Add artifact name of a node in runtime system model [Merge 2nd]

ros2model/api/model_generator/message_generator.py

@@ -25,7 +25,7 @@
     from ament_index_python import get_package_share_directory
 
     Template_Folder_ROS = Path(get_package_share_directory("ros2model") + "/templates")
-    Template_ROS = Path(Template_Folder_ROS / "message.ros2.j2")
+    Template_ROS = Path(Template_Folder_ROS / "message.ros.j2")
 except ImportError:
     Template_ROS = None
 
@@ -35,7 +35,7 @@ def __init__(self, template_path=None) -> None:
         if template_path != None:
             self.template_path = Path(template_path).resolve()
         elif Template_ROS != None and Template_ROS.is_file():
-            self.template_path = Template
+            self.template_path = Template_ROS
         elif Template.is_file():
             self.template_path = Template
         else:

ros2model/api/runtime_parser/rossystem_runtime_parser.py

@@ -1,28 +1,47 @@
+from typing import List, Optional
+
+from pydantic import Field
 from ros2model.api.runtime_parser.rosmodel_runtime_parser import (
     save_to_file,
     get_node_graph_names,
     parse,
 )
 import ros2model.core.metamodels.metamodel_ros as ROSModel
 from pathlib import Path
+from ros2model.core.utils import find_process_by_node_name
+
+
+class RuntimeGraphName(ROSModel.GraphName):
+    artifact_name: Optional[str] = None
+    pkg_name: Optional[str] = None
+
+
+class RuntimeNode(ROSModel.Node):
+    name: RuntimeGraphName
 
 
 class RuntimeRossystem(ROSModel.Rossystem):
-    pass
+    nodes: List[RuntimeNode] = Field(default_factory=list)
 
     def __init__(self, *, system: ROSModel.Rossystem, **data):
         super().__init__(name=system.name, **data)
 
     def get_nodes(self):
         nodes = get_node_graph_names()
         for n in nodes:
-            print("node name: ", n.namespace, n.name, n.full_name)
+            pkg, artifact = find_process_by_node_name(n.name, n.namespace)
+
             parsed_node = parse(
                 ROSModel.GraphName(
-                    name=n.name, namespace=n.namespace, full_name=n.full_name
+                    name=n.name,
+                    namespace=n.namespace,
+                    full_name=n.full_name,
                 )
             )
-            self.nodes.append(parsed_node)
+            runtime_node = RuntimeNode(**parsed_node.model_dump())
+            runtime_node.name.artifact_name = artifact
+            runtime_node.name.pkg_name = pkg
+            self.nodes.append(runtime_node)
 
 
 def name_system_file(grapg_name: ROSModel.GraphName):

ros2model/verb/runtime_system.py

@@ -6,6 +6,7 @@
 from ros2model.api.model_generator.system_generator import SystemGenerator
 import ros2model.api.runtime_parser.rossystem_runtime_parser as RuntimeParser
 import ros2model.core.metamodels.metamodel_ros as ROSModel
+from ament_index_python import get_package_share_directory
 
 
 class RuntimeVerb(VerbExtension):
@@ -36,13 +37,24 @@ def add_arguments(self, parser, cli_name):
             help="Consider hidden topics, services or actions.",
         )
 
+    def get_template(self):
+        template_folder_ros = Path(
+            get_package_share_directory("ros2model") + "/templates"
+        )
+        return (
+            Path(template_folder_ros / "runtime_rossystem.rossystem.j2")
+            .absolute()
+            .as_posix()
+        )
+
     def main(self, *, args):
         output_file = Path(args.output_file)
         system_name = output_file.name
         if output_file.is_absolute() != True:
             output_file = output_file.resolve()
 
-        generator = SystemGenerator()
+        print(self.get_template())
+        generator = SystemGenerator(template_path=self.get_template())
 
         system = RuntimeParser.RuntimeRossystem(
             system=ROSModel.Rossystem(name=system_name)

setup.py

@@ -29,7 +29,12 @@
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         (
             "share/" + package_name + "/templates",
-            ["templates/component.ros2.j2", "templates/rossystem.rossystem.j2"],
+            [
+                "templates/component.ros2.j2",
+                "templates/rossystem.rossystem.j2",
+                "templates/runtime_rossystem.rossystem.j2",
+                "templates/message.ros.j2",
+            ],
         ),
     ],
     install_requires=[

