First version of the DSL grammar with yaml format

README.md

@@ -52,6 +52,7 @@ Publications:
 
 - Features
 
+  - [Deployment features](docu/deployment.md)
   - [Compare your model with a Specification](docu/CompareSpec.md)
   - [Introspection at design time](docu/simulateRuntime.md)
   - [Models combination](docu/ModelCombine.md)

docu/Installation.md

@@ -26,7 +26,7 @@ First the java environment have to be setup, for eclipse it is recomended the in
 ```
 sudo apt-get install openjdk-11-jre
 ```
-Download the official [Eclipse Installer](https://www.eclipse.org/downloads/packages/installer) for your preferred operating system. Execute the installer and choose the advanced mode (menu on the right-up corner). Select the Product *Eclipse Modeling tools* package, for the version it is recommended *2020-12*.
+Download the official [Eclipse Installer](https://www.eclipse.org/downloads/packages/installer) for your preferred operating system. Execute the installer and choose the advanced mode (menu on the right-up corner). Select the Product *Eclipse Modeling tools* package, for the version it is recommended *2021-12*.
 
 ![alt text](images/eclipse_installer1.png)
 
@@ -35,11 +35,19 @@ Press *Next* and add a new *User project* pressing the green button *+*:
 Catalog: Github Projects
 Resource URIs: https://raw.githubusercontent.com/ipa320/ros-model/master/EclipseInstaller/ROSModel.setup
 ```
+Sometimes eclipse is not able to find the file, for those cases we recommend to download the file to the local memory of the machine and import it:
+
+```
+wget https://raw.githubusercontent.com/ipa320/ros-model/master/EclipseInstaller/ROSModel.setup
+```
+
 ![alt text](images/eclipse_installer2.png)
 
 Select the the ROS Model project (under Github Projects -> <User>) and press next. 
 
-By default the ROS tooling installation will be saved under the folder *ros-model-master* in your home directory. In case your github credentials are not setup on your machine, change the *Ros model Github repository* to the *HTTPs(read-write)* option.
+By default the ROS tooling installation will be saved under the folder *ros-model-master* in your home directory. To ensure that you have access to get the source code from GitHub, select the check box *Show all variable* and change the *Ros model Github repository* to the *HTTPs(read-write)* option, verify that the option *Github user ID* is set to "anonymous". 
+
+![alt text](images/eclipse_installer3.png)
 
 Follow the installation instructions of the Oompth installer dialog, after the installation eclipse will be restarted to launch the ROS tooling configuration. Finally, when all the startup tasks finished press "Workbench".
 

docu/deployment.md

@@ -0,0 +1,93 @@
+## How to get deployment artifacts
+
+
+### Preparation
+
+Please be sure that the tool is installed and your workspace setup, see the [installation guide](../README.md) for further details.
+
+Import the example project pub_sub_ros2 (from the [ros-model-examples](https://github.com/ipa-nhg/ros-model-examples) repository) to the workbench of your application:
+
+```
+pub_sub_ros2
+```
+
+Import the example project agriculture_demo_sprint2 (from the [ros-model-examples](https://github.com/ipa-nhg/ros-model-examples) repository) to the workbench of your application:
+
+```
+agriculture_demo_sprint2
+```
+
+Install docker and docker-compose
+
+### Get get deployment artifacts
+
+To create deployment artifacts you need to right click "*.rossystem" file.
+
+#### Rossystem without parameters
+In this case, you need to right click "communication.rossystem". Then you need to choose "Deployment Artifacts Generator".
+
+A dialog will be open and ask you to select a ROS Distro. In this case, the rossystem doesn't contain parameters, so you only need to choose a ROS Distro.
