load_generator/plugins/org.eclipse.app4mc.slg.ros2/src/org/eclipse/app4mc/slg/microros/transformers/MicroRosRunnableTransformer.java - app4mc/org.eclipse.app4mc.addon.transformation - Git at Google

 /**
  ********************************************************************************
  * 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.HashSet;
 import java.util.LinkedHashMap;
 import java.util.LinkedHashSet;
 import java.util.List;
 import java.util.Map;

 import org.eclipse.app4mc.amalthea.model.ActivityGraphItem;
 import org.eclipse.app4mc.amalthea.model.AmaltheaFactory;
 import org.eclipse.app4mc.amalthea.model.BooleanObject;
 import org.eclipse.app4mc.amalthea.model.Channel;
 import org.eclipse.app4mc.amalthea.model.ChannelReceive;
 import org.eclipse.app4mc.amalthea.model.ChannelSend;
 import org.eclipse.app4mc.amalthea.model.ConditionDisjunction;
 import org.eclipse.app4mc.amalthea.model.ConditionDisjunctionEntry;
 import org.eclipse.app4mc.amalthea.model.DataSize;
 import org.eclipse.app4mc.amalthea.model.ILocalModeValueSource;
 import org.eclipse.app4mc.amalthea.model.InterProcessStimulus;
 import org.eclipse.app4mc.amalthea.model.InterProcessTrigger;
 import org.eclipse.app4mc.amalthea.model.Label;
 import org.eclipse.app4mc.amalthea.model.LocalModeCondition;
 import org.eclipse.app4mc.amalthea.model.LocalModeLabel;
 import org.eclipse.app4mc.amalthea.model.ModeLiteral;
 import org.eclipse.app4mc.amalthea.model.ModeLiteralConst;
 import org.eclipse.app4mc.amalthea.model.Runnable;
 import org.eclipse.app4mc.amalthea.model.Switch;
 import org.eclipse.app4mc.amalthea.model.SwitchEntry;
 import org.eclipse.app4mc.amalthea.model.Tag;
 import org.eclipse.app4mc.slg.commons.m2t.CustomObjectsStore;
 import org.eclipse.app4mc.slg.commons.m2t.transformers.SLGTranslationUnit;
 import org.eclipse.app4mc.slg.commons.m2t.transformers.sw.RunnableTransformer;
 import org.eclipse.app4mc.slg.microros.generators.MicroRosRunnableGenerator;
 import org.eclipse.app4mc.slg.ros2.generators.RosRunnableGenerator;
 import org.eclipse.app4mc.slg.ros2.transformers.sw.RosLabelTransformer;
 import org.eclipse.app4mc.slg.ros2.transformers.sw.RosRunnableCache;
 import org.eclipse.app4mc.slg.ros2.transformers.utils.Utils;
 import org.eclipse.app4mc.transformation.util.OutputBuffer;
 import org.eclipse.emf.common.util.BasicEList;
 import org.eclipse.emf.common.util.EList;
 import org.eclipse.emf.ecore.EObject;

 import com.google.inject.Inject;

 public class MicroRosRunnableTransformer extends RunnableTransformer {

 	public static final String LIB_NAME = "RUNNABLES_LIB";
 	public static final String BASE_PATH = "MICROROS_SLG/synthetic_gen";
 	public static final String MODULE_NAME = "runnables";
 	public static final String MODULE_PATH = BASE_PATH + "/" + MODULE_NAME;
 	public static final String MAKEFILE_PATH = MODULE_PATH + "/CMakeLists.txt";

 	@Inject private OutputBuffer outputBuffer;
 	@Inject private MicroRosActivityGraphItemTransformer activityGraphItemTransformer;
 	@Inject private RosRunnableCache rosRunnableCache;
 	@Inject private MicroRosLabelTransformer microrosLabelTransformer;
 	@Inject private CustomObjectsStore customObjsStore;  // model

 	@Override
 	protected SLGTranslationUnit createTranslationUnit(Runnable runnable) {
 		if ((runnable == null)) {
 			return new SLGTranslationUnit("UNSPECIFIED RUNNABLE");
 		} else {
 			String basePath = BASE_PATH;
 			String moduleName = MODULE_NAME;
 			String call = "run_" + runnable.getName() + "()";
 			return new SLGTranslationUnit(basePath, moduleName, call);
 		}
 	}
 	@Override
 	protected void genFiles(SLGTranslationUnit tu, Runnable runnable) {

 		customObjsStore.indexData(tu.getCall(), runnable);

 		final Map<SwitchEntry,List<String>> switchBasedCalls = new LinkedHashMap<SwitchEntry, List<String>>();

