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Merge pull request #131 from ipa-nhg/Ros2LaunchGenerator
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Add first draft for the ROS2 launch files generator
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@ipa-nhg
ipa-nhg authored Jun 10, 2021
2 parents e9f63bf + 36b7ffa commit 30cb113
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24 changes: 12 additions & 12 deletions plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test.rossystem
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Expand Up @@ -15,25 +15,25 @@ RosSystem { Name 'test_system' RosComponents (
}
} , ComponentInterface { name test_node2 NameSpace test2
FromRosNode "test_pkg.test_node.test_node"
RosPublishers { RosPublisher "test2/scan" { ns test2 RefPublisher "test_pkg.test_node.test_node.scan" } }
RosSubscribers { RosSubscriber "test2/power_state" { ns test2 RefSubscriber "test_pkg.test_node.test_node.power_state" } }
RosSrvServers { RosServiceServer "test2/setBool" { ns test2 RefServer "test_pkg.test_node.test_node.setBool" } }
RosSrvClients { RosServiceClient "test2/init" { ns test2 RefClient "test_pkg.test_node.test_node.init" } }
RosParameters { RosParameter "test2/string_test" { ns test2 RefParameter "test_pkg.test_node.test_node.string_test" } ,
RosParameter "test2/bool_tets" { ns test2 RefParameter "test_pkg.test_node.test_node.bool_tets" } ,
RosParameter "test2/array_tets" { ns test2 RefParameter "test_pkg.test_node.test_node.array_tets" } ,
RosParameter "test2/base64_test" { ns test2 RefParameter "test_pkg.test_node.test_node.base64_test" } ,
RosParameter "test2/double_test" { ns test2 RefParameter "test_pkg.test_node.test_node.double_test" } ,
RosParameter "test2/int_test" { ns test2 RefParameter "test_pkg.test_node.test_node.int_test" } ,
RosParameter "test2/list_test" { ns test2 RefParameter "test_pkg.test_node.test_node.list_test" }
RosPublishers { RosPublisher "scan" { RefPublisher "test_pkg.test_node.test_node.scan" } }
RosSubscribers { RosSubscriber "power_state" { RefSubscriber "test_pkg.test_node.test_node.power_state" } }
RosSrvServers { RosServiceServer "setBool" { RefServer "test_pkg.test_node.test_node.setBool" } }
RosSrvClients { RosServiceClient "init" { RefClient "test_pkg.test_node.test_node.init" } }
RosParameters { RosParameter "string_test" { RefParameter "test_pkg.test_node.test_node.string_test" } ,
RosParameter "bool_tets" { RefParameter "test_pkg.test_node.test_node.bool_tets" } ,
RosParameter "array_tets" { RefParameter "test_pkg.test_node.test_node.array_tets" } ,
RosParameter "base64_test" { RefParameter "test_pkg.test_node.test_node.base64_test" } ,
RosParameter "double_test" { RefParameter "test_pkg.test_node.test_node.double_test" } ,
RosParameter "int_test" { RefParameter "test_pkg.test_node.test_node.int_test" } ,
RosParameter "list_test" { RefParameter "test_pkg.test_node.test_node.list_test" }
}
} , ComponentInterface { name test_nodea
RosPublishers { RosPublisher power_state { RefPublisher "test_pkg.test_node.test_node.power_state" } }
RosSubscribers { RosSubscriber scan { RefSubscriber "test_pkg.test_node.test_node.scan" } }
RosSrvServers { RosServiceServer init { RefServer "test_pkg.test_node.test_node.init" } }
RosSrvClients { RosServiceClient SetBool { RefClient "test_pkg.test_node.test_node.SetBool" } }
} ) TopicConnections {
TopicConnection scan { From ( "test_node.scan" ) To ( "test_nodea.scan" ) } ,
TopicConnection scan_rename { From ( "test_node.scan" ) To ( "test_nodea.scan" ) } ,
TopicConnection power_state { From ( "test_nodea.power_state" ) To ( "test_node.power_state" ) }
} ServiceConnections { ServiceConnection init { From ( "test_nodea.init" ) To "test_node.init" } }
Parameters {
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4 changes: 0 additions & 4 deletions plugins/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_system.componentinterface
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@@ -1,22 +1,18 @@
ComponentInterface { name test_system
RosPublishers{
RosPublisher "scan" { RefPublisher "test_pkg.test_node.test_node.scan"},
RosPublisher "test2/scan" { RefPublisher "test_pkg.test_node.test_node.scan"},
RosPublisher "power_state" { RefPublisher "test_pkg.test_node.test_node.power_state"}
}
RosSubscribers{
RosSubscriber "power_state" { RefSubscriber "test_pkg.test_node.test_node.power_state"},
RosSubscriber "test2/power_state" { RefSubscriber "test_pkg.test_node.test_node.power_state"},
RosSubscriber "scan" { RefSubscriber "test_pkg.test_node.test_node.scan"}
}
RosSrvServers{
RosServiceServer "setBool" { RefServer "test_pkg.test_node.test_node.setBool"},
RosServiceServer "test2/setBool" { RefServer "test_pkg.test_node.test_node.setBool"},
RosServiceServer "init" { RefServer "test_pkg.test_node.test_node.init"}
}
RosSrvClients{
RosServiceClient "init" { RefClient "test_pkg.test_node.test_node.init"},
RosServiceClient "test2/init" { RefClient "test_pkg.test_node.test_node.init"},
RosServiceClient "SetBool" { RefClient "test_pkg.test_node.test_node.SetBool"}
}
RosParameters{
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8 changes: 5 additions & 3 deletions ...s/de.fraunhofer.ipa.rossystem.xtext.tests/resources/test_system/launch/test_system.launch
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Expand Up @@ -4,15 +4,17 @@
<rosparam param="list">[1,2,a]</rosparam>
<rosparam param="list">[1,3]</rosparam>
<rosparam>
first_element:8
third_element:dsd
first_element: 8
third_element: dsd
</rosparam>