templates/rossystem.rossystem.j2

@@ -2,8 +2,8 @@
   nodes:
   {% for node in model.nodes %}
     "{{ node.name.full_name }}":
-      from: "TODO.{{ node.name.full_name }}"
-      {% if node.publisher | length > 0 or node.subscriber | length > 0 or node.actionserver | length > 0 or node.actionclient | length > 0 or node.serviceserver | length > 0 or node.serviceclient | length > 0%}
+      from: "{{ node.name.full_name }}"
+      {% if node.publisher | length > 0 or node.subscriber | length > 0 or node.actionserver | length > 0 or node.actionclient | length > 0 or node.serviceserver | length > 0 or node.serviceclient | length > 0 %}
       interfaces:
       {% for interface in node.publisher %}
       	- "{{ interface.name }}": pub-> "TODO::{{ interface.name }}"

templates/runtime_rossystem.rossystem.j2

@@ -0,0 +1,40 @@
+{{ model.name }}:
+  nodes:
+  {% for node in model.nodes %}
+    "{{ node.name.full_name }}":
+      from: "{{ node.name.pkg_name }}.{{ node.name.full_name }}"
+      {% if node.publisher | length > 0 or node.subscriber | length > 0 or node.actionserver | length > 0 or node.actionclient | length > 0 or node.serviceserver | length > 0 or node.serviceclient | length > 0 %}
+      interfaces:
+      {% for interface in node.publisher %}
+      	- "{{ interface.name }}": pub-> "TODO::{{ interface.name }}"
+      {% endfor %}
+      {% for interface in node.subscriber %}
+      	- "{{ interface.name }}": sub-> "TODO::{{ interface.name }}"
+      {% endfor %}
+      {% for interface in node.actionserver %}
+      	- "{{ interface.name }}": as-> "TODO::{{ interface.name }}"
+      {% endfor %}
+      {% for interface in node.actionclient %}
+      	- "{{ interface.name }}": ac-> "TODO::{{ interface.name }}"
+      {% endfor %}
+      {% for interface in node.serviceserver %}
+      	- "{{ interface.name }}": ss-> "{{ node.name.artifact_name }}::{{ interface.name }}"
+      {% endfor %}
+      {% for interface in node.serviceclient %}
+      	- "{{ interface.name }}": sc-> "TODO::{{ interface.name }}"
+      {% endfor %}
+      {% endif %}
+      {% if node.parameter | length > 0 %}
+      parameters:
+        {% for parameter in node.parameter %}
+        - {{ parameter.name }}: "TODO::{{ parameter.name }}"
+          {% if parameter.type == "String" %}
+          value: "{{ parameter.value }}"
+          {% elif parameter.type == "Boolean" %}
+          value: {{ parameter.value | lower }}
+          {% else %}
+          value: {{ parameter.value }}
+          {% endif %}
+        {% endfor %}
+      {% endif %}
+  {% endfor %}

test/outputs/test_system.rossystem

@@ -1,7 +1,7 @@
 test_system:
   nodes:
     "/map_server":
-      from: "TODO./map_server"
+      from: "/map_server"
       interfaces:
       	- "map_metadata": pub-> "TODO::map_metadata"
       	- "map": pub-> "TODO::map"

test/unittest/test_generate_component.py

@@ -43,10 +43,6 @@
     ],
 )
 
-from devtools import pprint
-
-# pprint(test_model)
-
 test_dir = "test"
 output_folder = Path(__file__).parent.parent / "outputs"
 

test/unittest/test_generate_system.py

@@ -43,7 +43,7 @@
 test_system:
   nodes:
     "/map_server":
-      from: "TODO./map_server"
+      from: "/map_server"
       interfaces:
       	- "map_metadata": pub-> "TODO::map_metadata"
       	- "map": pub-> "TODO::map"
@@ -58,7 +58,7 @@
 """
 
 
-class test_message_generator(unittest.TestCase):
+class test_system_generator(unittest.TestCase):
     def setUp(self) -> None:
         self.generator = SystemGenerator()
         self.test_dir = Path(test_dir)
@@ -72,6 +72,7 @@ def test_generate_pkg(self):
         )
         with open(Path(self.output_dir / f"{test_model.name}.rossystem"), "r") as file:
             data = file.read()
+
         self.assertEqual(expect_result.strip(), data.strip())