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Update controllers templates to use generate_parameters_library (Stog…
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…lRobotics#62)

* Working version of standard controllers with generate_parameters_library.
* Update template for chained controllers.
* Updated to a bit more sensible nomenclature and more testable templates.
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@destogl
destogl authored Sep 30, 2022
1 parent e3e21e8 commit 0d78128
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Showing 15 changed files with 567 additions and 467 deletions.
151 changes: 90 additions & 61 deletions scripts/ros2_control/setup-controller-package.bash
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Original file line number Diff line number Diff line change
Expand Up @@ -118,10 +118,15 @@ done
VC_H="include/$PKG_NAME/visibility_control.h"
CTRL_HPP="include/$PKG_NAME/$FILE_NAME.hpp"
CTRL_CPP="src/$FILE_NAME.cpp"
CTRL_PARAMS_YAML="src/$FILE_NAME.yaml"
CTRL_VALIDATE_PARAMS_HPP="include/$PKG_NAME/validate_${FILE_NAME}_parameters.hpp"
PLUGIN_XML="$PKG_NAME.xml"
LOAD_TEST_CPP="test/test_load_$FILE_NAME.cpp"
TEST_CPP="test/test_$FILE_NAME.cpp"
TEST_PRECEEDING_CPP="test/test_${FILE_NAME}_preceeding.cpp"
TEST_HPP="test/test_$FILE_NAME.hpp"
TEST_PARAMS_YAML="test/${FILE_NAME}_params.yaml"
TEST_PRECEEDING_PARAMS_YAML="test/${FILE_NAME}_preceeding_params.yaml"

# Copy files
if [[ ! -f "$VC_H" ]]; then
Expand All @@ -131,14 +136,24 @@ fi
if [[ "$CONTROLLER_TYPE" == "chainable" ]]; then
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_package_namespace/dummy_chainable_controller.hpp $CTRL_HPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_chainable_controller.cpp $CTRL_CPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller.yaml $CTRL_PARAMS_YAML
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_package_namespace/validate_dummy_controller_parameters.hpp $CTRL_VALIDATE_PARAMS_HPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_chainable_controller.cpp $TEST_CPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_chainable_controller_preceeding.cpp $TEST_PRECEEDING_CPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_chainable_controller.hpp $TEST_HPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller_params.yaml $TEST_PARAMS_YAML
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller_preceeding_params.yaml $TEST_PRECEEDING_PARAMS_YAML
cat $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_chainable_controller_pluginlib.xml >> $PLUGIN_XML
else
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_package_namespace/dummy_controller.hpp $CTRL_HPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller.cpp $CTRL_CPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller.yaml $CTRL_PARAMS_YAML
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_package_namespace/validate_dummy_controller_parameters.hpp $CTRL_VALIDATE_PARAMS_HPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_controller.cpp $TEST_CPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_controller_preceeding.cpp $TEST_PRECEEDING_CPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/test_dummy_controller.hpp $TEST_HPP
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller_params.yaml $TEST_PARAMS_YAML
cp -n $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller_preceeding_params.yaml $TEST_PRECEEDING_PARAMS_YAML
cat $ROS2_CONTROL_CONTROLLER_TEMPLATES/dummy_controller_pluginlib.xml >> $PLUGIN_XML
fi

Expand All @@ -149,7 +164,7 @@ echo -e "${TERMINAL_COLOR_USER_NOTICE}Template files copied.${TERMINAL_COLOR_NC}
# TODO(anyone): fuse this with hardware interface package creating.

# Add license header to the files
FILES_TO_LICENSE=("$CTRL_HPP" "$CTRL_CPP" "$LOAD_TEST_CPP" "$TEST_CPP" "$TEST_HPP")
FILES_TO_LICENSE=("$CTRL_HPP" "$CTRL_CPP" "$CTRL_VALIDATE_PARAMS_HPP" "$LOAD_TEST_CPP" "$TEST_CPP" "$TEST_PRECEEDING_CPP" "$TEST_HPP")
if [[ "$package_configured" == "no" ]]; then
FILES_TO_LICENSE+=("$VC_H")
fi
Expand All @@ -168,7 +183,7 @@ fi

# sed all needed files
FILES_TO_SED=("${FILES_TO_LICENSE[@]}")
FILES_TO_SED+=("$PLUGIN_XML")
FILES_TO_SED+=("$PLUGIN_XML" "$CTRL_PARAMS_YAML" "$TEST_PARAMS_YAML" "$TEST_PRECEEDING_PARAMS_YAML")
# declare -p FILES_TO_SED

for SED_FILE in "${FILES_TO_SED[@]}"; do
Expand All @@ -194,36 +209,55 @@ done
TMP_FILE=".f_tmp"
touch $TMP_FILE