<node pkg="test_pkg" type="test_node" name="test_node" cwd="node" respawn="false" output="screen">
<remap from='scan' to='scan_rename' />
</node>
<node pkg="test_pkg" type="test_node" name="test_node2" ns="test2" cwd="node" respawn="false" output="screen">
</node>
<node pkg="test_pkg" type="test_node" name="test_nodea" cwd="node" respawn="false" output="screen">
<remap from='scan' to='scan_rename' />
</node>

</launch>
10 changes: 9 additions & 1 deletion ....rossystem.xtext.tests/src/de/fraunhofer/ipa/rossystem/tests/RosSystemGeneratorTest.xtend
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Expand Up @@ -102,7 +102,15 @@ class RosSystemGeneratorTest {

// Test the generated launch file
Assert.assertEquals(new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR+'/test_system/launch/', 'test_system.launch'))).trim,
fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT+'test_system/launch/test_system.launch').toString.trim)
fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT+'test_system/launch/test_system.launch').toString.trim)

// Test the generated package.xml file
Assert.assertEquals(new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR+'/test_system/', 'package.xml'))).trim,
fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT+'test_system/package.xml').toString.trim)

// Test the generated CMakeLists.txt file
Assert.assertEquals(new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR+'/test_system/', 'CMakeLists.txt'))).trim,
fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT+'test_system/CMakeLists.txt').toString.trim)

// Test the generated component interface
Assert.assertEquals(new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR+'/test_system.componentinterface'))).trim,
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2 changes: 1 addition & 1 deletion ...pa.rossystem.xtext.tests/src/de/fraunhofer/ipa/rossystem/tests/RosSystemParsingTest.xtend
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Expand Up @@ -42,7 +42,7 @@ class RosSystemParsingTest {
Assert.assertEquals("test_node", ComponentName)

val TopicConnectionName = model.topicConnections.get(0).topicName
Assert.assertEquals("scan", TopicConnectionName)
Assert.assertEquals("scan_rename", TopicConnectionName)

val FromTopic = model.topicConnections.get(0).from.get(0).name
val Publisher = model.rosComponent.get(0).rospublisher.get(0).name
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26 changes: 25 additions & 1 deletion ...er.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/CMakeListsCompiler.xtend
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Expand Up @@ -8,7 +8,7 @@ class CMakeListsCompiler {
@Inject extension GeneratorHelpers


def compile_CMakeLists(RosSystem system) '''«init_pkg()»
def compile_CMakeLists_ROS1(RosSystem system) '''«init_pkg()»
cmake_minimum_required(VERSION 2.8.3)
project(«system.name.toLowerCase»)

