From a7896fdaeb2dd0446d8206ae2d2f92cc1fe0c02e Mon Sep 17 00:00:00 2001
From: ipa-nhg <nadia.hammoudeh.garcia@ipa.fraunhofer.de>
Date: Thu, 1 Jun 2023 14:43:01 +0200
Subject: [PATCH] Add customized qualified name for cross references for
 specifications, e.g., TopicSpec

---
 .../src/de/fraunhofer/ipa/ros/RosQNP.xtend    | 29 +++++++++++++++++++
 .../fraunhofer/ipa/ros/RosRuntimeModule.xtend | 12 +++++++-
 .../de/fraunhofer/ipa/ros/scoping/RosSP.xtend | 23 +++++++++++++++
 .../ipa/ros2/Ros2RuntimeModule.xtend          | 14 +++++++++
 4 files changed, 77 insertions(+), 1 deletion(-)
 create mode 100644 plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/RosQNP.xtend
 create mode 100644 plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/scoping/RosSP.xtend

diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/RosQNP.xtend b/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/RosQNP.xtend
new file mode 100644
index 000000000..f7bf8c1cd
--- /dev/null
+++ b/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);
+    }
+}
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/RosRuntimeModule.xtend b/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/RosRuntimeModule.xtend
index 64d3578c0..fb17fd257 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/RosRuntimeModule.xtend
+++ b/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
+    }
+
 }
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/scoping/RosSP.xtend b/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/scoping/RosSP.xtend
new file mode 100644
index 000000000..571aaade7
--- /dev/null
+++ b/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);
+    }
+
+}
\ No newline at end of file
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src/de/fraunhofer/ipa/ros2/Ros2RuntimeModule.xtend b/plugins/de.fraunhofer.ipa.ros2.xtext/src/de/fraunhofer/ipa/ros2/Ros2RuntimeModule.xtend
index fd6401132..517c849e2 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src/de/fraunhofer/ipa/ros2/Ros2RuntimeModule.xtend
+++ b/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
+    }
+
 }