+
+This process is as shown blow.
+
+![alt text](images/rostooling_deployment.gif)
+
+Then deployment artifacts will automatically created, as you can find under "src-gen" folder
+
+![alt text](images/pub_sub_ros2_deployment_gen.png)
+
+
+#### Rossystem with parameters
+
+In some case, you need to choose device ports based on parameters defined in a rossystem.
+
+For example, if you want to run teleop with a joystick in a docker container, docker need to know which port is the joystick connect to.
+
+In this case, you need to right click "communication.rossystem". Then you need to choose "Deployment Artifacts Generator".
+
+A dialog will be open and ask you to select a ROS Distro. In this case, the rossystem contains parameters, you need to choose the corresponding parameter to the joystick port value.
+
+This process is as shown blow.
+
+![alt text](images/rostooling_deployment_jackal.gif)
+
+Then deployment artifacts will automatically created.
+
+![alt text](images/jackal_deployment_gen.png)
+
+### Use github action to generate docker images
+
+Once you get deployment artifacts, you can use git action to build and release docker images automatically.
+
+If you already have a repository in github, you can use it. If not, you need to create a repository. For example, we use ("rossystem-deployment" repository)[https://github.com/ipa-rwu/rossystem-deployment.
+
+You also need a dockerhub account. Once you have dockerhub account, you need to add your Docker ID as a secret to GitHub.
+1. Add your Docker ID as a secret to GitHub. Navigate to your GitHub repository and click Settings > Secrets > New secret.
+2. Create DOCKER_USERNAME and DOCKER_PASSWORD
+
+The result should looks like below.
+
+![alt text](images/github_secrets.png)
+
+In this repository, you need to create a folder ".github/workflows". Then you need to put a file with suffix "_workflow.yml" from a generated folder to this folder. For example, you can put "communication_foxy_workflow.yml" or "agriculture_robot_sprint3_noetic_workflow.yml" under ".github/workflows" folder, as shown below.
+
+![alt text](images/github_workflows_folder.png)
+
+
+Then you need to put the generated folder in this repository. For example, we put "communication_ros2" and "agriculture_robot_sprint3" in the repository. The locations of these two folder as shown below.
+
+![alt text](images/rossystem_deployment_repo.png)
+
+You can push them to github. Github action will build docker image and push images in dockerhub.
+
+### Start the system
+
+Before starting the system, you need to modify "docker-compose" file. You need to add your docker account as prefix before a docker image name.
+For example, we add "kogrob2" (docker hub account name) in front of "communication_foxy:latest", as shown below.
+
+![alt text](images/docker-compose.png)
+
+Then you can use the command below to start the system.
+```
+docker-compose up
+```

plugins/de.fraunhofer.ipa.ros.edit/plugin.properties

@@ -182,3 +182,13 @@ _UI_Parameter_value_feature = Value
 _UI_Package_fromGitRepo_feature = From Git Repo
 _UI_Package_dependency_feature = Dependency
 _UI_AmentPackage_type = Ament Package
+_UI_InterfaceType_type = Interface Type
+_UI_QualityOfService_type = Quality Of Service
+_UI_InterfaceType_namespace_feature = Namespace
+_UI_InterfaceType_name_feature = Name
+_UI_InterfaceType_qos_feature = Qos
+_UI_QualityOfService_QoSProfile_feature = Qo SProfile
+_UI_QualityOfService_History_feature = History
+_UI_QualityOfService_Depth_feature = Depth
+_UI_QualityOfService_Reliability_feature = Reliability
+_UI_QualityOfService_Durability_feature = Durability

plugins/de.fraunhofer.ipa.ros.edit/src/ros/provider/ActionClientItemProvider.java

@@ -21,7 +21,7 @@
