Merge pull request #130 from ipa-nhg/Ros2CppNode

Cpp code genrators for ROS2 nodes

plugins/de.fraunhofer.ipa.ros.xtext.tests/resources/ros2generator/test_pkg/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.5)
+project(test_pkg)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(Boost REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+add_executable(test_node src/test_node.cpp)
+ament_target_dependencies(test_node rclcpp std_srvs sensor_msgs )
+
+install(TARGETS
+  test_node
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

plugins/de.fraunhofer.ipa.ros.xtext.tests/resources/ros2generator/test_pkg/package.xml

@@ -0,0 +1,26 @@
+<?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>test_pkg</name>
+ <version>0.0.0</version>
+ <description>This package contains the implementation of the node test_node</description>
+  <maintainer email="[email protected]">Jane Doe</maintainer>
+  <author email="[email protected]">Jane Doe</author>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>boost</depend>
+  <depend>rclcpp</depend>
+  <depend>std_srvs</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

plugins/de.fraunhofer.ipa.ros.xtext.tests/resources/rosgenerator/test_pkg/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(test_pkg)
+
+find_package(catkin REQUIRED COMPONENTS roscpp std_srvs sensor_msgs )
+
+catkin_package(
+  CATKIN_DEPENDS roscpp std_srvs sensor_msgs 
+)
+
+### Build ###
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_executable(test_node src/test_node.cpp)
+add_dependencies(test_node ${catkin_EXPORTED_TARGETS})
+target_link_libraries(test_node ${catkin_LIBRARIES})
+
+### Install ###
+install(TARGETS test_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

plugins/de.fraunhofer.ipa.ros.xtext.tests/resources/rosgenerator/test_pkg/package.xml

@@ -0,0 +1,20 @@
+<?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>test_pkg</name>
+ <version>0.0.0</version>
+ <description>This package contains the implementation of the node test_node</description>
+  <maintainer email="[email protected]">Jane Doe</maintainer>
+  <author email="[email protected]">Jane Doe</author>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>boost</depend>
+  <depend>roscpp</depend>
+  <depend>std_srvs</depend>
+  <depend>sensor_msgs</depend>
+
+</package>

plugins/de.fraunhofer.ipa.ros.xtext.tests/src/de/fraunhofer/ipa/ros/tests/RosGeneratorTest.xtend

@@ -43,16 +43,20 @@ class RosGeneratorTest {
 
 		val resourceSet = rosTestingUtils.getMessagesResourceSet
 		val fileContent = new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'test.ros')))
-
 		val model = parseHelper.parse(fileContent, resourceSet)
 
 		val fsa = new InMemoryFileSystemAccess
 		rosGenerator.doGenerate(model.eResource, fsa, new GeneratorContext)
-
-		Assert.assertTrue(fsa.textFiles.containsKey(CustomOutputProvider::DEFAULT_OUTPUT + "test_node.cpp"))
+		Assert.assertTrue(fsa.textFiles.containsKey(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/package.xml"))
+		Assert.assertEquals(
+			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'rosgenerator/test_pkg/src/','test_node.cpp'))).trim,
+			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/src/test_node.cpp").toString.trim)
+		Assert.assertEquals(
+			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'rosgenerator/test_pkg/','CMakeLists.txt'))).trim,
+			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/CMakeLists.txt").toString.trim)
 		Assert.assertEquals(
-			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'rosgenerator', 'test_node.cpp'))).trim,
-			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_node.cpp").toString.trim)
+			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'rosgenerator/test_pkg/','package.xml'))).trim,
+			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/package.xml").toString.trim)
 	}
 
 	@Test
@@ -63,10 +67,16 @@ class RosGeneratorTest {
 
 		val fsa = new InMemoryFileSystemAccess
 		ros2Generator.doGenerate(model.eResource, fsa, new GeneratorContext)
-		Assert.assertTrue(fsa.textFiles.containsKey(CustomOutputProvider::DEFAULT_OUTPUT + "test_node.cpp"))
+		Assert.assertTrue(fsa.textFiles.containsKey(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/package.xml"))
+		Assert.assertEquals(
+			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'ros2generator/test_pkg/src/','test_node.cpp'))).trim,
+			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/src/test_node.cpp").toString.trim)
+		Assert.assertEquals(
+			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'ros2generator/test_pkg/','CMakeLists.txt'))).trim,
+			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/CMakeLists.txt").toString.trim)
 		Assert.assertEquals(
-			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'ros2generator', 'test_node.cpp'))).trim,
-			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_node.cpp").toString.trim)
+			new String(Files.readAllBytes(Paths.get(RESOURCES_BASE_DIR, 'ros2generator/test_pkg/','package.xml'))).trim,
+			fsa.textFiles.get(CustomOutputProvider::DEFAULT_OUTPUT + "test_pkg/package.xml").toString.trim)
 	}
 
