Implement generator templates (Xtend) for RosSystem models to support

the new attribute ComponentStacks; the generation pipeline is
consequently adapted

Author: ipa-rwu

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

@@ -2,15 +2,16 @@ package de.fraunhofer.ipa.rossystem.generator
 
 import com.google.inject.Inject
 import rossystem.RosSystem
+import rossystem.ComponentStack
 
 class CMakeListsCompiler {
 
 	@Inject extension GeneratorHelpers
 
 
-	def compile_CMakeLists_ROS1(RosSystem system) '''«init_pkg()»
+	def compile_CMakeLists_ROS1(RosSystem system, ComponentStack stack) '''«init_pkg()»
 cmake_minimum_required(VERSION 2.8.3)
-project(«system.name.toLowerCase»)
+project(«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF»)
 
 find_package(catkin REQUIRED)
 

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

@@ -0,0 +1,39 @@
+package de.fraunhofer.ipa.rossystem.generator
+
+import com.google.inject.Inject
+import rossystem.RosSystem
+import rossystem.ComponentStack
+
+class DockerComposeCompiler {
+		
+	@Inject extension GeneratorHelpers
+		
+ def compile_toDockerCompose(RosSystem system) '''«init_pkg()»
+version: "3.3"
+networks:
+  ros:
+    driver: bridge
+    
+services:
+  ros-master:
+    image: ros:melodic-ros-core
+    command: stdbuf -o L roscore
+    networks:
+      - ros
+
+«FOR stack:system.componentStack»
+«"  "»«system.name.toLowerCase»_«stack.name.toLowerCase»:
+    image: "«system.name.toLowerCase»_«stack.name.toLowerCase»:latest"
+    depends_on:
+      - ros-master
+    environment:
+      - "ROS_MASTER_URI=http://ros-master:11311"
+      - "ROS_HOSTNAME=«stack.name.toLowerCase»"
+    networks:
+      - ros
+    command: stdbuf -o L roslaunch «system.name.toLowerCase»_«stack.name.toLowerCase» «stack.name.toLowerCase».launch --wait
+    
+«ENDFOR»
+
+'''
+}

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

@@ -2,20 +2,21 @@ package de.fraunhofer.ipa.rossystem.generator
 
 import com.google.inject.Inject
 import rossystem.RosSystem
+import rossystem.ComponentStack
 
 class DockerContainerCompiler {
 
 	@Inject extension GeneratorHelpers
 
- def compile_toDockerContainer(RosSystem system) '''«init_pkg()»
+ def compile_toDockerContainer(RosSystem system, ComponentStack stack) '''«init_pkg()»
 # syntax=docker/dockerfile:experimental
 ARG SUFFIX=
 ARG PREFIX=
 FROM ros:melodic-ros-core as base
 FROM ${PREFIX}builder${SUFFIX} as builder
 
 FROM base as build
-COPY . /root/ws/src/«system.name.toLowerCase»/
+COPY . /root/ws/src/«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF»/
 RUN --mount=type=bind,from=builder,target=/builder \
     apt-get update -qq && \
     /builder/workspace.bash build_workspace /root/ws && \
@@ -47,7 +48,7 @@ RUN --mount=type=bind,from=builder,target=/builder --mount=type=bind,target=/roo
 COPY --from=install /opt/ros/$ROS_DISTRO /opt/ros/$ROS_DISTRO
 
 FROM deploy as launch
-CMD ["roslaunch", "«system.name»", "«system.name».launch"]
+«IF stack===null»CMD ["roslaunch", "«system.name»", "«system.name».launch"]«ELSE»CMD ["roslaunch", "«system.name.toLowerCase»_«stack.name.toLowerCase»", "«stack.name.toLowerCase».launch"]«ENDIF»
 '''
 
 }

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

@@ -13,6 +13,7 @@ import rossystem.RosSystem
 import java.util.List
 import ros.Node
 import ros.impl.PackageImpl
+import rossystem.ComponentStack
 
 class GeneratorHelpers {
 
@@ -21,14 +22,30 @@ class GeneratorHelpers {
 	PackageImpl package_impl
 	List<CharSequence> PkgsList
 	String Pkg
+	List<ComponentInterface> ComponentsList
 
 	def void init_pkg(){
 		PackageSet=false
 	}
+	
+	def <String> getPkgsDependencies (RosSystem rossystem, ComponentStack stack){
+		if (stack===null){
+			return getPkgsDependencies(rossystem)
+		} else {
+			return getPkgsDependencies(stack)
+		}
+	}
 