  * <!-- end-user-doc -->
  * @generated
  */
-public class ActionClientItemProvider extends NamespacedElementItemProvider {
+public class ActionClientItemProvider extends InterfaceTypeItemProvider {
 	/**
 	 * This constructs an instance from a factory and a notifier.
 	 * <!-- begin-user-doc -->

plugins/de.fraunhofer.ipa.ros.edit/src/ros/provider/ActionServerItemProvider.java

@@ -21,7 +21,7 @@
  * <!-- end-user-doc -->
  * @generated
  */
-public class ActionServerItemProvider extends NamespacedElementItemProvider {
+public class ActionServerItemProvider extends InterfaceTypeItemProvider {
 	/**
 	 * This constructs an instance from a factory and a notifier.
 	 * <!-- begin-user-doc -->

plugins/de.fraunhofer.ipa.ros.edit/src/ros/provider/NamespacedElementItemProvider.java → plugins/de.fraunhofer.ipa.ros.edit/src/ros/provider/InterfaceTypeItemProvider.java

@@ -24,17 +24,17 @@
 import org.eclipse.emf.edit.provider.ItemProviderAdapter;
 import org.eclipse.emf.edit.provider.ViewerNotification;
 
-import ros.NamespacedElement;
+import ros.InterfaceType;
 import ros.RosFactory;
 import ros.RosPackage;
 
 /**
- * This is the item provider adapter for a {@link ros.NamespacedElement} object.
+ * This is the item provider adapter for a {@link ros.InterfaceType} object.
  * <!-- begin-user-doc -->
  * <!-- end-user-doc -->
  * @generated
  */
-public class NamespacedElementItemProvider 
+public class InterfaceTypeItemProvider 
 	extends ItemProviderAdapter
 	implements
 		IEditingDomainItemProvider,
@@ -48,7 +48,7 @@ public class NamespacedElementItemProvider
 	 * <!-- end-user-doc -->
 	 * @generated
 	 */
-	public NamespacedElementItemProvider(AdapterFactory adapterFactory) {
+	public InterfaceTypeItemProvider(AdapterFactory adapterFactory) {
 		super(adapterFactory);
 	}
 
@@ -64,6 +64,7 @@ public List<IItemPropertyDescriptor> getPropertyDescriptors(Object object) {
 			super.getPropertyDescriptors(object);
 
 			addNamePropertyDescriptor(object);
+			addQosPropertyDescriptor(object);
 		}
 		return itemPropertyDescriptors;
 	}
@@ -79,9 +80,9 @@ protected void addNamePropertyDescriptor(Object object) {
 			(createItemPropertyDescriptor
 				(((ComposeableAdapterFactory)adapterFactory).getRootAdapterFactory(),
 				 getResourceLocator(),
-				 getString("_UI_NamespacedElement_name_feature"),
-				 getString("_UI_PropertyDescriptor_description", "_UI_NamespacedElement_name_feature", "_UI_NamespacedElement_type"),
-				 RosPackage.Literals.NAMESPACED_ELEMENT__NAME,
+				 getString("_UI_InterfaceType_name_feature"),
+				 getString("_UI_PropertyDescriptor_description", "_UI_InterfaceType_name_feature", "_UI_InterfaceType_type"),
+				 RosPackage.Literals.INTERFACE_TYPE__NAME,
 				 true,
 				 false,
 				 false,
@@ -90,6 +91,28 @@ protected void addNamePropertyDescriptor(Object object) {
 				 null));
 	}
 
+	/**
+	 * This adds a property descriptor for the Qos feature.
+	 * <!-- begin-user-doc -->
+	 * <!-- end-user-doc -->
+	 * @generated
+	 */
+	protected void addQosPropertyDescriptor(Object object) {
+		itemPropertyDescriptors.add
+			(createItemPropertyDescriptor
+				(((ComposeableAdapterFactory)adapterFactory).getRootAdapterFactory(),
+				 getResourceLocator(),
+				 getString("_UI_InterfaceType_qos_feature"),
+				 getString("_UI_PropertyDescriptor_description", "_UI_InterfaceType_qos_feature", "_UI_InterfaceType_type"),
+				 RosPackage.Literals.INTERFACE_TYPE__QOS,
+				 true,
+				 false,
+				 true,
+				 null,
+				 null,
+				 null));
+	}
+
 	/**
 	 * This specifies how to implement {@link #getChildren} and is used to deduce an appropriate feature for an
 	 * {@link org.eclipse.emf.edit.command.AddCommand}, {@link org.eclipse.emf.edit.command.RemoveCommand} or