 		final Map<SwitchEntry,List<String>> switchBasedCallsOverwrite = new   LinkedHashMap<SwitchEntry, List<String>>(); //overwrite codehook fct

 		final List<SwitchEntry> switchEntries=new ArrayList<SwitchEntry>();

 		final Map<SwitchEntry, Boolean> switchEntryOverwriteActivityGraph=new LinkedHashMap<SwitchEntry, Boolean>();

 		final EList<ActivityGraphItem> defaultActivityGraphItems=new BasicEList<ActivityGraphItem>();


 		if (isSrcFileEmpty(tu)) { // all stuff only required once regardless of runnable instance
 			srcAppend(tu, "#include \"" + getIncFile(tu) + "\"\n");
 		}
 		final HashSet<String> includes = new LinkedHashSet<>();
 		final List<String> calls = new ArrayList<>();

 		boolean measurePerformance = false;
 		if (runnable != null && runnable.getCustomProperties().get("measure_performance") instanceof BooleanObject) {
 			measurePerformance = ((BooleanObject) runnable.getCustomProperties().get("measure_performance")).isValue();
 		}

 		if (measurePerformance) {
 			includes.add("aml.h");
 		}

 		// Compute characteristic values of runnable

 		final List<String> params = new ArrayList<>();
 		final List<String> nodeParams = new ArrayList<>();
 		final List<String> publishers = new ArrayList<>();
 		final List<String> clientDeclarations = new ArrayList<>();
 		final List<String> clientInits = new ArrayList<>();


 		if (runnable != null && runnable.getActivityGraph() != null) {
 			EList<ActivityGraphItem> activityGraphItems = runnable.getActivityGraph().getItems();

 			for (ActivityGraphItem activityGraphItem : activityGraphItems) {

 				if(activityGraphItem instanceof Switch) {

 					for(SwitchEntry entry: ((Switch)activityGraphItem).getEntries()) {
 						switchBasedCalls.put(entry, new ArrayList<String>());
 						switchBasedCallsOverwrite.put(entry, new ArrayList<String>());
 						switchEntries.add(entry);
 					}
 				}else {
 					defaultActivityGraphItems.add(activityGraphItem);
 				}

 			}
 		}


 		extracted(tu, runnable, includes, calls, params, nodeParams, publishers, runnable.getActivityGraph(), defaultActivityGraphItems);

 		for(SwitchEntry switchEntry: switchEntries) {


 			extracted(tu, runnable, includes, switchBasedCalls.get(switchEntry), params, nodeParams, publishers, switchEntry, switchEntry.getItems());


 		}

 		String nodeParam = String.join(",", nodeParams);
 		String param = String.join(",", params);

 		// store characteristic values in runnable cache
 		rosRunnableCache.storeValues(tu, runnable, param, nodeParam, publishers, clientDeclarations, clientInits);

 		String fullCall = "run_" + runnable.getName() + "(" + param + ")";

 		String fullCall_with_context = "run_" + runnable.getName()+"_Context" + "(" + param + ","+getParamNames(runnable.getLocalLabels())+" )";


 		// write header
 		incAppend(tu, "\n//Runnable " + runnable.getName() + "----\n");
 		toH(tu, includes, fullCall,fullCall_with_context);

 		// write body
 		srcAppend(tu, "\n//Runnable " + runnable.getName() + "----\n");
 		toCpp(tu, runnable.getName(), fullCall, fullCall_with_context,calls, measurePerformance,switchEntries, switchBasedCalls, runnable);
 	}
 	private void extracted(SLGTranslationUnit tu, Runnable runnable, final HashSet<String> includes,
 			final List<String> calls, final List<String> params, final List<String> nodeParams,
 			final List<String> publishers, final EObject elementContainingCustomProps, final EList<ActivityGraphItem> activityGraphItems) {

 		for (ActivityGraphItem item : activityGraphItems) {

 			final SLGTranslationUnit graphItemTU = activityGraphItemTransformer.transform(item,tag);
 			String graphItemIncFile = getIncFile(graphItemTU);
 			if (graphItemIncFile != null && !graphItemIncFile.isEmpty() && !getIncFile(tu).equals(graphItemIncFile)) {
 				if (item instanceof ChannelReceive)
 				{
 					includes.add("labels.h");
 				}
 				else
 				{
 				includes.add(graphItemIncFile);
 				}
 				}

 			// check if item is publisher

 			if (item instanceof ChannelSend) {
 				ChannelSend cs = (ChannelSend) item;
 				Channel data = cs.getData();

 				publishers.add(tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_publisher");

