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generate headers for class declaration
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useful to create executable nodes
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@hsd-dev
hsd-dev committed May 27, 2021
1 parent ffa1105 commit 30842e7
Showing 1 changed file with 110 additions and 68 deletions.
178 changes: 110 additions & 68 deletions ...fer.ipa.roscode.generator/src/de/fraunhofer/ipa/roscode/generator/Ros2CodeGenerator.xtend
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@ class Ros2CodeGenerator extends AbstractGenerator {
String import_msgs
int char_i
Node node
String pkg_name
List<String> PkgsList
Set<String> set

Expand All @@ -34,8 +35,9 @@ class Ros2CodeGenerator extends AbstractGenerator {
fsa.generateFile(pkg.getName().toLowerCase+"/CMakeLists.txt",pkg.compile_CMakeLists)
for (art : pkg.artifact){
node = art.node
fsa.generateFile(pkg.getName().toLowerCase+"/src/"+node.name+".cpp",node.compile_node)

pkg_name = pkg.getName().toLowerCase
fsa.generateFile(pkg_name+"/src/"+node.name+"_component.cpp",node.compile_node(pkg_name))
fsa.generateFile(pkg_name+"/include/"+pkg_name+"/"+node.name+"_component.hpp",node.compile_node_header(pkg_name))
}
}
}
Expand Down Expand Up @@ -94,20 +96,22 @@ find_package(rclcpp_components REQUIRED)
find_package(«depend_pkg» REQUIRED)
«ENDFOR»

include_directories(include)

# create ament index resource which references the libraries in the binary dir
set(node_plugins "")

«FOR art:pkg.artifact»
add_library(«art.node.name»_component SHARED
src/«art.node.name».cpp)
src/«art.node.name»_component.cpp)
ament_target_dependencies(«art.node.name»_component
rclcpp
rclcpp_components
«FOR depend_pkg:pkg.getPkgDependencies»
«depend_pkg»
«ENDFOR»)
rclcpp_components_register_nodes(«art.node.name»_component "«art.node.name»")
set(node_plugins "${node_plugins}«art.node.name»;$<TARGET_FILE:«art.node.name»_component>\n")
rclcpp_components_register_nodes(«art.node.name»_component "«pkg.name»::«art.node.name»")
set(node_plugins "${node_plugins}«pkg.name»::«art.node.name»;$<TARGET_FILE:«art.node.name»_component>\n")

«ENDFOR»
install(TARGETS
Expand All @@ -121,15 +125,11 @@ install(TARGETS
ament_package()
'''

def compile_node(Node node) '''
#include <chrono>
#include <cstdio>
#include <memory>
#include <string>
#include <utility>
def compile_node_header(Node node, String pkg_name) '''
#ifndef «pkg_name.toUpperCase»__«node.name.toUpperCase»_COMPONENT_HPP_
#define «pkg_name.toUpperCase»__«node.name.toUpperCase»_COMPONENT_HPP_

#include "rclcpp/rclcpp.hpp"
#include "rcutils/cmdline_parser.h"
«FOR pub : node.publisher»
#include <«pub.message.package.name»/msg/«check_message_include(pub.message.name)».hpp>
«ENDFOR»
Expand All @@ -143,75 +143,25 @@ def compile_node(Node node) '''
#include <«srvclient.service.package.name»/srv/«check_message_include(srvclient.service.name)».hpp>
«ENDFOR»

using namespace std::chrono_literals;
using std::placeholders::_1;
using std::placeholders::_2;
using std::placeholders::_3;

void print_«node.name»_usage()
{
printf("Usage for «node.name» app:\n");
printf("..... \n");
printf("..... \n");
printf("..... \n");
}
namespace «pkg_name» {

class «node.name» : public rclcpp::Node {
public:
«node.name»(rclcpp::NodeOptions options) : Node("«node.name»", options) {
«FOR pub : node.publisher»
«check_name(pub.name)»_ = this->create_publisher<«pub.message.package.name»::msg::«pub.message.name»>("«pub.name»",10);
«ENDFOR»
«FOR sub : node.subscriber»
«check_name(sub.name)»_ = this->create_subscription<«sub.message.package.name»::msg::«sub.message.name»>("«sub.name»", 10, std::bind(&«node.name»::«check_name(sub.name)»_callback, this, _1));
«ENDFOR»
«FOR client : node.serviceclient»
«check_name(client.name)»_ = this->create_client<«client.service.package.name»::srv::«client.service.name»>("«client.name»");
«ENDFOR»
«FOR service : node.serviceserver»
«check_name(service.name)»_ = this->create_service<«service.service.package.name»::srv::«service.service.name»>("«service.name»", std::bind(&«node.name»::«check_name(service.name)»_handle, this, _1, _2, _3));
«ENDFOR»

«IF node.publisher.length > 0»
timer_ = this->create_wall_timer(500ms, std::bind(&«node.name»::timer_callback, this));
«ENDIF»

«FOR client : node.serviceclient»
// Service client
while (!«check_name(client.name)»_->wait_for_service(std::chrono::seconds(10))){
RCLCPP_ERROR(this->get_logger(), "Client interrupted while waiting for service '%s' to appear.", "«client.name»");
}
auto request = std::make_shared<«client.service.package.name»::srv::«client.service.name»::Request>();
// request-> ... = ....;
auto result_future = «check_name(client.name)»_->async_send_request(request);
auto result = result_future.get();
RCLCPP_INFO(this->get_logger(), "Service called, service: '%s'", "«client.name»");
«ENDFOR»
}
«node.name»(rclcpp::NodeOptions options);

private:
«FOR sub : node.subscriber»
// Subscriber callback
void «check_name(sub.name)»_callback(const «sub.message.package.name»::msg::«sub.message.name»::SharedPtr msg) const {
(void)msg; // supress warnings for unused variables
RCLCPP_INFO(this->get_logger(), "«sub.name» topic got a message");
}

void «check_name(sub.name)»_callback(const «sub.message.package.name»::msg::«sub.message.name»::SharedPtr msg) const;
rclcpp::Subscription<«sub.message.package.name»::msg::«sub.message.name»>::SharedPtr «check_name(sub.name)»_ ;

