| /** |
| ******************************************************************************** |
| * Copyright (c) 2020-2021 Robert Bosch GmbH. |
| * |
| * This program and the accompanying materials are made |
| * available under the terms of the Eclipse Public License 2.0 |
| * which is available at https://www.eclipse.org/legal/epl-2.0/ |
| * |
| * SPDX-License-Identifier: EPL-2.0 |
| * |
| * Contributors: |
| * Robert Bosch GmbH - initial API and implementation |
| * ******************************************************************************* |
| */ |
| |
| package org.eclipse.app4mc.slg.microros.transformers; |
| |
| import java.util.ArrayList; |
| import java.util.Arrays; |
| import java.util.HashMap; |
| import java.util.List; |
| import java.util.Map; |
| |
| import org.eclipse.app4mc.amalthea.model.ChannelSend; |
| import org.eclipse.app4mc.amalthea.model.Tag; |
| import org.eclipse.app4mc.slg.commons.m2t.transformers.SLGTranslationUnit; |
| import org.eclipse.app4mc.slg.microros.generators.MicroRosChannelSendUtilsGenerator; |
| import org.eclipse.app4mc.slg.ros2.generators.RosChannelSendUtilsGenerator; |
| import org.eclipse.app4mc.slg.ros2.transformers.RosBaseTransformer; |
| |
| import com.google.inject.Singleton; |
| |
| @Singleton |
| public class MicroRosChannelSendUtilsTransformer extends RosBaseTransformer { |
| |
| public static final String LIB_NAME = "CHANNELSEND_UTIL"; |
| public static final String BASE_PATH = "MICROROS_SLG/synthetic_gen"; |
| public static final String MODULE_NAME = "channelSendUtils"; |
| public static final String MODULE_PATH = BASE_PATH + "/" + MODULE_NAME; |
| public static final String MAKEFILE_PATH = MODULE_PATH + "/CMakeLists.txt"; |
| |
| private List<String> topicList = new ArrayList<>(); |
| |
| // ---------- generic part "def create new transform(...)" ---------- |
| |
| private final Map<List<Object>, SLGTranslationUnit> transformCache = new HashMap<>(); |
| |
| @Override |
| public Map<List<Object>, SLGTranslationUnit> getCache() { |
| return this.transformCache; |
| } |
| |
| public SLGTranslationUnit transform(final ChannelSend cs, Tag tag) { |
| final List<Object> key = new ArrayList<>(Arrays.asList(cs)); |
| final SLGTranslationUnit tu; |
| |
| synchronized (transformCache) { |
| if (transformCache.containsKey(key)) { |
| return transformCache.get(key); |
| } |
| tu = createTranslationUnit(cs); |
| transformCache.put(key, tu); |
| } |
| |
| // if translation unit is newly created and valid -> create files |
| if (tu.isValid()) { |
| doTransform(tu, cs,tag); |
| } |
| |
| return tu; |
| } |
| |
| // --------------------------------------------------- |
| |
| private SLGTranslationUnit createTranslationUnit(final ChannelSend cs) { |
| if (cs == null) { |
| return new SLGTranslationUnit("UNSPECIFIED CHANNEL SEND"); |
| } else { |
| String basePath = BASE_PATH; |
| String moduleName = MODULE_NAME; |
| String call = ""; // unused |
| return new SLGTranslationUnit(basePath, moduleName, call); |
| } |
| } |
| |
| private void doTransform(final SLGTranslationUnit tu, final ChannelSend cs, final Tag tag) { |
| genFiles(tu, cs,tag); |
| } |
| |
| private void genFiles(final SLGTranslationUnit tu, final ChannelSend cs, final Tag tag) { |
| if (isSrcFileEmpty(tu)) { |
| incAppend(tu, MicroRosChannelSendUtilsGenerator.toHeader()); |
| } |
| if (isSrcFileEmpty(tu)) { |
| srcAppend(tu, MicroRosChannelSendUtilsGenerator.toCPPHead()); |
| } |
| |
| defineData(tu, cs,tag); |
| } |
| |
| private void defineData(final SLGTranslationUnit tu, final ChannelSend cs, final Tag tag) { |
| if (cs.getData() == null || cs.getData().getName() == null || cs.getData().getName().isEmpty()) |
| return; |
| |
| String topic = cs.getData().getName(); |
| |
| if (!topicList.contains(topic)) { |
| incAppend(tu, MicroRosChannelSendUtilsGenerator.toH(cs,tag)); |
| srcAppend(tu, MicroRosChannelSendUtilsGenerator.toCPP(cs,tag)); |
| |
| topicList.add(topic); |
| } |
| } |
| |
| } |