@@ -102,7 +125,7 @@ protected void addNamePropertyDescriptor(Object object) {
 	public Collection<? extends EStructuralFeature> getChildrenFeatures(Object object) {
 		if (childrenFeatures == null) {
 			super.getChildrenFeatures(object);
-			childrenFeatures.add(RosPackage.Literals.NAMESPACED_ELEMENT__NAMESPACE);
+			childrenFeatures.add(RosPackage.Literals.INTERFACE_TYPE__NAMESPACE);
 		}
 		return childrenFeatures;
 	}
@@ -121,14 +144,14 @@ protected EStructuralFeature getChildFeature(Object object, Object child) {
 	}
 
 	/**
-	 * This returns NamespacedElement.gif.
+	 * This returns InterfaceType.gif.
 	 * <!-- begin-user-doc -->
 	 * <!-- end-user-doc -->
 	 * @generated
 	 */
 	@Override
 	public Object getImage(Object object) {
-		return overlayImage(object, getResourceLocator().getImage("full/obj16/NamespacedElement"));
+		return overlayImage(object, getResourceLocator().getImage("full/obj16/InterfaceType"));
 	}
 
 	/**
@@ -139,12 +162,12 @@ public Object getImage(Object object) {
 	 */
 	@Override
 	public String getText(Object object) {
-		String label = ((NamespacedElement)object).getName();
+		String label = ((InterfaceType)object).getName();
 		return label == null || label.length() == 0 ?
-			getString("_UI_NamespacedElement_type") :
-			getString("_UI_NamespacedElement_type") + " " + label;
+			getString("_UI_InterfaceType_type") :
+			getString("_UI_InterfaceType_type") + " " + label;
 	}
-	
+
 
 	/**
 	 * This handles model notifications by calling {@link #updateChildren} to update any cached
@@ -157,11 +180,11 @@ public String getText(Object object) {
 	public void notifyChanged(Notification notification) {
 		updateChildren(notification);
 
-		switch (notification.getFeatureID(NamespacedElement.class)) {
-			case RosPackage.NAMESPACED_ELEMENT__NAME:
+		switch (notification.getFeatureID(InterfaceType.class)) {
+			case RosPackage.INTERFACE_TYPE__NAME:
 				fireNotifyChanged(new ViewerNotification(notification, notification.getNotifier(), false, true));
 				return;
-			case RosPackage.NAMESPACED_ELEMENT__NAMESPACE:
+			case RosPackage.INTERFACE_TYPE__NAMESPACE:
 				fireNotifyChanged(new ViewerNotification(notification, notification.getNotifier(), true, false));
 				return;
 		}
@@ -181,17 +204,17 @@ protected void collectNewChildDescriptors(Collection<Object> newChildDescriptors
 
 		newChildDescriptors.add
 			(createChildParameter
-				(RosPackage.Literals.NAMESPACED_ELEMENT__NAMESPACE,
+				(RosPackage.Literals.INTERFACE_TYPE__NAMESPACE,
 				 RosFactory.eINSTANCE.createGlobalNamespace()));
 
 		newChildDescriptors.add
 			(createChildParameter
-				(RosPackage.Literals.NAMESPACED_ELEMENT__NAMESPACE,
+				(RosPackage.Literals.INTERFACE_TYPE__NAMESPACE,
 				 RosFactory.eINSTANCE.createRelativeNamespace()));
 
 		newChildDescriptors.add
 			(createChildParameter
-				(RosPackage.Literals.NAMESPACED_ELEMENT__NAMESPACE,
+				(RosPackage.Literals.INTERFACE_TYPE__NAMESPACE,
 				 RosFactory.eINSTANCE.createPrivateNamespace()));
 	}
 

plugins/de.fraunhofer.ipa.ros.edit/src/ros/provider/ParameterItemProvider.java

@@ -25,7 +25,7 @@
  * <!-- end-user-doc -->
  * @generated
  */
-public class ParameterItemProvider extends NamespacedElementItemProvider {
+public class ParameterItemProvider extends InterfaceTypeItemProvider {
 	/**
 	 * This constructs an instance from a factory and a notifier.
 	 * <!-- begin-user-doc -->

plugins/de.fraunhofer.ipa.ros.edit/src/ros/provider/PublisherItemProvider.java

@@ -21,7 +21,7 @@
  * <!-- end-user-doc -->
  * @generated
  */
-public class PublisherItemProvider extends NamespacedElementItemProvider {
+public class PublisherItemProvider extends InterfaceTypeItemProvider {
 	/**
 	 * This constructs an instance from a factory and a notifier.
 	 * <!-- begin-user-doc -->