Expand All @@ -22,4 +22,28 @@ install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)'''

def compile_CMakeLists_ROS2(RosSystem system) '''«init_pkg()»
cmake_minimum_required(VERSION 3.5)
project(«system.name.toLowerCase»)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)

### INSTALL ###
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}
)

ament_package()
'''


}
103 changes: 26 additions & 77 deletions ...ossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/ComponentInterfaceCompiler.xtend
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Expand Up @@ -22,6 +22,9 @@ import rossystem.RosSystem
import ros.ParameterValue
import ros.impl.ParameterStructMemberImpl
import ros.Node
import ros.impl.ArtifactImpl
import org.eclipse.emf.ecore.EObject
import ros.impl.NodeImpl

class ComponentInterfaceCompiler {
@Inject extension GeneratorHelpers
Expand Down Expand Up @@ -51,10 +54,8 @@ class ComponentInterfaceCompiler {
boolean ArtifactSet
boolean PackageSet

String artifact_impl
Object artifact_name
String node_impl
String node_name
ArtifactImpl artifact_impl
NodeImpl node_impl

String param_value
String value_return
Expand Down Expand Up @@ -102,55 +103,55 @@ ComponentInterface { name «system.name»
RosPublishers{
«FOR pub:pubs»
«val count_pub=count_pub--»
RosPublisher "«pub.name»" { RefPublisher "«pub.publisher.package_pub».«pub.publisher.artifact_pub».«pub.publisher.node_pub».«pub.publisher.name»"}«IF count_pub > 1 »,«ENDIF»
RosPublisher "«pub.name»" { RefPublisher "«pub.publisher.package_pub».«pub.publisher.getArtifact».«pub.publisher.getNode».«pub.publisher.name»"}«IF count_pub > 1 »,«ENDIF»
«ENDFOR»
}
«ENDIF»
«IF !subs.empty»
RosSubscribers{
«FOR sub:subs»
«val count_sub=count_sub--»
RosSubscriber "«sub.name»" { RefSubscriber "«sub.subscriber.package_sub».«sub.subscriber.artifact_sub».«sub.subscriber.node_sub».«sub.subscriber.name»"}«IF count_sub > 1 »,«ENDIF»
RosSubscriber "«sub.name»" { RefSubscriber "«sub.subscriber.package_sub».«sub.subscriber.getArtifact».«sub.subscriber.getNode».«sub.subscriber.name»"}«IF count_sub > 1 »,«ENDIF»
«ENDFOR»
}
«ENDIF»
«IF !svrs.empty»
RosSrvServers{
«FOR svrs:svrs»
«val count_srvs=count_srvs--»
RosServiceServer "«svrs.name»" { RefServer "«svrs.srvserver.package_srvserv».«svrs.srvserver.artifact_srvserv».«svrs.srvserver.node_srvserv».«svrs.srvserver.name»"}«IF count_srvs > 1 »,«ENDIF»
RosServiceServer "«svrs.name»" { RefServer "«svrs.srvserver.package_srvserv».«svrs.srvserver.getArtifact».«svrs.srvserver.getNode».«svrs.srvserver.name»"}«IF count_srvs > 1 »,«ENDIF»
«ENDFOR»
}
«ENDIF»
«IF !svrc.empty»
RosSrvClients{
«FOR svrc:svrc»
«val count_srvc=count_srvc--»
RosServiceClient "«svrc.name»" { RefClient "«svrc.srvclient.package_srvcli».«svrc.srvclient.artifact_srvcli».«svrc.srvclient.node_srvcli».«svrc.srvclient.name»"}«IF count_srvc > 1 »,«ENDIF»
RosServiceClient "«svrc.name»" { RefClient "«svrc.srvclient.package_srvcli».«svrc.srvclient.getArtifact».«svrc.srvclient.getNode».«svrc.srvclient.name»"}«IF count_srvc > 1 »,«ENDIF»
«ENDFOR»
}
«ENDIF»
«IF !acts.empty»
RosActionServers{
«FOR acts:acts»
«val count_acts=count_acts--»
RosActionServer "«acts.name»" { RefServer "«acts.actserver.package_actserver».«acts.actserver.artifact_actserver».«acts.actserver.node_actserver».«acts.actserver.name»"}«IF count_acts > 1 »,«ENDIF»
RosActionServer "«acts.name»" { RefServer "«acts.actserver.package_actserver».«acts.actserver.getArtifact».«acts.actserver.getNode».«acts.actserver.name»"}«IF count_acts > 1 »,«ENDIF»
«ENDFOR»
}
«ENDIF»
«IF !actc.empty»
RosActionClients{
«FOR actc:actc»
«val count_actc=count_actc--»
RosActionClient "«actc.name»" { RefClient "«actc.actclient.package_actclient».«actc.actclient.artifact_actclient».«actc.actclient.node_actclient».«actc.actclient.name»"}«IF count_actc > 1 »,«ENDIF»
RosActionClient "«actc.name»" { RefClient "«actc.actclient.package_actclient».«actc.actclient.getArtifact».«actc.actclient.getNode».«actc.actclient.name»"}«IF count_actc > 1 »,«ENDIF»
«ENDFOR»
}
«ENDIF»
«IF count_param>0»
RosParameters{
«FOR param:rosparams»
«val count_param=count_param--»
RosParameter "«compile_param_name(param.parameter,"")»" { RefParameter "«param.parameter.package_rosparam».«param.parameter.artifact_rosparam».«param.parameter.node_rosparam».«param.parameter.name»"«IF param.value!==null » value «compile_rosparam_value(param.value)»«ENDIF» }«IF count_param > 1»,«ENDIF»
RosParameter "«compile_param_name(param.parameter,"")»" { RefParameter "«param.parameter.package_rosparam».«param.parameter.getArtifact».«param.parameter.getNode».«param.parameter.name»"«IF param.value!==null » value «compile_rosparam_value(param.value)»«ENDIF» }«IF count_param > 1»,«ENDIF»
«ENDFOR»«FOR param:system.parameter»
«val count_param=count_param--»
RosParameter "«param.name»" { RefParameter "«param.name»"«IF param.value!==null » value «compile_rosparam_value(param.value)»«ENDIF» }«IF count_param > 1»,«ENDIF»
Expand All @@ -167,77 +168,25 @@ RosParameters{
}

