First version of the DSL grammar with yaml format

[ipa-nhg]

This PR holds the changes done for the Xtext grammar implementation to move to a "yaml" format style.

The joy node example before looks like this:

PackageSet {
  CatkinPackage joy {
    Artifact joy_node { Node { name joy_node
      Publishers {
        Publisher { name "joy" message "sensor_msgs.Joy" },
        Publisher { name "diagnostics" message "diagnostic_msgs.DiagnosticArray" }
  }}
}}}

With these changes is converted to:

joy:
  artifacts:
    joy_node:
      node: joy_node
        publishers:
          joy:
            type:"sensor_msgs.Joy"
          diagnostics:
            type: "diagnostic_msgs.DiagnosticArray"

[ipa-nhg]

@fmrico @ipa-hsd FYI

[fmrico]

LGTM, but I had no time yet to test in my computer :)

[hellantos]

Just some things I noticed during usage.

[hellantos]

Probably make this plural.

Suggested change

	('serviceserver:'
	BEGIN
	serviceserver+=ServiceServer*
	END
	)|
	('serviceclient:'
	BEGIN
	serviceclient+=ServiceClient*
	END
	)|
	('actionserver:'
	BEGIN
	actionserver+=ActionServer*
	END
	)|
	('actionclient:'
	BEGIN
	actionclient+=ActionClient*
	END
	)|
	('serviceservers:'
	BEGIN
	serviceserver+=ServiceServer*
	END
	)|
	('serviceclients:'
	BEGIN
	serviceclient+=ServiceClient*
	END
	)|
	('actionservers:'
	BEGIN
	actionserver+=ActionServer*
	END
	)|
	('actionclients:'
	BEGIN
	actionclient+=ActionClient*
	END
	)|

[ipa-nhg]

Thanks a lot for the suggestion, I will add this change. It makes sense! :)

[hellantos]

One option is to a dd name tag. This will force it to be directly after "node:".

Suggested change

	Node returns Node:
	'node:' name=RosNames
	BEGIN
	(
	('publishers:'
	Node returns Node:
	'node:'
	BEGIN
	'name:' name=RosNames
	(
	('publishers:'

This seems to also be a problem in other places. We should go with a general solution. I think adding a name tag is probably the easiest and most general solution.

[hellantos]

Seems to have the same YAML issues. Probbaly add name tag as well.

[ipa-nhg]

You are right, I made already the fix for other branch: https://github.com/ipa320/ros-model/blob/7d09541be7f5339c09fb79ccecfe32abf21ec2ed/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/Ros.xtext#L121-L144

I think we came up to exactly the same solution :)

This is part of https://github.com/ipa-nhg/ros-model/tree/YamlMigrationSystem ‼️ that branch is not passing the tests

[hellantos]

On adding arguments
I had this idea of a structure, but it might be to inflated.

        arguments: 
          named_args:
            controller_manager: 
              indicator: "-c"
              type: "string"
            parameter_file:
              indicator: "-p"
              type: "string"
            controller_type:
              indicator: "-t"
              type: "string"
            controller_manager_timeout:
              indicator: "-t"
              type: "double"
          flag_args:
            load_only:
              indicator: "--load-only"
            stopped:
              indicator: "--stopped"
            inactive:
              indicator: "--inactive"
          positional_args:
            - controller_name:
                type: "string"