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Created sklethon for the launch file generator for ROS2
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Lines changed: 190 additions & 6 deletions

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‎plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend‎

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package de.fraunhofer.ipa.rossystem.generator
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import system.RosNode
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import ros.RosPackage
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import ros.Artifact
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import system.Rossystem
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class LaunchFileCompiler_ROS2 {
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def compile_toROS2launch(Rossystem system) '''
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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ld = LaunchDescription()
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«FOR component:system.components»«IF component.eClass=="RosNode"»
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«(component as RosNode).name» = Node(
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package="«((component as RosNode).from.eContainer.eContainer as RosPackage).name»",
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executable="«((component as RosNode).from.eContainer as Artifact).name»",
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name="«(component as RosNode).name»"
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)
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«ENDIF»
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«ENDFOR»
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«FOR component:system.components»«IF component.eClass=="RosNode"»
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ld.add_action(«(component as RosNode).name»)
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«ENDIF»
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«ENDFOR»
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return ld
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'''
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// def void compile_list_of_ROS2components(RosSystem system, ComponentStack stack) {
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// components_tmp_.clear;
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// Ros2components.clear;
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// if (stack === null){
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// components_tmp_ = system.rosComponent;
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// } else {
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// components_tmp_ = stack.rosComponent;
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// }
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// for(ComponentInterface component:components_tmp_){
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// if (component.compile_pkg_type.toString.contains("AmentPackage")){
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// Ros2components.add(component);
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// }
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// }
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// }
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//
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// def check_ns(ComponentInterface component){
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// if (component.hasNS){
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// return component.get_ns();
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// }else {
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// return "";
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// }
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// }
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//
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// def List<String> InterfaceDef(String name, String type){
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// ListInterfaceDef = new ArrayList()
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// ListInterfaceDef.add(name.replace("/","_"))
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// ListInterfaceDef.add(name)
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// ListInterfaceDef.add(type)
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// return ListInterfaceDef
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// }
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//
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// def boolean hasNS(ComponentInterface component){
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// if(!component.nameSpace.nullOrEmpty){
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// return true;
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// }else{
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// return false
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// }
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// }
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// def String get_ns(ComponentInterface component){
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// return component.nameSpace.replaceFirst("/","");
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// }
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//
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// def String compile_remappings_str(ComponentInterface component) {
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// var remap_str = "";
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// val NS = component.check_ns();
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// for (rosPublisher : component.rospublisher) {
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// if (!((prefix(NS)+rosPublisher.name).equals(compile_topic_name(rosPublisher.publisher, NS)))) {
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// remap_str += "\t(\"" + rosPublisher.publisher.name + "\", \"" + rosPublisher.name + "\"),\n";
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// }
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// }
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// for (rosSubscriber : component.rossubscriber) {
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// if (!((prefix(NS)+rosSubscriber.name).equals(compile_topic_name(rosSubscriber.subscriber, NS)))) {
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// remap_str += "\t(\"" + rosSubscriber.subscriber.name + "\", \"" + rosSubscriber.name + "\"),\n";
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// }
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// }
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// for (rosServiceServer : component.rosserviceserver) {
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// if (!((prefix(NS)+rosServiceServer.name).equals(compile_service_name(rosServiceServer.srvserver, NS)))) {
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// remap_str += "\t(\"" + rosServiceServer.srvserver.name + "\", \"" + rosServiceServer.name + "\"),\n";
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// }
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// }
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// for (rosServiceClient : component.rosserviceclient) {
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// if (!((prefix(NS)+rosServiceClient.name).equals(compile_service_name(rosServiceClient.srvclient, NS)))) {
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// remap_str += "\t(\"" + rosServiceClient.srvclient.name + "\", \"" + rosServiceClient.name + "\"),\n";
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// }
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// }
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// for (rosActionServer : component.rosactionserver) {
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// if (!((prefix(NS)+rosActionServer.name).equals(compile_action_name(rosActionServer.actserver, NS)))) {
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// remap_str += "\t(\"" + rosActionServer.actserver.name + "\", \"" + rosActionServer.name + "\"),\n";
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// }
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// }
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// for (rosActionClient : component.rosactionclient) {
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// if (!((prefix(NS)+rosActionClient.name).equals(compile_action_name(rosActionClient.actclient, NS)))) {
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// remap_str += "\t(\"" + rosActionClient.actclient.name + "\", \"" + rosActionClient.name + "\"),\n";
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// }
