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Merged
ipa-nhg merged 3 commits into from
Nov 18, 2025
Merged

Rebase/kas lab/qos update #229

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3d9e5eb
added four missing fields to QualityOfService, LeaseDuration, Livelin…
EGAlberts Oct 16, 2025
7a97f28
Update project to use Java SE 21 and Xtext 2.39.0
ipa-rwu Oct 2, 2025
dd59db1
run pre-ommit command
ipa-nhg Oct 29, 2025
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2 changes: 1 addition & 1 deletion plugins/de.fraunhofer.ipa.ros.parent/pom.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -197,4 +197,4 @@
</plugin>
</plugins>
</build>
</project>
</project>
49 changes: 35 additions & 14 deletions plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/validation/RosValidator.xtend
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Expand Up @@ -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.
Expand Down Expand Up @@ -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 */
Expand Down Expand Up @@ -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)
}
}
}

}
4 changes: 4 additions & 0 deletions plugins/de.fraunhofer.ipa.ros/model/ros.ecore
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Expand Up @@ -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"
Expand Down
4 changes: 4 additions & 0 deletions plugins/de.fraunhofer.ipa.ros/model/ros.genmodel
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Expand Up @@ -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"/>
Expand Down
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