# manage dependencies here
if [[ "$package_configured" == "no" ]]; then

# Add `THIS_PACKAGE_INCLUDE_DEPENDS` structure to simplify the rest of the file
TEST_LINE=`awk '$1 == "find_package(ament_cmake" { print NR }' CMakeLists.txt` # get line before `ament_cmake` dependency
let CUT_LINE=$TEST_LINE-1
head -$CUT_LINE CMakeLists.txt >> $TMP_FILE

echo "set(THIS_PACKAGE_INCLUDE_DEPENDS" >> $TMP_FILE
echo " control_msgs" >> $TMP_FILE
echo " controller_interface" >> $TMP_FILE
echo " hardware_interface" >> $TMP_FILE
echo " pluginlib" >> $TMP_FILE
echo " rclcpp" >> $TMP_FILE
echo " rclcpp_lifecycle" >> $TMP_FILE
echo " realtime_tools" >> $TMP_FILE
echo " std_srvs" >> $TMP_FILE
echo ")" >> $TMP_FILE

echo "" >> $TMP_FILE
echo "find_package(ament_cmake REQUIRED)" >> $TMP_FILE
echo "find_package(generate_parameter_library REQUIRED)" >> $TMP_FILE
echo "foreach(Dependency IN ITEMS \${THIS_PACKAGE_INCLUDE_DEPENDS})" >> $TMP_FILE
echo " find_package(\${Dependency} REQUIRED)" >> $TMP_FILE
echo "endforeach()" >> $TMP_FILE
echo "" >> $TMP_FILE
fi

# Get line with if(BUILD_TESTING)
TEST_LINE=`awk '$1 == "if(BUILD_TESTING)" { print NR }' CMakeLists.txt`
let CUT_LINE=$TEST_LINE-1
head -$CUT_LINE CMakeLists.txt >> $TMP_FILE

# Add Plugin library stuff inside
# Add Plugin library related stuff
echo "# Add ${FILE_NAME} library related compile commands" >> $TMP_FILE
echo "generate_parameter_library(${FILE_NAME}_parameters" >> $TMP_FILE
echo " ${CTRL_PARAMS_YAML}" >> $TMP_FILE
echo " ${CTRL_VALIDATE_PARAMS_HPP}" >> $TMP_FILE
echo ")" >> $TMP_FILE

echo "add_library(" >> $TMP_FILE
echo " $FILE_NAME" >> $TMP_FILE
echo " SHARED" >> $TMP_FILE
echo " $CTRL_CPP" >> $TMP_FILE
echo ")" >> $TMP_FILE

echo "target_include_directories(" >> $TMP_FILE
echo " $FILE_NAME" >> $TMP_FILE
echo " PRIVATE" >> $TMP_FILE
echo " include" >> $TMP_FILE
echo ")" >> $TMP_FILE

# TODO(anyone): Add this dependencies in a loop
echo "ament_target_dependencies(" >> $TMP_FILE
echo " $FILE_NAME" >> $TMP_FILE
echo " control_msgs" >> $TMP_FILE
echo " controller_interface" >> $TMP_FILE
echo " hardware_interface" >> $TMP_FILE
echo " pluginlib" >> $TMP_FILE
echo " rclcpp" >> $TMP_FILE
echo " rclcpp_lifecycle" >> $TMP_FILE
echo " realtime_tools" >> $TMP_FILE
echo " std_srvs" >> $TMP_FILE
echo ")" >> $TMP_FILE
echo "target_include_directories($FILE_NAME PRIVATE include)" >> $TMP_FILE
echo "target_link_libraries($FILE_NAME ${FILE_NAME}_parameters)" >> $TMP_FILE
echo "ament_target_dependencies($FILE_NAME \${THIS_PACKAGE_INCLUDE_DEPENDS})" >> $TMP_FILE
echo "target_compile_definitions($FILE_NAME PRIVATE \"${FILE_NAME^^}_BUILDING_DLL\")" >> $TMP_FILE

if [[ "$package_configured" == "no" ]]; then

Expand All @@ -248,7 +282,6 @@ if [[ "$package_configured" == "no" ]]; then
echo " DESTINATION include" >> $TMP_FILE
echo ")" >> $TMP_FILE
fi

fi

echo "" >> $TMP_FILE
Expand All @@ -269,7 +302,7 @@ echo " )" >> $TMP_FILE
echo ""

echo "" >> $TMP_FILE
echo " ament_add_gmock(test_$FILE_NAME $TEST_CPP)" >> $TMP_FILE
echo " add_rostest_with_parameters_gmock(test_$FILE_NAME $TEST_CPP \${CMAKE_CURRENT_SOURCE_DIR}/${TEST_PARAMS_YAML})" >> $TMP_FILE
echo " target_include_directories(test_$FILE_NAME PRIVATE include)" >> $TMP_FILE
echo " target_link_libraries(test_$FILE_NAME $FILE_NAME)" >> $TMP_FILE
echo " ament_target_dependencies(" >> $TMP_FILE
Expand All @@ -279,6 +312,17 @@ echo " hardware_interface" >> $TMP_FILE
echo " )" >> $TMP_FILE
echo ""

echo "" >> $TMP_FILE
echo " add_rostest_with_parameters_gmock(test_${FILE_NAME}_preceeding $TEST_PRECEEDING_CPP \${CMAKE_CURRENT_SOURCE_DIR}/${TEST_PRECEEDING_PARAMS_YAML})" >> $TMP_FILE
echo " target_include_directories(test_${FILE_NAME}_preceeding PRIVATE include)" >> $TMP_FILE
echo " target_link_libraries(test_${FILE_NAME}_preceeding $FILE_NAME)" >> $TMP_FILE
echo " ament_target_dependencies(" >> $TMP_FILE
echo " test_${FILE_NAME}_preceeding" >> $TMP_FILE
echo " controller_interface" >> $TMP_FILE
echo " hardware_interface" >> $TMP_FILE
echo " )" >> $TMP_FILE
echo ""

