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First draft for a working version of the code generator for ROS2 launch files
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‎plugins/de.fraunhofer.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
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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()»
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//cmake_minimum_required(VERSION 2.8.3)
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//project(«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF»)
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//
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//find_package(catkin REQUIRED)
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//
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//catkin_package()
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//
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//
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//### INSTALL ###
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//install(DIRECTORY launch
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// DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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//)'''
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def compile_CMakeLists_ROS2(System system) '''«init_pkg()»
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cmake_minimum_required(VERSION 3.5)
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project(«system.name.toLowerCase»)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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### INSTALL ###
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install(DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()
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'''
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}

‎plugins/de.fraunhofer.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
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import ros.ActionClient
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import ros.ActionServer
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import ros.Parameter
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import ros.Publisher
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import ros.ServiceClient
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import ros.ServiceServer
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import ros.Subscriber
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import system.System
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import java.util.List
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import ros.Node
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import ros.impl.PackageImpl
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import org.eclipse.emf.ecore.EObject
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import java.util.Set
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import java.util.HashSet
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import ros.Dependency
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import ros.PackageDependency
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import system.Component
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import system.RosNode
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import ros.impl.AmentPackageImpl
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class GeneratorHelpers {
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boolean PackageSet
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AmentPackageImpl package_impl
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List<CharSequence> PkgsList
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String Pkg
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RosNode node
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def void init_pkg(){
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PackageSet=false
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}
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def <String> getPkgsDependencies (System rossystem){
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PkgsList = new ArrayList()
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for (component: rossystem.components){
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init_pkg()
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node = component as RosNode
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Pkg = node.compile_pkg.toString()
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if (!PkgsList.contains(Pkg)){
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PkgsList.add(Pkg)
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}
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return PkgsList;
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}
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}
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def compile_pkg(RosNode component)
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'''«IF !(component.from===null)»«component.from.getPackage_node.name»«ENDIF»'''
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// def PackageImpl get_pkg(ComponentInterface component) {
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// if (component.fromRosNode!==null){
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// return getPackage_node(component.fromRosNode)
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// } else if(!component.rospublisher.empty){
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// return getPacakge_fromObject(component.rospublisher.get(0).publisher)
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// } else if (!component.rossubscriber.empty){
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// return getPacakge_fromObject(component.rossubscriber.get(0).subscriber)
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// } else if (!component.rosserviceclient.empty){
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// return getPacakge_fromObject(component.rosserviceclient.get(0).srvclient)
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// } else if (!component.rosserviceserver.empty){
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// return getPacakge_fromObject(component.rosserviceserver.get(0).srvserver)
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// } else if (!component.rosactionclient.empty){
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// return getPacakge_fromObject(component.rosactionclient.get(0).actclient)
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// } else if (!component.rosactionserver.empty){
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// return getPacakge_fromObject(component.rosactionserver.get(0).actserver)
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// } else if (!component.rosparameter.empty){
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// return getPacakge_fromObject(component.rosparameter.get(0).parameter)
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// }
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// }
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//
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// def getPacakge_fromObject (EObject object){
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// package_impl = object.eContainer.eContainer.eContainer as PackageImpl;
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// return package_impl;
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// }
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//
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// def getPackage_pub(Publisher publisher){
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// package_impl = publisher.eContainer.eContainer.eContainer as PackageImpl;
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// return package_impl;
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// }
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// def getPackage_sub(Subscriber subscriber){
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// package_impl = subscriber.eContainer.eContainer.eContainer as PackageImpl;
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// return package_impl;
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// }
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// def getPackage_srvserv(ServiceServer serviceserver){
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// package_impl = serviceserver.eContainer.eContainer.eContainer as PackageImpl;
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// return package_impl;
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// }
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// def getPackage_srvcli(ServiceClient serviceclient){
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// package_impl = serviceclient.eContainer.eContainer.eContainer as PackageImpl;
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// return package_impl;
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// }
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// def getPackage_actserver(ActionServer actionserver){
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// package_impl = actionserver.eContainer.eContainer.eContainer as PackageImpl;
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// return package_impl;
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// }
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// def getPackage_actclient(ActionClient actionclient){
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// package_impl = actionclient.eContainer.eContainer.eContainer as PackageImpl;
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// return package_impl;
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// }
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// def getPackage_rosparam (Parameter param){
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// package_impl = param.eContainer.eContainer.eContainer as PackageImpl;
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// return package_impl;
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// }
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def getPackage_node (Node node){
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package_impl = node.eContainer.eContainer as AmentPackageImpl;
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return package_impl;
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}
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//Launch files generators
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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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// 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 compile_pkg_type(ComponentInterface component)
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//'''«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»'''
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//
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// def getPackageType_pub(Publisher publisher){
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// return publisher.eContainer.eContainer.eContainer as PackageImpl;
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// }
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// def getPackageType_sub(Subscriber subscriber){
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// return subscriber.eContainer.eContainer.eContainer as PackageImpl;
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// }
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// def getPackageType_srvserv(ServiceServer serviceserver){
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// return serviceserver.eContainer.eContainer.eContainer as PackageImpl;
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// }
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// def getPackageType_srvcli(ServiceClient serviceclient){
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// return serviceclient.eContainer.eContainer.eContainer as PackageImpl;
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// }
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// def getPackageType_actserver(ActionServer actionserver){
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// return actionserver.eContainer.eContainer.eContainer as PackageImpl;
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// }
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// def getPackageType_actclient(ActionClient actionclient){
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// return actionclient.eContainer.eContainer.eContainer as PackageImpl;
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// }
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// def getPackageType_rosparam (Parameter param){
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// return param.eContainer.eContainer.eContainer as PackageImpl;
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// }
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// def getPackageType_node (Node node){
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// return node.eContainer.eContainer as PackageImpl;
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// }
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}

