Support definition of methods similar to state variables #382
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
cmnrd
added
compiler
cpp
HugoForrat
approved these changes
Jul 6, 2021
edwardalee
approved these changes
Jul 12, 2021
|
I documented it here: https://github.com/icyphy/lingua-franca/wiki/Writing-Reactors-in-Cpp#using-methods |
|
Shouldn't this be in the language specification? (Even if currently only supported by Cpp). |
|
Oh, right. I completely forgot about the language specification. I also added a description of methods there. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR adds support for the definition of methods in LF code. Methods are defined similarly to state variables. They can be invoked from reactions and allow encapsulating certain functionality and also enable code reuse between reactions. Currently, we only have preambles for defining functions, but this is not always sufficient as methods might need to access parameters and state variables or call other methods. In particular, we noticed that we need methods for porting complex ROS nodes to LF in a practical way. This PR also adds a test case, which also serves as a usage example.
This MR depends on #375 and should only be merged once #375 is merged.