-	def <String> getPkgsDependencies(RosSystem rossystem){
+	def <String> getPkgsDependencies(Object subsystem){
 		PkgsList = new ArrayList()
-		for (component:rossystem.rosComponent){
+		ComponentsList = new ArrayList<ComponentInterface>();
+		
+		if (subsystem.class.toString.contains("RosSystemImpl")){
+			ComponentsList = (subsystem as RosSystem).rosComponent
+		} else if (subsystem.class.toString.contains("ComponentStackImpl")) {
+			ComponentsList = (subsystem as ComponentStack).rosComponent
+		}
+		for (component:ComponentsList){
 			init_pkg()
 			Pkg = component.compile_pkg.toString()
 			if (!PkgsList.contains(Pkg)){

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS1.xtend

@@ -18,6 +18,7 @@ import componentInterface.RosServiceClient
 import componentInterface.RosActionClient
 import rossystem.ActionConnection
 import componentInterface.RosActionServer
+import rossystem.ComponentStack
 
 class LaunchFileCompiler_ROS1 {
 	@Inject extension GeneratorHelpers
@@ -29,13 +30,16 @@ class LaunchFileCompiler_ROS1 {
 	String tab_tmp=""	
 	List<Integer> sizes_list = new ArrayList<Integer>();
 	List<EObject> param_list = new ArrayList<EObject>();
+	List<ComponentInterface> components = new ArrayList<ComponentInterface>();
+	
 
 	int i=0;
 	int k=0;
 
-	def compile_toROS1launch(RosSystem system) '''«init_comp()»
+	def compile_toROS1launch(RosSystem system, ComponentStack stack) '''«init_comp()»
 <?xml version="1.0"?>
 <launch>
+«IF stack===null»
   «FOR ROSParameter:system.parameter»
   	«IF ROSParameter.type.toString.contains("ParameterStructType")»
   	<rosparam>
@@ -56,41 +60,11 @@ class LaunchFileCompiler_ROS1 {
   	«ELSE»
   		<param name="«ROSParameter.name»" value="«compile_param_value(ROSParameter.value)»"/>
   	«ENDIF»
-  «ENDFOR»
-«««	«FOR component:system.rosComponent»
- «««		«FOR rosPublisher:component.rospublisher»
- «««				«IF component.hasNS»«IF !rosPublisher.name.equals(compile_topic_name(rosPublisher.publisher,component.get_ns()))»
- «««				<remap from=«compile_topic_name(rosPublisher.publisher,component.get_ns())» to=«rosPublisher.name» />
- «««				«ENDIF»«ENDIF»
- «««		«ENDFOR»
- «««		«FOR rosSubscriber:component.rossubscriber»
- «««				«IF component.hasNS»«IF !rosSubscriber.name.equals(compile_topic_name(rosSubscriber.subscriber,component.get_ns()))»
- «««				<remap from=«compile_topic_name(rosSubscriber.subscriber,component.get_ns())» to=«rosSubscriber.name» />
- «««				«ENDIF»«ENDIF»
- «««		«ENDFOR»
- «««		«FOR rosServiceServer:component.rosserviceserver»
- «««				«IF component.hasNS»«IF !rosServiceServer.name.equals(compile_service_name(rosServiceServer.srvserver,component.get_ns()))»
- «««				<remap from=«compile_service_name(rosServiceServer.srvserver,component.get_ns())» to=«rosServiceServer.name» />
- «««				«ENDIF»«ENDIF»
- «««		«ENDFOR»
- «««		«FOR rosServiceClient:component.rosserviceclient»
- «««				«IF component.hasNS»«IF !rosServiceClient.name.equals(compile_service_name(rosServiceClient.srvclient,component.get_ns()))»
- «««				<remap from=«compile_service_name(rosServiceClient.srvclient,component.get_ns())» to=«rosServiceClient.name» />
- «««				«ENDIF»«ENDIF»
- «««		«ENDFOR»
- «««		«FOR rosActionServer:component.rosactionserver»
- «««				«IF component.hasNS»«IF !rosActionServer.name.equals(compile_action_name(rosActionServer.actserver,component.get_ns()))»
- «««				<remap from=«compile_action_name(rosActionServer.actserver,component.get_ns())» to=«rosActionServer.name» />
- «««				«ENDIF»«ENDIF»
- «««		«ENDFOR»
- «««		«FOR rosActionClient:component.rosactionclient»
- «««				«IF component.hasNS»«IF !rosActionClient.name.equals(compile_action_name(rosActionClient.actclient,component.get_ns()))»
- «««				<remap from=«compile_action_name(rosActionClient.actclient,component.get_ns())» to=«rosActionClient.name» />
- «««				«ENDIF»«ENDIF»
- «««		«ENDFOR»
- «««	«ENDFOR» 
+  «ENDFOR»«ELSE»«FOR qa:stack.qualityAttribute»
+		<param name="«qa.name»" value="«compile_param_value(qa.value)»"/>
+«ENDFOR»«ENDIF»
 
