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Created sklethon for the launch file generator for ROS2
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@ipa-nhg
ipa-nhg committed Sep 19, 2023
1 parent ccf8141 commit 1deda5d
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183 changes: 183 additions & 0 deletions ...a.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend
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package de.fraunhofer.ipa.rossystem.generator

import system.RosNode
import ros.RosPackage
import ros.Artifact
import system.Rossystem

class LaunchFileCompiler_ROS2 {


def compile_toROS2launch(Rossystem system) '''
from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
ld = LaunchDescription()

«FOR component:system.components»«IF component.eClass=="RosNode"»
«(component as RosNode).name» = Node(
package="«((component as RosNode).from.eContainer.eContainer as RosPackage).name»",
executable="«((component as RosNode).from.eContainer as Artifact).name»",
name="«(component as RosNode).name»"
)
«ENDIF»
«ENDFOR»

«FOR component:system.components»«IF component.eClass=="RosNode"»
ld.add_action(«(component as RosNode).name»)
«ENDIF»
«ENDFOR»

return ld
'''

// 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;
// }
}
13 changes: 7 additions & 6 deletions ...er.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend
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Original file line number Diff line number Diff line change
Expand Up @@ -7,19 +7,20 @@ import org.eclipse.emf.ecore.resource.Resource
import org.eclipse.xtext.generator.AbstractGenerator
import org.eclipse.xtext.generator.IFileSystemAccess2
import org.eclipse.xtext.generator.IGeneratorContext
import com.google.inject.Inject
import system.Rossystem

/**
* Generates code from your model files on save.
*
* See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#code-generation
*/
class RosSystemGenerator extends AbstractGenerator {

@Inject extension LaunchFileCompiler_ROS2

override void doGenerate(Resource resource, IFileSystemAccess2 fsa, IGeneratorContext context) {
// fsa.generateFile('greetings.txt', 'People to greet: ' +
// resource.allContents
// .filter(Greeting)
// .map[name]
// .join(', '))
for (system : resource.allContents.toIterable.filter(Rossystem)){
fsa.generateFile(system.getName().toLowerCase+"_ros2/launch/"+system.getName()+".launch.py",compile_toROS2launch(system).toString().replace("\t"," "))
}
}
}

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