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

Lines changed: 11 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -3,38 +3,39 @@ 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
6-
import system.Rossystem
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import system.System
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import ros.AmentPackage
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import ros.impl.AmentPackageImpl
79

810
class LaunchFileCompiler_ROS2 {
911

1012

11-
def compile_toROS2launch(Rossystem system) '''
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def compile_toROS2launch(System system) '''
1214
from launch import LaunchDescription
1315
from launch_ros.actions import Node
1416

1517
def generate_launch_description():
1618
ld = LaunchDescription()
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18-
«FOR component:system.components»«IF component.eClass=="RosNode"»
20+
«FOR component:system.components»
1921
«(component as RosNode).name» = Node(
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package="«((component as RosNode).from.eContainer.eContainer as RosPackage).name»",
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package="«((component as RosNode).from.eContainer.eContainer as AmentPackageImpl).name»",
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executable="«((component as RosNode).from.eContainer as Artifact).name»",
2224
name="«(component as RosNode).name»"
2325
)
24-
«ENDIF»
26+
2527
«ENDFOR»
2628

27-
«FOR component:system.components»«IF component.eClass=="RosNode"»
29+
«FOR component:system.components»
2830
ld.add_action(«(component as RosNode).name»)
29-
«ENDIF»
3031
«ENDFOR»
3132

3233
return ld
3334
'''
3435

3536
// def void compile_list_of_ROS2components(RosSystem system, ComponentStack stack) {
3637
// components_tmp_.clear;
37-
// Ros2components.clear;
38+
// Ros2components.clear;
3839
// if (stack === null){
3940
// components_tmp_ = system.rosComponent;
4041
// } else {
@@ -123,7 +124,7 @@ def generate_launch_description():
123124
// } else {
124125
// param_str += "{ \"" + rosParameter.parameter.name + "\" : " + get_param_value(rosParameter.value, rosParameter.parameter.name);
125126
// }
126-
// if (param_count > 1){
127+
// if (param_count > 1){
127128
// param_str +=" },\n"
128129
// } else {
129130
// param_str +=" }\n";
@@ -145,7 +146,7 @@ def generate_launch_description():
145146
// param_str += "{ \"" + name + "/" + member.getName() + "\" : " + param_val;
146147
// }
147148
// elem_count--;
148-
// if (elem_count > 0){
149+
// if (elem_count > 0){
149150
// param_str +=" },\n"
150151
// }
151152
// }