 	@Test

plugins/de.fraunhofer.ipa.roscode.generator/src/de/fraunhofer/ipa/roscode/generator/Ros2CodeGenerator.xtend

@@ -1,38 +1,110 @@
 package de.fraunhofer.ipa.roscode.generator
 
+import java.util.ArrayList
+import java.util.HashSet
+import java.util.List
+import java.util.Set
 import org.eclipse.emf.ecore.resource.Resource
 import org.eclipse.xtext.generator.AbstractGenerator
 import org.eclipse.xtext.generator.IFileSystemAccess2
 import org.eclipse.xtext.generator.IGeneratorContext
-import org.eclipse.xtext.generator.IOutputConfigurationProvider
-import org.eclipse.xtext.generator.OutputConfiguration
-import java.util.Set
-import ros.*
-
-
+import ros.Node
+import ros.Package
 
 /**
  * Generates code from your model files on save.
  * 
  * See https://www.eclipse.org/Xtext/documentation/303_runtime_concepts.html#code-generation
  */
 class Ros2CodeGenerator extends AbstractGenerator {
-
 
 	String resourcepath
 	String import_msgs
 	int char_i
+	Node node
+	List<String> PkgsList
+	Set<String> set
+
 
 	override void doGenerate(Resource resource, IFileSystemAccess2 fsa, IGeneratorContext context) {
 		resourcepath = resource.URI.toString();
 		if (! resourcepath.contains("/ros-input")) {
-			for (node : resource.allContents.toIterable.filter(Node)){
-				fsa.generateFile(node.getName()+".cpp",node.compile)
+			for (pkg : resource.allContents.toIterable.filter(Package)){
+				fsa.generateFile(pkg.getName().toLowerCase+"/package.xml",pkg.compile_package_xml)
+				fsa.generateFile(pkg.getName().toLowerCase+"/CMakeLists.txt",pkg.compile_CMakeLists)
+				 for (art : pkg.artifact){
+				 	node = art.node
+					fsa.generateFile(pkg.getName().toLowerCase+"/src/"+node.name+".cpp",node.compile_node)
+
+				 	}
+				 }
 				}
 			}
-		}
 
-def compile(Node node) '''
+
+def compile_package_xml(Package 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>«pkg.name»</name>
+ <version>0.0.0</version>
+ <description>This package contains the implementation of the node «pkg.artifact.get(0).node.name»</description>
+  <maintainer email="[email protected]">Jane Doe</maintainer>
+  <author email="[email protected]">Jane Doe</author>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>boost</depend>
+  <depend>rclcpp</depend>
+  «FOR depend_pkg:pkg.getPkgDependencies»
+  <depend>«depend_pkg»</depend>
+  «ENDFOR»
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+'''
+
+def compile_CMakeLists(Package pkg)'''
+cmake_minimum_required(VERSION 3.5)
+project(«pkg.name»)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(Boost REQUIRED)
+find_package(rclcpp REQUIRED)
+  «FOR depend_pkg:pkg.getPkgDependencies»
+find_package(«depend_pkg» REQUIRED)
+  «ENDFOR»
+
+«FOR art:pkg.artifact»
+add_executable(«art.name» src/«art.node.name».cpp)
+ament_target_dependencies(«art.name» rclcpp «FOR depend_pkg:pkg.getPkgDependencies»«depend_pkg» «ENDFOR»)
+
+install(TARGETS
+  «art.name»
+  DESTINATION lib/${PROJECT_NAME})
+«ENDFOR»
+
+ament_package()
+'''
+
+def compile_node(Node node) '''
 #include <chrono>
 #include <cstdio>
 #include <memory>
@@ -149,6 +221,20 @@ int main(int argc, char * argv[])
 }
  '''
  
+ def List<String> getPkgDependencies(Package pkg){
+ 	set=new HashSet<String>()
+	PkgsList = new ArrayList()
+	for (art:pkg.artifact){
+		node=art.node
+		for (pub:node.publisher){set.add(pub.message.package.name)}
+		for (sub:node.subscriber){set.add(sub.message.package.name)}
+		for (srvserver:node.serviceserver){set.add(srvserver.service.package.name)}
+		for (srvclient:node.serviceclient){set.add(srvclient.service.package.name)}
+	}
+	PkgsList.addAll(set)
+	return PkgsList
+ }
+ 
  def String check_message_include(String message_name){
  	import_msgs = message_name.toFirstLower;
  	for (char_i =0; char_i < import_msgs.length; char_i++ ){