(String id) {
// System.out.println(" Checking: "+name());
if (name().equals(id)) {
- System.out.println(" "+name()+" == "+id);
+// System.out.println(" "+name()+" == "+id);
return true;
}
return false;
}
}
+
+aspect PhonyTraversal {
+ public void ASTNode.traverseAST() {
+ for (int i=0; i<getNumChild(); i++) {
+ getChild(i).traverseAST();
+ }
+ }
+}