Merge pull request #229 from ipa320/rebase/kas-lab/qos_update

Rebase/kas lab/qos update

Author: ipa-nhg

plugins/de.fraunhofer.ipa.ros.parent/pom.xml

@@ -197,4 +197,4 @@
             </plugin>
         </plugins>
     </build>
-</project>
+</project>

plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/validation/RosValidator.xtend

@@ -14,6 +14,7 @@ import ros.ServiceClient
 import ros.ServiceServer
 import ros.Subscriber
 import ros.Parameter
+import ros.QualityOfService
 
 /**
  * This class contains custom validation rules.
@@ -42,23 +43,23 @@ class RosValidator extends AbstractRosValidator {
       }}
   @Check
   def void checkNameConventionsPackage (Package rospackage) {
-	  for (char c : rospackage.name.toCharArray){
-	      if (Character.isUpperCase(c)){
-	          error("The name of a package has to follow the ROS naming conventions: Capital letters are not allowed", null, INVALID_NAME);
-	      }
-	  }
+      for (char c : rospackage.name.toCharArray){
+          if (Character.isUpperCase(c)){
+              error("The name of a package has to follow the ROS naming conventions: Capital letters are not allowed", null, INVALID_NAME);
+          }
+      }
   }
    @Check
   def void checkNameConventionsParameters (Parameter parameter) {
-	  for (i : 0 ..< parameter.name.length) {
-	  	  val c = parameter.name.charAt(i)
-	      if (Character.isUpperCase(c)) {
-	      	  val remaining = parameter.name.substring(i)
-	      	  if (!remaining.contains(".")) {
-	          	warning("The name of a parameter has to follow the ROS naming conventions: Capital letters are not recommended", null, INVALID_NAME);	
-	          }
-	      }
-	  }
+      for (i : 0 ..< parameter.name.length) {
+          val c = parameter.name.charAt(i)
+          if (Character.isUpperCase(c)) {
+              val remaining = parameter.name.substring(i)
+              if (!remaining.contains(".")) {
+                warning("The name of a parameter has to follow the ROS naming conventions: Capital letters are not recommended", null, INVALID_NAME);
+              }
+          }
+      }
   }
 
   /* Customize Syntax Error Messages */
@@ -142,4 +143,24 @@ class RosValidator extends AbstractRosValidator {
 //  // allow the use of numbers
 //
 
+  public static val INVALID_VALUE = 'invalidValue'
+  @Check
+  def void CheckQoS (QualityOfService qos){
+    CheckDuration(qos.leaseDuration)
+    CheckDuration(qos.lifespan)
+    CheckDuration(qos.deadline)
+  }
+
+  def void CheckDuration(String duration)
+  {
+    if(duration != 'infinite' && duration !== null){
+        try{
+            Integer.parseInt(duration)
+        }
+        catch (NumberFormatException e){
+            error("Durations of lease_duration, lifespan, deadline should be specified as a string of nanoseconds which can convert to int, or as infinite", null, INVALID_VALUE)
+        }
+    }
+  }
+
 }

plugins/de.fraunhofer.ipa.ros/model/ros.ecore

@@ -221,6 +221,10 @@
         defaultValueLiteral="reliable"/>
     <eStructuralFeatures xsi:type="ecore:EAttribute" name="Durability" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"
         defaultValueLiteral="transient_local"/>
+    <eStructuralFeatures xsi:type="ecore:EAttribute" name="Liveliness" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
+    <eStructuralFeatures xsi:type="ecore:EAttribute" name="LeaseDuration" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
+    <eStructuralFeatures xsi:type="ecore:EAttribute" name="Lifespan" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
+    <eStructuralFeatures xsi:type="ecore:EAttribute" name="Deadline" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
   </eClassifiers>
   <eClassifiers xsi:type="ecore:EClass" name="TopicSpecMsgRef" eSuperTypes="PrimitivesTypes.ecore#//AbstractType">
     <eStructuralFeatures xsi:type="ecore:EReference" name="Reference" lowerBound="1"

plugins/de.fraunhofer.ipa.ros/model/ros.genmodel

@@ -169,6 +169,10 @@
       <genFeatures createChild="false" ecoreFeature="ecore:EAttribute ros.ecore#//QualityOfService/Depth"/>
       <genFeatures createChild="false" ecoreFeature="ecore:EAttribute ros.ecore#//QualityOfService/Reliability"/>
       <genFeatures createChild="false" ecoreFeature="ecore:EAttribute ros.ecore#//QualityOfService/Durability"/>
+      <genFeatures createChild="false" ecoreFeature="ecore:EAttribute ros.ecore#//QualityOfService/Liveliness"/>
+      <genFeatures createChild="false" ecoreFeature="ecore:EAttribute ros.ecore#//QualityOfService/LeaseDuration"/>
+      <genFeatures createChild="false" ecoreFeature="ecore:EAttribute ros.ecore#//QualityOfService/Lifespan"/>
+      <genFeatures createChild="false" ecoreFeature="ecore:EAttribute ros.ecore#//QualityOfService/Deadline"/>
     </genClasses>
     <genClasses ecoreClass="ros.ecore#//TopicSpecMsgRef">
       <genFeatures notify="false" createChild="false" propertySortChoices="true" ecoreFeature="ecore:EReference ros.ecore#//TopicSpecMsgRef/Reference"/>