diff --git a/src/main/java/de/hhu/stups/codegenerator/generators/DeclarationGenerator.java b/src/main/java/de/hhu/stups/codegenerator/generators/DeclarationGenerator.java
index 606629834518eac75b5e597329eb2f80b1ff99d4..c12e28eaca4d3f9d05c3d19b409f9be12792b11a 100644
--- a/src/main/java/de/hhu/stups/codegenerator/generators/DeclarationGenerator.java
+++ b/src/main/java/de/hhu/stups/codegenerator/generators/DeclarationGenerator.java
@@ -92,7 +92,7 @@ public class DeclarationGenerator {
/*
* This function generates code for a parameter with the given node from the AST and the information whether it is an output parameter
*/
- private String generateParameter(DeclarationNode node, boolean isReturn) {
+ public String generateParameter(DeclarationNode node, boolean isReturn) {
ST declaration = currentGroup.getInstanceOf("parameter");
TemplateHandler.add(declaration, "isReturn", isReturn);
TemplateHandler.add(declaration, "type", typeGenerator.generate(node.getType()));
diff --git a/src/main/java/de/hhu/stups/codegenerator/generators/MachineGenerator.java b/src/main/java/de/hhu/stups/codegenerator/generators/MachineGenerator.java
index 836aa2e9bffa10497a7a91c37c6a647dfd75da01..252a2bd59a38d670f6a811d70d5a6f9e8b169fc2 100755
--- a/src/main/java/de/hhu/stups/codegenerator/generators/MachineGenerator.java
+++ b/src/main/java/de/hhu/stups/codegenerator/generators/MachineGenerator.java
@@ -279,9 +279,10 @@ public class MachineGenerator implements AbstractVisitor<String, Void> {
TemplateHandler.add(machine, "externalFunctions", machineNode.getOperations()
.stream()
.filter(op -> op.getName().startsWith("EXTERNAL_"))
- .map(op -> generateExternalFunction(op.getName(), op.getParams()
+ .map(op -> generateExternalFunction(operationGenerator.generateReturnType(op), op.getName(), op.getParams()
.stream()
- .map(DeclarationNode::getName).collect(Collectors.toList())))
+ .map(parameter -> declarationGenerator.generateParameter(parameter, false))
+ .collect(Collectors.toList())))
.collect(Collectors.toList()));
generateBody(node, machine);
return machine.render();
@@ -372,8 +373,9 @@ public class MachineGenerator implements AbstractVisitor<String, Void> {
TemplateHandler.add(machine, "structs", recordStructGenerator.generateStructs());
}
- private String generateExternalFunction(String name, List<String> parameters) {
+ private String generateExternalFunction(String type, String name, List<String> parameters) {
ST template = currentGroup.getInstanceOf("external_function");
+ TemplateHandler.add(template, "type", type);
TemplateHandler.add(template, "name", name);
TemplateHandler.add(template, "parameters", parameters);
return template.render();
diff --git a/src/main/java/de/hhu/stups/codegenerator/generators/OperationGenerator.java b/src/main/java/de/hhu/stups/codegenerator/generators/OperationGenerator.java
index 54d851f2602b642b1c609fc58f244d1981529c64..8a61e33895cf7c266bf3705bd86db701d12029fd 100644
--- a/src/main/java/de/hhu/stups/codegenerator/generators/OperationGenerator.java
+++ b/src/main/java/de/hhu/stups/codegenerator/generators/OperationGenerator.java
@@ -125,6 +125,7 @@ public class OperationGenerator {
TemplateHandler.add(operation, "parameters", declarationGenerator.generateDeclarations(node.getParams(), DeclarationType.PARAMETER, false));