-	«FOR component:system.rosComponent»
+	«FOR component:compile_list_of_components(system,stack)»
 	<node pkg="«component.compile_pkg»«init_pkg»" type="«component.compile_art»«init_comp()»" name="«component.name»"«IF component.hasNS» ns="«component.get_ns»"«ENDIF» cwd="node" respawn="false" output="screen">«init_comp()»«init_pkg»
 		«FOR rosPublisher:component.rospublisher»
 			«remapping_function_pub(rosPublisher, component.hasNS, inTopicFromConnection(rosPublisher, system.topicConnections),component.check_ns)»
@@ -128,6 +102,16 @@ class LaunchFileCompiler_ROS1 {
 </launch>
 	'''
 
+	def List<ComponentInterface> compile_list_of_components(RosSystem system, ComponentStack stack) {
+		components=null;
+		if (stack === null){
+			components = system.rosComponent;
+		} else {
+			components =  stack.rosComponent;
+		}
+		return components;
+	}
+		
 	// TOPICS REMAP
 	def String remapping_function_pub(RosPublisher rosPublisher, boolean HasNS, String inConnection, String NS) {
 		if(inConnection!==null){

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

@@ -2,17 +2,21 @@ package de.fraunhofer.ipa.rossystem.generator
 
 import rossystem.RosSystem
 import com.google.inject.Inject
+import rossystem.ComponentStack
+import java.util.List
+import java.util.ArrayList
 
 class PackageXmlCompiler{
 
 	@Inject extension GeneratorHelpers
+	List<CharSequence> depends_list
 
 
-		def compile_package_xml_format2(RosSystem system) '''«init_pkg()»
+		def compile_package_xml_format2(RosSystem system,ComponentStack stack) '''«init_pkg()»
 <package format="2">
-  <name>«system.name.toLowerCase»</name>
+  <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 «system.name»</description>
+  <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>
 
@@ -22,15 +26,15 @@ class PackageXmlCompiler{
   <maintainer email="jane.doe@example.com">Jane Doe</maintainer>
   <author email="jane.doe@example.com">Jane Doe</author>
 
-
   <buildtool_depend>catkin</buildtool_depend>
-  «FOR pkg:system.getPkgsDependencies»
+  «FOR pkg:getPkgsDependencies(system, stack)»
   <exec_depend>«pkg»</exec_depend>
   «ENDFOR»
   <!--test_depend>roslaunch</test_depend-->
 
 </package>'''
 
+
 		def compile_package_xml_format3(RosSystem system) '''«init_pkg()»
 <?xml version="1.0"?>
 <?xml-model

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

@@ -46,8 +46,8 @@ class RosSystemGenerator extends AbstractGenerator {
 	@Inject extension LaunchFileCompiler_ROS1
 	@Inject extension LaunchFileCompiler_ROS2
 	@Inject extension SetupPyCompile
+	@Inject extension DockerComposeCompiler
 	@Inject extension DockerContainerCompiler
-	
 	//@Inject extension InstallScriptCompiler
 
 
@@ -60,41 +60,33 @@ class RosSystemGenerator extends AbstractGenerator {
 //				}
 
