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Merge pull request #203 from ipa-nhg/LaunchFileGenerator
First preliminary draft for the launch file generator for ROS2
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...er.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/CMakeListsCompiler.xtend
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| package de.fraunhofer.ipa.rossystem.generator | ||
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| import com.google.inject.Inject | ||
| import system.System | ||
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| class CMakeListsCompiler { | ||
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| @Inject extension GeneratorHelpers | ||
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| // def compile_CMakeLists_ROS1(RosSystem system, ComponentStack stack) '''«init_pkg()» | ||
| //cmake_minimum_required(VERSION 2.8.3) | ||
| //project(«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF») | ||
| // | ||
| //find_package(catkin REQUIRED) | ||
| // | ||
| //catkin_package() | ||
| // | ||
| // | ||
| //### INSTALL ### | ||
| //install(DIRECTORY launch | ||
| // DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| //)''' | ||
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| def compile_CMakeLists_ROS2(System system) '''«init_pkg()» | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(«system.name.toLowerCase») | ||
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| # Default to C++14 | ||
| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 14) | ||
| endif() | ||
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| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
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| find_package(ament_cmake REQUIRED) | ||
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| ### INSTALL ### | ||
| install(DIRECTORY launch | ||
| DESTINATION share/${PROJECT_NAME} | ||
| ) | ||
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| ament_package() | ||
| ''' | ||
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| } |
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...ofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend
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| package de.fraunhofer.ipa.rossystem.generator | ||
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| import java.util.ArrayList | ||
| import ros.ActionClient | ||
| import ros.ActionServer | ||
| import ros.Parameter | ||
| import ros.Publisher | ||
| import ros.ServiceClient | ||
| import ros.ServiceServer | ||
| import ros.Subscriber | ||
| import system.System | ||
| import java.util.List | ||
| import ros.Node | ||
| import ros.impl.PackageImpl | ||
| import org.eclipse.emf.ecore.EObject | ||
| import java.util.Set | ||
| import java.util.HashSet | ||
| import ros.Dependency | ||
| import ros.PackageDependency | ||
| import system.Component | ||
| import system.RosNode | ||
| import ros.impl.AmentPackageImpl | ||
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| class GeneratorHelpers { | ||
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| boolean PackageSet | ||
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| AmentPackageImpl package_impl | ||
| List<CharSequence> PkgsList | ||
| String Pkg | ||
| RosNode node | ||
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| def void init_pkg(){ | ||
| PackageSet=false | ||
| } | ||
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| def <String> getPkgsDependencies (System rossystem){ | ||
| PkgsList = new ArrayList() | ||
| for (component: rossystem.components){ | ||
| init_pkg() | ||
| node = component as RosNode | ||
| Pkg = node.compile_pkg.toString() | ||
| if (!PkgsList.contains(Pkg)){ | ||
| PkgsList.add(Pkg) | ||
| } | ||
| return PkgsList; | ||
| } | ||
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| } | ||
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| def compile_pkg(RosNode component) | ||
| '''«IF !(component.from===null)»«component.from.getPackage_node.name»«ENDIF»''' | ||
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| // def PackageImpl get_pkg(ComponentInterface component) { | ||
| // if (component.fromRosNode!==null){ | ||
| // return getPackage_node(component.fromRosNode) | ||
| // } else if(!component.rospublisher.empty){ | ||
| // return getPacakge_fromObject(component.rospublisher.get(0).publisher) | ||