TemplateHandler.add(operation, "parameterNames", node.getParams().stream().map(DeclarationNode::getName).collect(Collectors.toList()));
TemplateHandler.add(operation, "returnParameters", declarationGenerator.generateDeclarations(node.getOutputParams(), DeclarationType.PARAMETER, true));
+ TemplateHandler.add(operation, "hasReturnParameters", !node.getOutputParams().isEmpty());
return operation;
}
@@ -142,6 +143,17 @@ public class OperationGenerator {
}
}
+ public String generateReturnType(OperationNode node) {
+ List<DeclarationNode> outputs = node.getOutputParams();
+ if(outputs.size() > 1) {
+ return recordStructGenerator.getStruct(node);
+ } else if(outputs.size() == 1) {
+ return typeGenerator.generate(outputs.get(0).getType());
+ } else {
+ return typeGenerator.generateVoid();
+ }
+ }
+
/*
* This function generates code for empty output parameters
*/
diff --git a/src/main/resources/de/hhu/stups/codegenerator/JavaTemplate.stg b/src/main/resources/de/hhu/stups/codegenerator/JavaTemplate.stg
index fc4b0607e57be92efcc4ec3b26b657e879e74a8f..c140af61ea1ea8df78bb3d3a723afe243ebacb76 100644
--- a/src/main/resources/de/hhu/stups/codegenerator/JavaTemplate.stg
+++ b/src/main/resources/de/hhu/stups/codegenerator/JavaTemplate.stg
@@ -317,10 +317,14 @@ public <machine>(<if(hasExternalFunctions)>ExternalFunctionsInterface _externalF
method() ::= <<
>>
-operation(returnType, operationName, parameters, locals, body, return, isExternal, parameterNames) ::= <<
+operation(returnType, operationName, parameters, locals, body, return, isExternal, hasReturnParameters, parameterNames) ::= <<
public <returnType> <operationName>(<parameters; separator=", ">) {
<if(isExternal)>
+ <if(hasReturnParameters)>
+ return _externalFunctions.<operationName>(<parameterNames; separator=", ">);
+ <else>
_externalFunctions.<operationName>(<parameterNames; separator=", ">);
+ <endif>
<else>
<locals; separator="\n">
<body>
@@ -1867,6 +1871,6 @@ transition_cache_declaration(type, identifier, operationHasParams) ::= <<
set_initialization(identifier, type, enums) ::= <<>>
-external_function(name, parameters) ::= <<
-void <name>(<parameters; separator=",">);
+external_function(type, name, parameters) ::= <<
+<type> <name>(<parameters; separator=",">);
>>
\ No newline at end of file
diff --git a/src/test/resources/de/hhu/stups/codegenerator/drone/DroneCommunicator_Mockup.mch b/src/test/resources/de/hhu/stups/codegenerator/drone/DroneCommunicator_Mockup.mch
index 51e761ded8ab7e6ee415e58317a9e6a0b7f1271f..0ada38950496d633255f2ec7b5d885c14a6badd0 100644
--- a/src/test/resources/de/hhu/stups/codegenerator/drone/DroneCommunicator_Mockup.mch
+++ b/src/test/resources/de/hhu/stups/codegenerator/drone/DroneCommunicator_Mockup.mch
@@ -12,12 +12,12 @@ INITIALISATION
cycle := 1
OPERATIONS
- EXTERN_Init =
+ EXTERNAL_Init =
SELECT init = FALSE THEN
init := TRUE
END;
- EXTERN_open_link =
+ EXTERNAL_open_link =
SELECT init = TRUE THEN
skip
END;
@@ -28,7 +28,7 @@ OPERATIONS
"high_level" - cflib.crazyflie.high_level_commander.HighLevelCommander
"position_high_level" (the default) - cflib.positioning.position_hl_commander.PositionHlCommander
*/
- EXTERN_open_link_with_commander_type(commander) =
+ EXTERNAL_open_link_with_commander_type(commander) =
SELECT
init = TRUE
& commander : STRING
@@ -36,27 +36,27 @@ OPERATIONS
skip
END;