# Add export definitions
tail -n +$TEST_LINE CMakeLists.txt | head -$END_TEST_LINE | tail -1 >> $TMP_FILE

Expand All @@ -288,56 +332,43 @@ if [[ "$package_configured" == "no" ]]; then
echo "ament_export_include_directories(" >> $TMP_FILE
echo " include" >> $TMP_FILE
echo ")" >> $TMP_FILE

echo "ament_export_dependencies(" >> $TMP_FILE
echo " ${THIS_PACKAGE_INCLUDE_DEPENDS}" >> $TMP_FILE
echo ")" >> $TMP_FILE
fi

echo "ament_export_libraries(" >> $TMP_FILE
echo " $FILE_NAME" >> $TMP_FILE
echo ")" >> $TMP_FILE

if [[ "$package_configured" == "no" ]]; then
# TODO(anyone): use this from a list so its the same as above
echo "ament_export_dependencies(" >> $TMP_FILE
echo " control_msgs" >> $TMP_FILE
echo " controller_interface" >> $TMP_FILE
echo " hardware_interface" >> $TMP_FILE
echo " pluginlib" >> $TMP_FILE
echo " rclcpp" >> $TMP_FILE
echo " rclcpp_lifecycle" >> $TMP_FILE
echo " realtime_tools" >> $TMP_FILE
echo " std_srvs" >> $TMP_FILE
echo ")" >> $TMP_FILE

fi

# Add last part
let CUT_LINE=$END_TEST_LINE+1
tail -n +$TEST_LINE CMakeLists.txt | tail -n +$CUT_LINE >> $TMP_FILE

mv $TMP_FILE CMakeLists.txt

# CMakeLists.txt & package.xml: Add dependencies if they not exist
DEP_PKGS=("std_srvs" "realtime_tools" "rclcpp_lifecycle" "rclcpp" "pluginlib" "hardware_interface" "controller_interface" "control_msgs")

for DEP_PKG in "${DEP_PKGS[@]}"; do

# CMakeLists.txt
if `grep -q "find_package(${DEP_PKG} REQUIRED)" CMakeLists.txt`; then
echo "'$DEP_PKG' is already dependency in CMakeLists.txt"
else
append_to_string="find_package(ament_cmake REQUIRED)"
sed -i "s/$append_to_string/$append_to_string\\nfind_package(${DEP_PKG} REQUIRED)/g" CMakeLists.txt
fi
# manage dependencies in package.xml
if [[ "$package_configured" == "no" ]]; then

# package.xml
if `grep -q "<depend>${DEP_PKG}</depend>" package.xml`; then
echo "'$DEP_PKG' is already listed in package.xml"
else
append_to_string="<buildtool_depend>ament_cmake<\/buildtool_depend>"
sed -i "s/$append_to_string/$append_to_string\\n\\n <depend>${DEP_PKG}<\/depend>/g" package.xml
fi
# append `generate_parameter_library` to the package.xml file
append_to_string="<buildtool_depend>ament_cmake<\/buildtool_depend>"
sed -i "s/$append_to_string/$append_to_string\\n\\n <build_depend>generate_parameter_library<\/build_depend>/g" package.xml

# CMakeLists.txt & package.xml: Add dependencies if they not exist
DEP_PKGS=("std_srvs" "realtime_tools" "rclcpp_lifecycle" "rclcpp" "pluginlib" "hardware_interface" "controller_interface" "control_msgs")

for DEP_PKG in "${DEP_PKGS[@]}"; do
# package.xml
if `grep -q "<depend>${DEP_PKG}</depend>" package.xml`; then
echo "'$DEP_PKG' is already listed in package.xml"
else
append_to_string="<build_depend>generate_parameter_library<\/build_depend>"
sed -i "s/$append_to_string/$append_to_string\\n\\n <depend>${DEP_PKG}<\/depend>/g" package.xml
fi
done
fi

done

# CMakeLists.txt & package.xml: Add test dependencies if they not exist
TEST_DEP_PKGS=("ros2_control_test_assets" "hardware_interface" "controller_manager" "ament_cmake_gmock")
Expand Down Expand Up @@ -380,8 +411,6 @@ echo -e "${TERMINAL_COLOR_USER_NOTICE}Template files were adjusted.${TERMINAL_CO
git add .
# git commit -m "RosTeamWS: ros2_control skeleton files for $ROBOT_NAME generated."

# ament_uncrustify --reformat

# Compile and add new package the to the path
compile_and_source_package $PKG_NAME "yes"

Expand Down
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