| // } else if (!component.rossubscriber.empty){ | ||
| // return getPacakge_fromObject(component.rossubscriber.get(0).subscriber) | ||
| // } else if (!component.rosserviceclient.empty){ | ||
| // return getPacakge_fromObject(component.rosserviceclient.get(0).srvclient) | ||
| // } else if (!component.rosserviceserver.empty){ | ||
| // return getPacakge_fromObject(component.rosserviceserver.get(0).srvserver) | ||
| // } else if (!component.rosactionclient.empty){ | ||
| // return getPacakge_fromObject(component.rosactionclient.get(0).actclient) | ||
| // } else if (!component.rosactionserver.empty){ | ||
| // return getPacakge_fromObject(component.rosactionserver.get(0).actserver) | ||
| // } else if (!component.rosparameter.empty){ | ||
| // return getPacakge_fromObject(component.rosparameter.get(0).parameter) | ||
| // } | ||
| // } | ||
| // | ||
| // def getPacakge_fromObject (EObject object){ | ||
| // package_impl = object.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // | ||
| // def getPackage_pub(Publisher publisher){ | ||
| // package_impl = publisher.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_sub(Subscriber subscriber){ | ||
| // package_impl = subscriber.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_srvserv(ServiceServer serviceserver){ | ||
| // package_impl = serviceserver.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_srvcli(ServiceClient serviceclient){ | ||
| // package_impl = serviceclient.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_actserver(ActionServer actionserver){ | ||
| // package_impl = actionserver.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_actclient(ActionClient actionclient){ | ||
| // package_impl = actionclient.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_rosparam (Parameter param){ | ||
| // package_impl = param.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| def getPackage_node (Node node){ | ||
| package_impl = node.eContainer.eContainer as AmentPackageImpl; | ||
| return package_impl; | ||
| } | ||
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| //Launch files generators | ||
| // def check_ns(ComponentInterface component){ | ||
| // if (component.hasNS){ | ||
| // return component.get_ns(); | ||
| // }else { | ||
| // return ""; | ||
| // } | ||
| // } | ||
| // def boolean hasNS(ComponentInterface component){ | ||
| // if(!component.nameSpace.nullOrEmpty){ | ||
| // return true; | ||
| // }else{ | ||
| // return false | ||
| // } | ||
| // } | ||
| // def String get_ns(ComponentInterface component){ | ||
| // return component.nameSpace.replaceFirst("/",""); | ||
| // } | ||
| // | ||
| // def compile_pkg_type(ComponentInterface component) | ||
| //'''«IF !(component.fromRosNode===null) »«component.fromRosNode.getPackageType_node»«ELSEIF !PackageSet && !component.rospublisher.empty»«FOR Rospublisher:component.rospublisher»«IF !PackageSet»«Rospublisher.publisher.getPackageType_pub()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rossubscriber.empty»«FOR Rossubscriber:component.rossubscriber»«IF !PackageSet»«Rossubscriber.subscriber.getPackageType_sub()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosserviceserver.empty»«FOR Rosserviceserver:component.rosserviceserver»«IF !PackageSet»«Rosserviceserver.srvserver.getPackageType_srvserv()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosserviceclient.empty»«FOR Rosserviceclient:component.rosserviceclient»«IF !PackageSet»«Rosserviceclient.srvclient.getPackageType_srvcli()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosparameter.empty»«FOR Rosparameter:component.rosparameter»«IF !PackageSet»«Rosparameter.parameter.getPackageType_rosparam()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosactionserver.empty»«FOR RosActionSever:component.rosactionserver»«IF !PackageSet»«RosActionSever.actserver.getPackageType_actserver()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosactionclient.empty»«FOR RosActionClient:component.rosactionclient»«IF !PackageSet»«RosActionClient.actclient.getPackageType_actclient()»«ENDIF»«ENDFOR»«ENDIF»''' | ||
| // | ||
| // def getPackageType_pub(Publisher publisher){ | ||
| // return publisher.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_sub(Subscriber subscriber){ | ||
| // return subscriber.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_srvserv(ServiceServer serviceserver){ | ||