«ENDFOR»
«FOR pub : node.publisher»
rclcpp::Publisher<«pub.message.package.name»::msg::«pub.message.name»>::SharedPtr «check_name(pub.name)»_;
«ENDFOR»
«IF node.publisher.length > 0»
// Timer Callback
void timer_callback(){
«FOR pub : node.publisher»
auto «check_name(pub.name)»_msg = «pub.message.package.name»::msg::«pub.message.name»();
//«check_name(pub.name)»_msg = ...
«check_name(pub.name)»_->publish(«check_name(pub.name)»_msg);
RCLCPP_INFO(this->get_logger(), "«pub.name» publisher active");
«ENDFOR»
}
void timer_callback();
rclcpp::TimerBase::SharedPtr timer_;
«ENDIF»

Expand All @@ -230,9 +180,101 @@ void print_«node.name»_usage()
«ENDFOR»
};

} // namespace «pkg_name»

#endif // «pkg_name.toUpperCase»__«node.name.toUpperCase»_COMPONENT_HPP_
'''
def compile_node(Node node, String pkg_name) '''
#include <chrono>
#include <cstdio>
#include <memory>
#include <string>
#include <utility>

#include "«pkg_name»/«node.name»_component.hpp"

using namespace std::chrono_literals;
using std::placeholders::_1;
using std::placeholders::_2;
using std::placeholders::_3;

void print_usage()
{
printf("Usage for «node.name» app:\n");
printf("..... \n");
printf("..... \n");
printf("..... \n");
}

namespace «pkg_name» {

«node.name»::«node.name»(rclcpp::NodeOptions options) : Node("«node.name»", options) {
«FOR pub : node.publisher»
«check_name(pub.name)»_ = this->create_publisher<«pub.message.package.name»::msg::«pub.message.name»>("«pub.name»",10);
«ENDFOR»
«FOR sub : node.subscriber»
«check_name(sub.name)»_ = this->create_subscription<«sub.message.package.name»::msg::«sub.message.name»>("«sub.name»", 10, std::bind(&«node.name»::«check_name(sub.name)»_callback, this, _1));
«ENDFOR»
«FOR client : node.serviceclient»
«check_name(client.name)»_ = this->create_client<«client.service.package.name»::srv::«client.service.name»>("«client.name»");
«ENDFOR»
«FOR service : node.serviceserver»
«check_name(service.name)»_ = this->create_service<«service.service.package.name»::srv::«service.service.name»>("«service.name»", std::bind(&«node.name»::«check_name(service.name)»_handle, this, _1, _2, _3));
«ENDFOR»

«IF node.publisher.length > 0»
timer_ = this->create_wall_timer(500ms, std::bind(&«node.name»::timer_callback, this));
«ENDIF»

«FOR client : node.serviceclient»
// Service client
while (!«check_name(client.name)»_->wait_for_service(std::chrono::seconds(10))){
RCLCPP_ERROR(this->get_logger(), "Client interrupted while waiting for service '%s' to appear.", "«client.name»");
}
auto request = std::make_shared<«client.service.package.name»::srv::«client.service.name»::Request>();
// request-> ... = ....;
auto result_future = «check_name(client.name)»_->async_send_request(request);
auto result = result_future.get();
RCLCPP_INFO(this->get_logger(), "Service called, service: '%s'", "«client.name»");
«ENDFOR»
}

«FOR sub : node.subscriber»
// Subscriber callback
void «node.name»::«check_name(sub.name)»_callback(const «sub.message.package.name»::msg::«sub.message.name»::SharedPtr msg) const {
(void)msg; // supress warnings for unused variables
RCLCPP_INFO(this->get_logger(), "«sub.name» topic got a message");
}

«ENDFOR»
«IF node.publisher.length > 0»
// Timer Callback
void «node.name»::timer_callback(){
«FOR pub : node.publisher»
auto «check_name(pub.name)»_msg = «pub.message.package.name»::msg::«pub.message.name»();
//«check_name(pub.name)»_msg = ...
«check_name(pub.name)»_->publish(«check_name(pub.name)»_msg);
RCLCPP_INFO(this->get_logger(), "«pub.name» publisher active");
«ENDFOR»
}
«ENDIF»

«FOR service : node.serviceserver»
// Service Handler
void «node.name»::«check_name(service.name)»_handle( const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<«service.service.package.name»::srv::«service.service.name»::Request> request_,
const std::shared_ptr<«service.service.package.name»::srv::«service.service.name»::Response> response_){
(void)request_header;
RCLCPP_INFO( this->get_logger(), "trigger service '%s'","«service.name»");
}
«ENDFOR»

} // namespace «pkg_name»

#include "rclcpp_components/register_node_macro.hpp"

RCLCPP_COMPONENTS_REGISTER_NODE(«node.name»)
RCLCPP_COMPONENTS_REGISTER_NODE(«pkg_name»::«node.name»)
'''

def List<String> getPkgDependencies(Package pkg){
Expand Down

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