 
-		// ROS1 package
-		for (system : resource.allContents.toIterable.filter(RosSystem)){
-				fsa.generateFile(system.getName().toLowerCase+"/launch/"+system.getName()+".launch",system.compile_toROS1launch.toString().replace("\t","  "))
-				}
-		for (system : resource.allContents.toIterable.filter(RosSystem)){
-				fsa.generateFile(system.getName().toLowerCase+"/package.xml",system.compile_package_xml_format2)
-				}
+		// ROS1 package with docker composition for component Stacks
 		for (system : resource.allContents.toIterable.filter(RosSystem)){
-				fsa.generateFile(system.getName().toLowerCase+"/CMakeLists.txt",system.compile_CMakeLists_ROS1)
-				}
- 		for (system : resource.allContents.toIterable.filter(RosSystem)){
- 				fsa.generateFile(system.getName().toLowerCase+"/Dockerfile",system.compile_toDockerContainer)
- 				}
+			if (system.componentStack.size==0){
+				fsa.generateFile(system.getName().toLowerCase+"/package.xml",compile_package_xml_format2(system, null))
+				fsa.generateFile(system.getName().toLowerCase+"/CMakeLists.txt",compile_CMakeLists_ROS1(system, null))
+				fsa.generateFile(system.getName().toLowerCase+"/launch/"+system.getName()+".launch",compile_toROS1launch(system, null).toString().replace("\t","  "))
+				fsa.generateFile(system.getName().toLowerCase+"/Dockerfile",compile_toDockerContainer(system, null))
+			} else {
+				for (stack : system.componentStack){
+					fsa.generateFile(String.join("/", system.getName().toLowerCase, system.name.toLowerCase+'_'+stack.name.toLowerCase, "package.xml"),compile_package_xml_format2(system, stack))
+					fsa.generateFile(String.join("/", system.getName().toLowerCase, system.name.toLowerCase+'_'+stack.name.toLowerCase, "CMakeLists.txt"),compile_CMakeLists_ROS1(system, stack))
+					fsa.generateFile(String.join("/", system.getName().toLowerCase, system.name.toLowerCase+'_'+stack.name.toLowerCase, "launch", stack.getName()+".launch"), compile_toROS1launch(system, stack).toString().replace("\t","  "))
+					fsa.generateFile(String.join("/", system.getName().toLowerCase, system.name.toLowerCase+'_'+stack.name.toLowerCase, "Dockerfile"),compile_toDockerContainer(system, stack))
+			}
+				fsa.generateFile(String.join("/", system.getName().toLowerCase, "docker-compose.yml"),compile_toDockerCompose(system))
+			}
+		}
 
 		//ROS2 package
 		for (system : resource.allContents.toIterable.filter(RosSystem)){
-				fsa.generateFile(system.getName().toLowerCase+"_ros2/launch/"+system.getName()+".launch.py",system.compile_toROS2launch.toString().replace("\t","  "))
-				}
-		for (system : resource.allContents.toIterable.filter(RosSystem)){
-				fsa.generateFile(system.getName().toLowerCase+"_ros2/package.xml",system.compile_package_xml_format3)
-				}
-		for (system : resource.allContents.toIterable.filter(RosSystem)){
-				fsa.generateFile(system.getName().toLowerCase+"_ros2/setup.py",system.compile_setup_py)
-				}
-		for (system : resource.allContents.toIterable.filter(RosSystem)){
-				fsa.generateFile(system.getName().toLowerCase+"_ros2/resource/" + system.getName().toLowerCase, "")
-				}
-		for (system : resource.allContents.toIterable.filter(RosSystem)){
-				fsa.generateFile(system.getName().toLowerCase+"_ros2/" + system.getName().toLowerCase + "/__init__.py", "")
-				}
-//		for (system : resource.allContents.toIterable.filter(RosSystem)){
-//				fsa.generateFile(system.getName().toLowerCase+"_ros2/CMakeLists.txt",system.compile_CMakeLists_ROS2)
-//				}
-
-
+			fsa.generateFile(system.getName().toLowerCase+"_ros2/launch/"+system.getName()+".launch.py",system.compile_toROS2launch.toString().replace("\t","  "))
+			fsa.generateFile(system.getName().toLowerCase+"_ros2/package.xml",system.compile_package_xml_format3)
+			fsa.generateFile(system.getName().toLowerCase+"_ros2/setup.py",system.compile_setup_py)
+			fsa.generateFile(system.getName().toLowerCase+"_ros2/resource/" + system.getName().toLowerCase, "")
+			fsa.generateFile(system.getName().toLowerCase+"_ros2/" + system.getName().toLowerCase + "/__init__.py", "")
+			fsa.generateFile(system.getName().toLowerCase+"_ros2/CMakeLists.txt",system.compile_CMakeLists_ROS2)
+		}
 	}
 }