def compile_art(ComponentInterface component)
'''«IF ! (component.fromRosNode===null)»«component.fromRosNode.getArtifact_rosnode»«ELSEIF !ArtifactSet && !component.rospublisher.empty»«FOR Rospublisher:component.rospublisher»«IF !ArtifactSet»«Rospublisher.publisher.getArtifact_pub()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rossubscriber.empty»«FOR Rossubscriber:component.rossubscriber»«IF !ArtifactSet»«Rossubscriber.subscriber.getArtifact_sub()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosserviceserver.empty»«FOR Rosserviceserver:component.rosserviceserver»«IF !ArtifactSet»«Rosserviceserver.srvserver.getArtifact_srvserv()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosserviceclient.empty»«FOR Rosserviceclient:component.rosserviceclient»«IF !ArtifactSet»«Rosserviceclient.srvclient.getArtifact_srvcli()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosparameter.empty»«FOR RosParameter:component.rosparameter»«IF !ArtifactSet»«RosParameter.parameter.getArtifact_rosparam()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosactionserver.empty»«FOR Rosactionserver:component.rosactionserver»«IF !ArtifactSet»«Rosactionserver.actserver.getArtifact_actserver()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosactionclient.empty»«FOR Rosactionclient:component.rosactionclient»«IF !ArtifactSet»«Rosactionclient.actclient.getArtifact_actclient()»«ENDIF»«ENDFOR»«ENDIF»'''
def getArtifact_pub(Publisher publisher){
artifact_impl = publisher.eContainer.eContainer.toString;
return artifact_impl.getArtifact;
}
def getArtifact_sub(Subscriber subscriber){
artifact_impl = subscriber.eContainer.eContainer.toString;
return artifact_impl.getArtifact;
}
def getArtifact_srvserv(ServiceServer serviceserver){
artifact_impl = serviceserver.eContainer.eContainer.toString;
return artifact_impl.getArtifact;
}
def getArtifact_srvcli(ServiceClient serviceclient){
artifact_impl = serviceclient.eContainer.eContainer.toString;
return artifact_impl.getArtifact;
}
def getArtifact_actserver(ActionServer actionserver){
artifact_impl = actionserver.eContainer.eContainer.toString;
return artifact_impl.getArtifact;
}
def getArtifact_actclient(ActionClient actionclient){
artifact_impl = actionclient.eContainer.eContainer.toString;
return artifact_impl.getArtifact;
}
def getArtifact_rosparam(Parameter param){
artifact_impl = param.eContainer.eContainer.toString;
return artifact_impl.getArtifact;
}
def getArtifact_rosnode(Node node){
artifact_impl = node.eContainer.toString;
return artifact_impl.getArtifact;
}
def getArtifact(String artifact_impl){
artifact_name = artifact_impl.substring(artifact_impl.indexOf("name")+6,artifact_impl.length-1)
'''«IF ! (component.fromRosNode===null)»«component.fromRosNode.getArtifactFromNode»«ELSEIF !ArtifactSet && !component.rospublisher.empty»«FOR Rospublisher:component.rospublisher»«IF !ArtifactSet»«Rospublisher.publisher.getArtifact()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rossubscriber.empty»«FOR Rossubscriber:component.rossubscriber»«IF !ArtifactSet»«Rossubscriber.subscriber.getArtifact()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosserviceserver.empty»«FOR Rosserviceserver:component.rosserviceserver»«IF !ArtifactSet»«Rosserviceserver.srvserver.getArtifact()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosserviceclient.empty»«FOR Rosserviceclient:component.rosserviceclient»«IF !ArtifactSet»«Rosserviceclient.srvclient.getArtifact()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosparameter.empty»«FOR RosParameter:component.rosparameter»«IF !ArtifactSet»«RosParameter.parameter.getArtifact()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosactionserver.empty»«FOR Rosactionserver:component.rosactionserver»«IF !ArtifactSet»«Rosactionserver.actserver.getArtifact()»«ENDIF»«ENDFOR»«ELSEIF !ArtifactSet && !component.rosactionclient.empty»«FOR Rosactionclient:component.rosactionclient»«IF !ArtifactSet»«Rosactionclient.actclient.getArtifact()»«ENDIF»«ENDFOR»«ENDIF»'''

