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First draft for a working version of the code generator for ROS2 laun…
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...er.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/CMakeListsCompiler.xtend
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| package de.fraunhofer.ipa.rossystem.generator | ||
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| import com.google.inject.Inject | ||
| import system.System | ||
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| class CMakeListsCompiler { | ||
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| @Inject extension GeneratorHelpers | ||
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| // def compile_CMakeLists_ROS1(RosSystem system, ComponentStack stack) '''«init_pkg()» | ||
| //cmake_minimum_required(VERSION 2.8.3) | ||
| //project(«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF») | ||
| // | ||
| //find_package(catkin REQUIRED) | ||
| // | ||
| //catkin_package() | ||
| // | ||
| // | ||
| //### INSTALL ### | ||
| //install(DIRECTORY launch | ||
| // DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | ||
| //)''' | ||
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| def compile_CMakeLists_ROS2(System system) '''«init_pkg()» | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(«system.name.toLowerCase») | ||
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| # Default to C++14 | ||
| if(NOT CMAKE_CXX_STANDARD) | ||
| set(CMAKE_CXX_STANDARD 14) | ||
| endif() | ||
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| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") | ||
| add_compile_options(-Wall -Wextra -Wpedantic) | ||
| endif() | ||
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| find_package(ament_cmake REQUIRED) | ||
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| ### INSTALL ### | ||
| install(DIRECTORY launch | ||
| DESTINATION share/${PROJECT_NAME} | ||
| ) | ||
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| ament_package() | ||
| ''' | ||
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| } |
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...ofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend
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| package de.fraunhofer.ipa.rossystem.generator | ||
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| import java.util.ArrayList | ||
| import ros.ActionClient | ||
| import ros.ActionServer | ||
| import ros.Parameter | ||
| import ros.Publisher | ||
| import ros.ServiceClient | ||
| import ros.ServiceServer | ||
| import ros.Subscriber | ||
| import system.System | ||
| import java.util.List | ||
| import ros.Node | ||
| import ros.impl.PackageImpl | ||
| import org.eclipse.emf.ecore.EObject | ||
| import java.util.Set | ||
| import java.util.HashSet | ||
| import ros.Dependency | ||
| import ros.PackageDependency | ||
| import system.Component | ||
| import system.RosNode | ||
| import ros.impl.AmentPackageImpl | ||
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| class GeneratorHelpers { | ||
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| boolean PackageSet | ||
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| AmentPackageImpl package_impl | ||
| List<CharSequence> PkgsList | ||
| String Pkg | ||
| RosNode node | ||
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| def void init_pkg(){ | ||
| PackageSet=false | ||
| } | ||
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| def <String> getPkgsDependencies (System rossystem){ | ||
| PkgsList = new ArrayList() | ||
| for (component: rossystem.components){ | ||
| init_pkg() | ||
| node = component as RosNode | ||
| Pkg = node.compile_pkg.toString() | ||
| if (!PkgsList.contains(Pkg)){ | ||
| PkgsList.add(Pkg) | ||
| } | ||
| return PkgsList; | ||
| } | ||
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| } | ||
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| def compile_pkg(RosNode component) | ||
| '''«IF !(component.from===null)»«component.from.getPackage_node.name»«ENDIF»''' | ||
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| // def PackageImpl get_pkg(ComponentInterface component) { | ||
| // if (component.fromRosNode!==null){ | ||
| // return getPackage_node(component.fromRosNode) | ||
| // } else if(!component.rospublisher.empty){ | ||
| // return getPacakge_fromObject(component.rospublisher.get(0).publisher) | ||
| // } else if (!component.rossubscriber.empty){ | ||
| // return getPacakge_fromObject(component.rossubscriber.get(0).subscriber) | ||
| // } else if (!component.rosserviceclient.empty){ | ||
| // return getPacakge_fromObject(component.rosserviceclient.get(0).srvclient) | ||
| // } else if (!component.rosserviceserver.empty){ | ||
| // return getPacakge_fromObject(component.rosserviceserver.get(0).srvserver) | ||
| // } else if (!component.rosactionclient.empty){ | ||
| // return getPacakge_fromObject(component.rosactionclient.get(0).actclient) | ||
| // } else if (!component.rosactionserver.empty){ | ||
| // return getPacakge_fromObject(component.rosactionserver.get(0).actserver) | ||
| // } else if (!component.rosparameter.empty){ | ||
| // return getPacakge_fromObject(component.rosparameter.get(0).parameter) | ||
| // } | ||
| // } | ||
| // | ||
| // def getPacakge_fromObject (EObject object){ | ||
| // package_impl = object.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // | ||
| // def getPackage_pub(Publisher publisher){ | ||
| // package_impl = publisher.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_sub(Subscriber subscriber){ | ||
| // package_impl = subscriber.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_srvserv(ServiceServer serviceserver){ | ||
| // package_impl = serviceserver.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_srvcli(ServiceClient serviceclient){ | ||
| // package_impl = serviceclient.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_actserver(ActionServer actionserver){ | ||
| // package_impl = actionserver.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_actclient(ActionClient actionclient){ | ||
| // package_impl = actionclient.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| // def getPackage_rosparam (Parameter param){ | ||