| // return serviceserver.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_srvcli(ServiceClient serviceclient){ | ||
| // return serviceclient.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_actserver(ActionServer actionserver){ | ||
| // return actionserver.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_actclient(ActionClient actionclient){ | ||
| // return actionclient.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_rosparam (Parameter param){ | ||
| // return param.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_node (Node node){ | ||
| // return node.eContainer.eContainer as PackageImpl; | ||
| // } | ||
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| } |
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...a.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,184 @@ | ||
| package de.fraunhofer.ipa.rossystem.generator | ||
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| import system.RosNode | ||
| import ros.RosPackage | ||
| import ros.Artifact | ||
| import system.System | ||
| import ros.AmentPackage | ||
| import ros.impl.AmentPackageImpl | ||
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| class LaunchFileCompiler_ROS2 { | ||
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| def compile_toROS2launch(System system) ''' | ||
| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
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| def generate_launch_description(): | ||
| ld = LaunchDescription() | ||
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| «FOR component:system.components» | ||
| «(component as RosNode).name» = Node( | ||
| package="«((component as RosNode).from.eContainer.eContainer as AmentPackageImpl).name»", | ||
| executable="«((component as RosNode).from.eContainer as Artifact).name»", | ||
| name="«(component as RosNode).name»" | ||
| ) | ||
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| «ENDFOR» | ||
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| «FOR component:system.components» | ||
| ld.add_action(«(component as RosNode).name») | ||
| «ENDFOR» | ||
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| return ld | ||
| ''' | ||
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| // def void compile_list_of_ROS2components(RosSystem system, ComponentStack stack) { | ||
| // components_tmp_.clear; | ||
| // Ros2components.clear; | ||
| // if (stack === null){ | ||
| // components_tmp_ = system.rosComponent; | ||
| // } else { | ||
| // components_tmp_ = stack.rosComponent; | ||
| // } | ||
| // for(ComponentInterface component:components_tmp_){ | ||
| // if (component.compile_pkg_type.toString.contains("AmentPackage")){ | ||
| // Ros2components.add(component); | ||
| // } | ||
| // } | ||
| // } | ||
| // | ||
| // def check_ns(ComponentInterface component){ | ||
| // if (component.hasNS){ | ||
| // return component.get_ns(); | ||
| // }else { | ||
| // return ""; | ||
| // } | ||
| // } | ||
| // | ||
| // def List<String> InterfaceDef(String name, String type){ | ||
| // ListInterfaceDef = new ArrayList() | ||
| // ListInterfaceDef.add(name.replace("/","_")) | ||
| // ListInterfaceDef.add(name) | ||
| // ListInterfaceDef.add(type) | ||
| // return ListInterfaceDef | ||
| // } | ||
| // | ||
| // def boolean hasNS(ComponentInterface component){ | ||
| // if(!component.nameSpace.nullOrEmpty){ | ||
| // return true; | ||
| // }else{ | ||
| // return false | ||
| // } | ||
| // } | ||
| // def String get_ns(ComponentInterface component){ | ||
| // return component.nameSpace.replaceFirst("/",""); | ||
| // } | ||
| // | ||
| // def String compile_remappings_str(ComponentInterface component) { | ||
| // var remap_str = ""; | ||
| // val NS = component.check_ns(); | ||
| // for (rosPublisher : component.rospublisher) { | ||
| // if (!((prefix(NS)+rosPublisher.name).equals(compile_topic_name(rosPublisher.publisher, NS)))) { | ||
| // remap_str += "\t(\"" + rosPublisher.publisher.name + "\", \"" + rosPublisher.name + "\"),\n"; | ||
| // } | ||
| // } | ||
| // for (rosSubscriber : component.rossubscriber) { | ||
| // if (!((prefix(NS)+rosSubscriber.name).equals(compile_topic_name(rosSubscriber.subscriber, NS)))) { | ||
| // remap_str += "\t(\"" + rosSubscriber.subscriber.name + "\", \"" + rosSubscriber.name + "\"),\n"; | ||
| // } | ||
| // } | ||