def getArtifact(EObject interfaz){
artifact_impl = interfaz.eContainer.eContainer as ArtifactImpl;
ArtifactSet=true;
return artifact_name;
return artifact_impl.name
}

def getNode_pub(Publisher publisher){
node_impl = publisher.eContainer.toString;
return node_impl.getNode;
}
def getNode_sub(Subscriber subscriber){
node_impl = subscriber.eContainer.toString;
return node_impl.getNode;
}
def getNode_srvserv(ServiceServer serviceserver){
node_impl = serviceserver.eContainer.toString;
return node_impl.getNode;
}
def getNode_srvcli(ServiceClient serviceclient){
node_impl = serviceclient.eContainer.toString;
return node_impl.getNode;
}
def getNode_actserver(ActionServer actionserver){
node_impl = actionserver.eContainer.toString;
return node_impl.getNode;
}
def getNode_actclient(ActionClient actionclient){
node_impl = actionclient.eContainer.toString;
return node_impl.getNode;
}
def getNode_rosparam(Parameter param){
node_impl = param.eContainer.toString;
return node_impl.getNode;
def getArtifactFromNode(Node node){
artifact_impl = node.eContainer as ArtifactImpl;
ArtifactSet=true;
return artifact_impl.name
}
def getNode(String node_impl){
node_name = node_impl.substring(node_impl.indexOf("name")+6,node_impl.length-1)
return node_name;

def getNode(EObject interfaz){
node_impl = interfaz.eContainer as NodeImpl;
return node_impl.name;
}


def prefix(String NS){
if(NS===""){
Expand Down
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