| // package_impl = param.eContainer.eContainer.eContainer as PackageImpl; | ||
| // return package_impl; | ||
| // } | ||
| def getPackage_node (Node node){ | ||
| package_impl = node.eContainer.eContainer as AmentPackageImpl; | ||
| return package_impl; | ||
| } | ||
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| //Launch files generators | ||
| // def check_ns(ComponentInterface component){ | ||
| // if (component.hasNS){ | ||
| // return component.get_ns(); | ||
| // }else { | ||
| // return ""; | ||
| // } | ||
| // } | ||
| // 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 compile_pkg_type(ComponentInterface component) | ||
| //'''«IF !(component.fromRosNode===null) »«component.fromRosNode.getPackageType_node»«ELSEIF !PackageSet && !component.rospublisher.empty»«FOR Rospublisher:component.rospublisher»«IF !PackageSet»«Rospublisher.publisher.getPackageType_pub()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rossubscriber.empty»«FOR Rossubscriber:component.rossubscriber»«IF !PackageSet»«Rossubscriber.subscriber.getPackageType_sub()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosserviceserver.empty»«FOR Rosserviceserver:component.rosserviceserver»«IF !PackageSet»«Rosserviceserver.srvserver.getPackageType_srvserv()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosserviceclient.empty»«FOR Rosserviceclient:component.rosserviceclient»«IF !PackageSet»«Rosserviceclient.srvclient.getPackageType_srvcli()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosparameter.empty»«FOR Rosparameter:component.rosparameter»«IF !PackageSet»«Rosparameter.parameter.getPackageType_rosparam()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosactionserver.empty»«FOR RosActionSever:component.rosactionserver»«IF !PackageSet»«RosActionSever.actserver.getPackageType_actserver()»«ENDIF»«ENDFOR»«ELSEIF !PackageSet && !component.rosactionclient.empty»«FOR RosActionClient:component.rosactionclient»«IF !PackageSet»«RosActionClient.actclient.getPackageType_actclient()»«ENDIF»«ENDFOR»«ENDIF»''' | ||
| // | ||
| // def getPackageType_pub(Publisher publisher){ | ||
| // return publisher.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_sub(Subscriber subscriber){ | ||
| // return subscriber.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_srvserv(ServiceServer serviceserver){ | ||
| // return serviceserver.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_srvcli(ServiceClient serviceclient){ | ||
| // return serviceclient.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_actserver(ActionServer actionserver){ | ||
| // return actionserver.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_actclient(ActionClient actionclient){ | ||
| // return actionclient.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_rosparam (Parameter param){ | ||
| // return param.eContainer.eContainer.eContainer as PackageImpl; | ||
| // } | ||
| // def getPackageType_node (Node node){ | ||
| // return node.eContainer.eContainer as PackageImpl; | ||
| // } | ||
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| } |
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67 changes: 67 additions & 0 deletions
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...er.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PackageXmlCompiler.xtend
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,67 @@ | ||
| package de.fraunhofer.ipa.rossystem.generator | ||
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| import system.System | ||
| import com.google.inject.Inject | ||
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| class PackageXmlCompiler{ | ||
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| @Inject extension GeneratorHelpers | ||
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| // def compile_package_xml_format2(System system) '''«init_pkg()» | ||
| //<package format="2"> | ||
| // <name>«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF»</name> | ||
| // <version>0.0.1</version> | ||
| // <description>This package provides launch file for operating «IF stack===null»«system.name»«ELSE»«system.name.toLowerCase»_«stack.name»«ENDIF»</description> | ||
| // | ||
| // <license>Apache 2.0</license> | ||
| // | ||
| // <url type="website">http://wiki.ros.org/</url> | ||
| // | ||
| // | ||
| // <maintainer email="[email protected]">Jane Doe</maintainer> | ||
| // <author email="[email protected]">Jane Doe</author> | ||
| // | ||
| // <buildtool_depend>catkin</buildtool_depend> | ||
| // «FOR pkg:getPkgsDependencies(system, stack)» | ||
| // <exec_depend>«pkg»</exec_depend> | ||
| // «ENDFOR» | ||
| // <!--test_depend>roslaunch</test_depend--> | ||
| // | ||
| //</package>''' | ||
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| def compile_package_xml_format3(System system) '''«init_pkg()» | ||
| <?xml version="1.0"?> | ||
| <?xml-model | ||
| href="http://download.ros.org/schema/package_format3.xsd" | ||
| schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>«system.name.toLowerCase»</name> | ||
| <version>0.0.1</version> | ||
| <description>This package provides launch file for operating «system.name»</description> | ||
| <maintainer email="[email protected]">Jane Doe</maintainer> | ||
| <author email="[email protected]">Jane Doe</author> | ||
| <license>Apache 2.0</license> | ||
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| <buildtool_depend>ament_cmake</buildtool_depend> | ||
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| <exec_depend>ament_index_python</exec_depend> | ||
| <exec_depend>launch</exec_depend> | ||
| «FOR pkg:system.getPkgsDependencies» | ||
| <exec_depend>«pkg»</exec_depend> | ||
| «ENDFOR» | ||
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| <!--test_depend>ament_copyright</test_depend> | ||
| <test_depend>ament_flake8</test_depend> | ||
| <test_depend>ament_pep257</test_depend> | ||
| <test_depend>launch</test_depend> | ||
| <test_depend>python3-pytest</test_depend--> | ||
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| <export> | ||
| <build_type>ament_python</build_type> | ||
| </export> | ||
| </package> | ||
| ''' | ||
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| } |
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