| // for (rosServiceServer : component.rosserviceserver) { | ||
| // if (!((prefix(NS)+rosServiceServer.name).equals(compile_service_name(rosServiceServer.srvserver, NS)))) { | ||
| // remap_str += "\t(\"" + rosServiceServer.srvserver.name + "\", \"" + rosServiceServer.name + "\"),\n"; | ||
| // } | ||
| // } | ||
| // for (rosServiceClient : component.rosserviceclient) { | ||
| // if (!((prefix(NS)+rosServiceClient.name).equals(compile_service_name(rosServiceClient.srvclient, NS)))) { | ||
| // remap_str += "\t(\"" + rosServiceClient.srvclient.name + "\", \"" + rosServiceClient.name + "\"),\n"; | ||
| // } | ||
| // } | ||
| // for (rosActionServer : component.rosactionserver) { | ||
| // if (!((prefix(NS)+rosActionServer.name).equals(compile_action_name(rosActionServer.actserver, NS)))) { | ||
| // remap_str += "\t(\"" + rosActionServer.actserver.name + "\", \"" + rosActionServer.name + "\"),\n"; | ||
| // } | ||
| // } | ||
| // for (rosActionClient : component.rosactionclient) { | ||
| // if (!((prefix(NS)+rosActionClient.name).equals(compile_action_name(rosActionClient.actclient, NS)))) { | ||
| // remap_str += "\t(\"" + rosActionClient.actclient.name + "\", \"" + rosActionClient.name + "\"),\n"; | ||
| // } | ||
| // } | ||
| // if (!remap_str.empty) { | ||
| // remap_str = ",\nremappings=[\n" + remap_str.substring(0,remap_str.length-2) + "]\n"; | ||
| // } | ||
| // return remap_str; | ||
| // } | ||
| // | ||
| // def String compile_parameters_str(EList<RosParameter> rosParameters) { | ||
| // param_count = rosParameters.length; | ||
| // var param_str = ""; | ||
| // for (rosParameter : rosParameters) { | ||
| // val param_count=param_count--; | ||
| // if (rosParameter.parameter.type instanceof ParameterStructTypeImpl) { | ||
| // param_str += compile_struct_str(rosParameter.value, rosParameter.parameter.name); | ||
| // } else { | ||
| // param_str += "{ \"" + rosParameter.parameter.name + "\" : " + get_param_value(rosParameter.value, rosParameter.parameter.name); | ||
| // } | ||
| // if (param_count > 1){ | ||
| // param_str +=" },\n" | ||
| // } else { | ||
| // param_str +=" }\n"; | ||
| // } | ||
| // } | ||
| // return param_str; | ||
| // } | ||
| // | ||
| // def String compile_struct_str(ParameterValue value, String name) { | ||
| // var param_str = ""; | ||
| // var elem_count = (value as ParameterSequenceImpl).eContents.length; | ||
| // | ||
| // for (elem : ((value as ParameterSequenceImpl).eContents)) { | ||
| // var member = ((elem as ParameterStructImpl).eContents.get(0) as ParameterStructMemberImpl); | ||
| // val param_val = get_param_value(member.getValue(), name + "/" + member.getName()); | ||
| // if (param_val.startsWith("{")) { | ||
| // param_str += param_val; | ||
| // } else { | ||
| // param_str += "{ \"" + name + "/" + member.getName() + "\" : " + param_val; | ||
| // } | ||
| // elem_count--; | ||
| // if (elem_count > 0){ | ||
| // param_str +=" },\n" | ||
| // } | ||
| // } | ||
| // return param_str; | ||
| // } | ||
| // | ||
| // def String get_param_value(ParameterValue value, String name) { | ||
| // var param_val = ""; | ||
| // if (value instanceof ParameterStringImpl) { | ||
| // param_val = "\"" + (value as ParameterStringImpl).getValue() + "\""; | ||
| // } else if (value instanceof ParameterIntegerImpl) { | ||
| // param_val = (value as ParameterIntegerImpl).getValue().toString; | ||
| // } else if (value instanceof ParameterDoubleImpl) { | ||
| // param_val = (value as ParameterDoubleImpl).getValue().toString; | ||
| // } else if (value instanceof ParameterBooleanImpl) { | ||
| // param_val = (value as ParameterBooleanImpl).isValue().toString; | ||
| // } else if (value instanceof ParameterSequenceImpl) { | ||
| // var elem_count = (value as ParameterSequenceImpl).eContents.length; | ||
| // if ((value as ParameterSequenceImpl).eContents.get(0) instanceof ParameterStructImpl) { | ||
| // param_val = compile_struct_str(value, name); | ||
| // } else { | ||
| // param_val += "["; | ||
| // for (elem : (value as ParameterSequenceImpl).eContents) { | ||
| // param_val += get_param_value(elem as ParameterValue, name); | ||
| // elem_count--; | ||
| // if (elem_count > 0){ | ||
| // param_val +=", " | ||
| // } | ||
| // } | ||
| // param_val += "]"; | ||
| // } | ||
| // } | ||
| // return param_val; | ||
| // } | ||
| } |
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