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// }
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// if (!remap_str.empty) {
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// remap_str = ",\nremappings=[\n" + remap_str.substring(0,remap_str.length-2) + "]\n";
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// }
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// return remap_str;
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// }
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//
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// def String compile_parameters_str(EList<RosParameter> rosParameters) {
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// param_count = rosParameters.length;
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// var param_str = "";
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// for (rosParameter : rosParameters) {
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// val param_count=param_count--;
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// if (rosParameter.parameter.type instanceof ParameterStructTypeImpl) {
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// param_str += compile_struct_str(rosParameter.value, rosParameter.parameter.name);
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// } else {
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// param_str += "{ \"" + rosParameter.parameter.name + "\" : " + get_param_value(rosParameter.value, rosParameter.parameter.name);
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// }
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// if (param_count > 1){
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// param_str +=" },\n"
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// } else {
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// param_str +=" }\n";
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// }
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// }
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// return param_str;
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// }
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//
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// def String compile_struct_str(ParameterValue value, String name) {
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// var param_str = "";
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// var elem_count = (value as ParameterSequenceImpl).eContents.length;
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//
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// for (elem : ((value as ParameterSequenceImpl).eContents)) {
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// var member = ((elem as ParameterStructImpl).eContents.get(0) as ParameterStructMemberImpl);
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// val param_val = get_param_value(member.getValue(), name + "/" + member.getName());
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// if (param_val.startsWith("{")) {
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// param_str += param_val;
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// } else {
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// param_str += "{ \"" + name + "/" + member.getName() + "\" : " + param_val;
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// }
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// elem_count--;
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// if (elem_count > 0){
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// param_str +=" },\n"
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// }
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// }
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// return param_str;
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// }
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//
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// def String get_param_value(ParameterValue value, String name) {
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// var param_val = "";
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// if (value instanceof ParameterStringImpl) {
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// param_val = "\"" + (value as ParameterStringImpl).getValue() + "\"";
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// } else if (value instanceof ParameterIntegerImpl) {
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// param_val = (value as ParameterIntegerImpl).getValue().toString;
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// } else if (value instanceof ParameterDoubleImpl) {
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// param_val = (value as ParameterDoubleImpl).getValue().toString;
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// } else if (value instanceof ParameterBooleanImpl) {
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// param_val = (value as ParameterBooleanImpl).isValue().toString;
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// } else if (value instanceof ParameterSequenceImpl) {
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// var elem_count = (value as ParameterSequenceImpl).eContents.length;
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// if ((value as ParameterSequenceImpl).eContents.get(0) instanceof ParameterStructImpl) {
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// param_val = compile_struct_str(value, name);
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// } else {
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// param_val += "[";
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// for (elem : (value as ParameterSequenceImpl).eContents) {
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// param_val += get_param_value(elem as ParameterValue, name);
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// elem_count--;
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// if (elem_count > 0){
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// param_val +=", "
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// }
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// }
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// param_val += "]";
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// }
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// }
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// return param_val;
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// }
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}

‎plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend‎

Lines changed: 7 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -7,19 +7,20 @@ import org.eclipse.emf.ecore.resource.Resource
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import org.eclipse.xtext.generator.AbstractGenerator
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import org.eclipse.xtext.generator.IFileSystemAccess2
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import org.eclipse.xtext.generator.IGeneratorContext
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import com.google.inject.Inject
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import system.Rossystem
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/**
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* Generates code from your model files on save.
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*
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* See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#code-generation
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*/
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class RosSystemGenerator extends AbstractGenerator {
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@Inject extension LaunchFileCompiler_ROS2
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override void doGenerate(Resource resource, IFileSystemAccess2 fsa, IGeneratorContext context) {
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// fsa.generateFile('greetings.txt', 'People to greet: ' +
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// resource.allContents
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// .filter(Greeting)
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// .map[name]
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// .join(', '))
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for (system : resource.allContents.toIterable.filter(Rossystem)){
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fsa.generateFile(system.getName().toLowerCase+"_ros2/launch/"+system.getName()+".launch.py",compile_toROS2launch(system).toString().replace("\t"," "))
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}
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}
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}

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