Add customized qualified name for cross references for specifications…

…, e.g., TopicSpec

plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/RosQNP.xtend

@@ -0,0 +1,29 @@
+package de.fraunhofer.ipa.ros;
+
+import org.eclipse.xtext.naming.DefaultDeclarativeQualifiedNameProvider
+import org.eclipse.emf.ecore.EObject
+import ros.TopicSpec
+import ros.ServiceSpec
+import ros.ActionSpec
+
+class RosQNP extends DefaultDeclarativeQualifiedNameProvider{
+
+  override getFullyQualifiedName(EObject obj) {
+    if (obj instanceof TopicSpec) {
+      val topic_spec_name = obj.name
+      val pkg_name = obj.package.name
+      return getConverter().toQualifiedName(pkg_name + "/msg/" + topic_spec_name);
+    }
+    if (obj instanceof ServiceSpec) {
+      val service_spec_name = obj.name
+      val pkg_name = obj.package.name
+      return getConverter().toQualifiedName(pkg_name + "/srv/" + service_spec_name);
+    }
+    if (obj instanceof ActionSpec) {
+      val action_spec_name = obj.name
+      val pkg_name = obj.package.name
+      return getConverter().toQualifiedName(pkg_name + "/action/" + action_spec_name);
+    }
+    return super.qualifiedName(obj);
+    }
+}

plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/RosRuntimeModule.xtend

@@ -5,8 +5,10 @@ package de.fraunhofer.ipa.ros
 
 import com.google.inject.Binder
 import de.fraunhofer.ipa.ros.generator.CICustomOutputProvider
-import org.eclipse.xtext.conversion.IValueConverterService
 import org.eclipse.xtext.generator.IOutputConfigurationProvider
+import org.eclipse.xtext.scoping.IScopeProvider
+import de.fraunhofer.ipa.ros.scoping.RosSP
+import org.eclipse.xtext.naming.IQualifiedNameProvider
 
 /**
  * Use this class to register components to be used at runtime / without the Equinox extension registry.
@@ -18,4 +20,12 @@ class RosRuntimeModule extends AbstractRosRuntimeModule {
         binder.bind(IOutputConfigurationProvider).to(CICustomOutputProvider).asEagerSingleton()
     }
 
+   override Class<? extends IScopeProvider> bindIScopeProvider() {
+        return RosSP
+    }
+
+    override Class<? extends IQualifiedNameProvider> bindIQualifiedNameProvider() {
+        return RosQNP
+    }
+
 }

plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/scoping/RosSP.xtend

@@ -0,0 +1,23 @@
+package de.fraunhofer.ipa.ros.scoping
+
+import org.eclipse.emf.ecore.EObject
+import org.eclipse.emf.ecore.EReference
+import org.eclipse.xtext.EcoreUtil2
+import org.eclipse.xtext.scoping.Scopes
+import org.eclipse.xtext.scoping.impl.AbstractDeclarativeScopeProvider
+import ros.RosPackage
+import ros.SpecBase
+
+class RosSP extends AbstractDeclarativeScopeProvider {
+
+    override getScope(EObject context, EReference reference) {
+        if (context instanceof SpecBase) {
+            if (reference == RosPackage.Literals.SPEC_BASE) {
+                val candidates = EcoreUtil2.getAllContentsOfType(context.package, SpecBase);
+                return Scopes.scopeFor(candidates)
+            }
+        }
+        return super.getScope(context, reference);
+    }
+
+}

plugins/de.fraunhofer.ipa.ros2.xtext/src/de/fraunhofer/ipa/ros2/Ros2RuntimeModule.xtend

@@ -3,9 +3,23 @@
  */
 package de.fraunhofer.ipa.ros2
 
+import org.eclipse.xtext.scoping.IGlobalScopeProvider
+import de.fraunhofer.ipa.ros.RosQNP
+import org.eclipse.xtext.naming.IQualifiedNameProvider
+import org.eclipse.xtext.scoping.IScopeProvider
+import de.fraunhofer.ipa.ros.scoping.RosSP
 
 /**
  * Use this class to register components to be used at runtime / without the Equinox extension registry.
  */
 class Ros2RuntimeModule extends AbstractRos2RuntimeModule {
+
+    override Class<? extends IScopeProvider> bindIScopeProvider() {
+        return RosSP
+    }
+
+    override Class<? extends IQualifiedNameProvider> bindIQualifiedNameProvider() {
+        return RosQNP
+    }
+
 }