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

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package de.fraunhofer.ipa.rossystem.generator
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import system.System
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import com.google.inject.Inject
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class PackageXmlCompiler{
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@Inject extension GeneratorHelpers
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10+
// def compile_package_xml_format2(System system) '''«init_pkg()»
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//<package format="2">
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// <name>«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF»</name>
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// <version>0.0.1</version>
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// <description>This package provides launch file for operating «IF stack===null»«system.name»«ELSE»«system.name.toLowerCase»_«stack.name»«ENDIF»</description>
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//
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// <license>Apache 2.0</license>
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//
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// <url type="website">http://wiki.ros.org/</url>
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//
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//
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// <maintainer email="jane.doe@example.com">Jane Doe</maintainer>
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// <author email="jane.doe@example.com">Jane Doe</author>
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//
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// <buildtool_depend>catkin</buildtool_depend>
25+
// «FOR pkg:getPkgsDependencies(system, stack)»
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// <exec_depend>«pkg»</exec_depend>
27+
// «ENDFOR»
28+
// <!--test_depend>roslaunch</test_depend-->
29+
//
30+
//</package>'''
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33+
def compile_package_xml_format3(System system) '''«init_pkg()»
34+
<?xml version="1.0"?>
35+
<?xml-model
36+
href="http://download.ros.org/schema/package_format3.xsd"
37+
schematypens="http://www.w3.org/2001/XMLSchema"?>
38+
<package format="3">
39+
<name>«system.name.toLowerCase»</name>
40+
<version>0.0.1</version>
41+
<description>This package provides launch file for operating «system.name»</description>
42+
<maintainer email="jane.doe@example.com">Jane Doe</maintainer>
43+
<author email="jane.doe@example.com">Jane Doe</author>
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<license>Apache 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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48+
<exec_depend>ament_index_python</exec_depend>
49+
<exec_depend>launch</exec_depend>
50+
«FOR pkg:system.getPkgsDependencies»
51+
<exec_depend>«pkg»</exec_depend>
52+
«ENDFOR»
53+
54+
<!--test_depend>ament_copyright</test_depend>
55+
<test_depend>ament_flake8</test_depend>
56+
<test_depend>ament_pep257</test_depend>
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<test_depend>launch</test_depend>
58+
<test_depend>python3-pytest</test_depend-->
59+
60+
<export>
61+
<build_type>ament_python</build_type>
62+
</export>
63+
</package>
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'''
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}

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

Lines changed: 30 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -7,8 +7,8 @@ import org.eclipse.emf.ecore.resource.Resource
77
import org.eclipse.xtext.generator.AbstractGenerator
88
import org.eclipse.xtext.generator.IFileSystemAccess2
99
import org.eclipse.xtext.generator.IGeneratorContext
10+
import system.System
1011
import com.google.inject.Inject
11-
import system.Rossystem
1212

1313
/**
1414
* Generates code from your model files on save.
@@ -17,10 +17,36 @@ import system.Rossystem
1717
*/
1818
class RosSystemGenerator extends AbstractGenerator {
1919
@Inject extension LaunchFileCompiler_ROS2
20-
20+
@Inject extension SetupPyCompiler
21+
@Inject extension PackageXmlCompiler
22+
@Inject extension CMakeListsCompiler
23+
2124
override void doGenerate(Resource resource, IFileSystemAccess2 fsa, IGeneratorContext context) {
22-
for (system : resource.allContents.toIterable.filter(Rossystem)){
23-
fsa.generateFile(system.getName().toLowerCase+"_ros2/launch/"+system.getName()+".launch.py",compile_toROS2launch(system).toString().replace("\t"," "))
25+
for (system : resource.allContents.toIterable.filter(System)){
26+
fsa.generateFile(
27+
system.getName().toLowerCase+"_ros2/launch/"+system.getName()+".launch.py",
28+
compile_toROS2launch(system).toString().replace("\t"," ")
29+
)
30+
fsa.generateFile(
31+
system.getName().toLowerCase+"_ros2/package.xml",
32+
compile_package_xml_format3(system)
33+
)
34+
fsa.generateFile(
35+
system.getName().toLowerCase+"_ros2/CMakeLists.txt",
36+
compile_CMakeLists_ROS2(system)
37+
)
38+
fsa.generateFile(
39+
system.getName().toLowerCase+"_ros2/setup.py",
40+
compile_setup_py(system)
41+
)
42+
fsa.generateFile(
43+
system.getName().toLowerCase+"_ros2/resource/" + system.getName().toLowerCase,
44+
""
45+
)
46+
fsa.generateFile(
47+
system.getName().toLowerCase+"_ros2/" + system.getName().toLowerCase + "/__init__.py",
48+
""
49+
)
2450
}
2551
}
2652
}

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