- EXTERN_close_link =
+ EXTERNAL_close_link =
SELECT init = TRUE THEN
skip
END;
- EXTERN_register_sensors =
+ EXTERNAL_register_sensors =
SELECT init = TRUE THEN
skip
END;
- EXTERN_Drone_Takeoff =
+ EXTERNAL_Drone_Takeoff =
SELECT init = TRUE THEN
skip
END;
- EXTERN_Drone_Land =
+ EXTERNAL_Drone_Land =
SELECT init = TRUE THEN
skip
END;
- EXTERN_Drone_Left(dist) =
+ EXTERNAL_Drone_Left(dist) =
SELECT
init = TRUE &
dist : 0..2000
@@ -64,7 +64,7 @@ OPERATIONS
skip
END;
- EXTERN_Drone_Right(dist) =
+ EXTERNAL_Drone_Right(dist) =
SELECT
init = TRUE &
dist : 0..2000
@@ -72,7 +72,7 @@ OPERATIONS
skip
END;
- EXTERN_Drone_Up(dist) =
+ EXTERNAL_Drone_Up(dist) =
SELECT
init = TRUE &
dist : 0..2000
@@ -80,7 +80,7 @@ OPERATIONS
skip
END;
- EXTERN_Drone_Down(dist) =
+ EXTERNAL_Drone_Down(dist) =
SELECT
init = TRUE &
dist : 0..2000
@@ -88,7 +88,7 @@ OPERATIONS
skip
END;
- EXTERN_Drone_Forward(dist) =
+ EXTERNAL_Drone_Forward(dist) =
SELECT
init = TRUE &
dist : 0..2000
@@ -96,7 +96,7 @@ OPERATIONS
skip
END;
- EXTERN_Drone_Backward(dist) =
+ EXTERNAL_Drone_Backward(dist) =
SELECT
init = TRUE &
dist : 0..2000
@@ -104,7 +104,7 @@ OPERATIONS
skip
END;
- Drone_Turn_Left(degrees) =
+ EXTERNAL_Drone_Turn_Left(degrees) =
SELECT
init = TRUE &
degrees : -360..360
@@ -112,7 +112,7 @@ OPERATIONS
skip
END;
- Drone_Turn_Right(degrees) =
+ EXTERNAL_Drone_Turn_Right(degrees) =
SELECT
init = TRUE &
degrees : -360..360
@@ -120,85 +120,85 @@ OPERATIONS
skip
END;
- out <-- EXTERN_Drone_GetX =
+ out <-- EXTERNAL_Drone_GetX =
SELECT init = TRUE THEN
out := 2000;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetY =
+ out <-- EXTERNAL_Drone_GetY =
SELECT init = TRUE THEN
out := 2000;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetZ =
+ out <-- EXTERNAL_Drone_GetZ =
SELECT init = TRUE THEN
out := 2000;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetBattery =
+ out <-- EXTERNAL_Drone_GetBattery =
SELECT init = TRUE THEN
out := 100;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetFrontDistance =
+ out <-- EXTERNAL_Drone_GetFrontDistance =
SELECT init = TRUE THEN
out := 2000;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetBackDistance =
+ out <-- EXTERNAL_Drone_GetBackDistance =
SELECT init = TRUE THEN
out := 2000;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetUpDistance =
+ out <-- EXTERNAL_Drone_GetUpDistance =
SELECT init = TRUE THEN
out := 2000;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetDownDistance =
+ out <-- EXTERNAL_Drone_GetDownDistance =
SELECT init = TRUE THEN
out := 2000;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetLeftDistance =
+ out <-- EXTERNAL_Drone_GetLeftDistance =
SELECT init = TRUE THEN
out := 2000;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetRightDistance =
+ out <-- EXTERNAL_Drone_GetRightDistance =
SELECT init = TRUE THEN
out := 2000;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetRoll =
+ out <-- EXTERNAL_Drone_GetRoll =
SELECT init = TRUE THEN
out := 0;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetPitch =
+ out <-- EXTERNAL_Drone_GetPitch =
SELECT init = TRUE THEN
out := 0;
cycle := cycle + 1
END;
- out <-- EXTERN_Drone_GetYaw =
+ out <-- EXTERNAL_Drone_GetYaw =
SELECT init = TRUE THEN
out := 0;
cycle := cycle + 1
END;
- Destroy =
+ EXTERNAL_Destroy =
SELECT init = TRUE THEN
init := FALSE
END