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Add parameters to the Launch file generator for ROS2
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@ipa-nhg
ipa-nhg committed Jan 22, 2024
1 parent c341e5e commit 3def1c3
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Showing 2 changed files with 72 additions and 57 deletions.
13 changes: 7 additions & 6 deletions ...ofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend
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Original file line number Diff line number Diff line change
Expand Up @@ -41,12 +41,13 @@ class GeneratorHelpers {
}

def <Components> getNodes (System rossystem) {
val nodeList = new ArrayList<RosNode>
for (component: rossystem.components) {
if (component.class.toString.contains("RosNode")){
nodeList.add(component as RosNode)
}
}
val nodeList = new ArrayList<RosNode>
if (!rossystem.components.nullOrEmpty){
for (component: rossystem.components) {
if (component.class.toString.contains("RosNode")){
nodeList.add(component as RosNode)
}
}}
return nodeList
}

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116 changes: 65 additions & 51 deletions ...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
Expand Up @@ -15,6 +15,14 @@ import system.impl.RosServiceClientReferenceImpl
import system.impl.RosActionServerReferenceImpl
import system.impl.RosActionClientReferenceImpl
import com.google.inject.Inject
import ros.ParameterValue
import ros.impl.ParameterStringImpl
import ros.impl.ParameterIntegerImpl
import ros.impl.ParameterDoubleImpl
import ros.impl.ParameterBooleanImpl
import ros.impl.ParameterSequenceImpl
import ros.impl.ParameterStructImpl
import ros.impl.ParameterStructMemberImpl

class LaunchFileCompiler_ROS2 {

Expand All @@ -29,6 +37,12 @@ from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource«ENDIF»
def generate_launch_description():
ld = LaunchDescription()

«FOR component:getNodes(system)»«FOR parameter:component.rosparameters»
«parameter.name»_arg = DeclareLaunchArgument(
"«parameter.name»", default_value=TextSubstitution(text="«get_param_value(parameter.value,parameter.name)»")
)
«ENDFOR»«ENDFOR»

«FOR component:getNodes(system)»
«(component as RosNode).name» = Node(
Expand All @@ -37,11 +51,11 @@ def generate_launch_description():
executable="«((component as RosNode).from.eContainer as Artifact).name»",
prefix = 'xterm -e',
output='screen',
name="«(component as RosNode).name»"«compile_remappings_str(component as RosNode, system.connections)»
name="«(component as RosNode).name»"«compile_remappings_str(component as RosNode, system.connections)»«IF !component.rosparameters.nullOrEmpty»,
parameters=[{«FOR param:component.rosparameters»
"«param.from.name»": LaunchConfiguration("«param.name»"),«ENDFOR»}]«ENDIF»
)

«ENDFOR»

«FOR subsystem:getSubsystems(system)»
«IF subsystem.fromFile.nullOrEmpty»
include_«subsystem.name»= IncludeLaunchDescription(
Expand Down Expand Up @@ -251,52 +265,52 @@ def generate_launch_description():
// 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;
// }
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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