 				//nodeParams.add("&"+tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_publisher");
 				//nodeParams.add("&"+tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_msg");
 				nodeParams.add(tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_msg");

 			//	params.add(" rcl_publisher_t *  " +tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_publisher");
 				params.add(" std_msgs__msg__String  " +tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_msg");


 				//

 //					localParamNames.add("&"+tag.getName()+"Node_"+data.getName() + "_publisher");
 //					localParamNames.add("&"+tag.getName()+"Node_"+data.getName() + "_msg");
 //
 //
 //					localParamWithSignature.add(" rcl_publisher_t *  " +tag.getName()+"Node_"+data.getName() + "_publisher");
 //					localParamWithSignature.add(" std_msgs__msg__String *  " +tag.getName()+"Node_"+data.getName() + "_msg");
 //


 			}

 			if (item instanceof InterProcessTrigger) {
 				/*-InterProcessTrigger trigger = (InterProcessTrigger) item;
 				InterProcessStimulus stimulus = trigger.getStimulus();

 				String stimName = stimulus.getName();
 				String idlName = Utils.toIdlCompliantName(stimName + "_service");

 				includes.add(stimName + "_service/srv/" + stimName + "_service" + ".hpp");
 				clientDeclarations.add("rclcpp::Client<" + stimName + "_service::srv::" + idlName + ">::SharedPtr " + stimName + "_client");
 				clientInits.add(stimName + "_client =  this->create_client<" + stimName + "_service::srv::" + idlName + ">" + "(\"" + stimName + "_service\")");
 				nodeParams.add(stimName + "_client");
 				params.add("rclcpp::Client<" + stimName + "_service::srv::" + idlName + ">::SharedPtr& " + stimName + "_client");*/
 			}

 			if (item instanceof ChannelReceive) {


 				ChannelReceive cr = (ChannelReceive) item;
 				Channel data = cr.getData();
 				String subLabelName = data.getName()+ "_sub_label";

 				// check for the second channel receive
 				//AmaltheaIndex.getElements(context, name, targetClass)
 				// AmaltheaIndex.getElements((@NonNull Notifier) customObjsStore, subLabelName, customObjsStore.getInstance(RosLabelTransformer.class) );


 				Label temp = AmaltheaFactory.eINSTANCE.createLabel();
 				temp.setName(subLabelName);

 				DataSize value = data.getSize();
 				System.out.print(temp.getName()+": ");
 				System.out.print(value +"\n");
 				//temp.setSize(value); // transformation error


 				// with injection
 				microrosLabelTransformer.transform(temp);

 				calls.add("//ChannelReceiveCall"); // temporary
 				calls.add("read_"+temp.getName()+"("+value.getNumberBytes()+")");

 				nodeParams.add("msg");
 				params.add(" const std_msgs__msg__String * msg");
 				calls.add("printf("+"\"Callback: I heard: %s\\n\""+ ", msg->data.data)");


 			}

 			final String call = graphItemTU.getCall();
 			if (call != null && !call.isEmpty()) {
 				calls.add(call);
 			}
 		}
 	}

 	protected void toH(SLGTranslationUnit tu, final HashSet<String> includes, final String fullCall, String fullCall_with_context) {
 		for (String include : includes) {
 			incAppend(tu, "#include \"" + include + "\"\n");
 		}
 		incAppend(tu, "void " + fullCall + ";\n");

 		Runnable data = customObjsStore.getData(tu.getCall());
 		EList<LocalModeLabel> localLabels = ((Runnable)data).getLocalLabels();


 		if(localLabels.size()>0)
 			incAppend(tu, "void " +fullCall_with_context+" ;\n");


 	}

 	protected void toCpp(SLGTranslationUnit tu, final String runnableName, final String fullCall, String fullCall_with_context, final List<String> calls, boolean measurePerformance,List<SwitchEntry> switchEntries,  Map<SwitchEntry, List<String>> switchBasedCalls , Runnable runnable) {
 		srcAppend(tu, "void " + fullCall + "{\n");
 		if (measurePerformance) {
 			srcAppend(tu,
 				"uint64_t event_list[] = {0x11, 0x13, 0x17}; //CPU CYCLES, MEM ACCESS, L2 Cache Refill\n"
 				+ "int total_events =  sizeof(event_list)/sizeof(event_list[0]);\n"
 				+ "int fd = instrument_start(0,event_list, total_events);\n");
 		}

 		for (String call : calls) {
 			srcAppend(tu, "\t" + call + ";\n");
 		}

 		if (measurePerformance) {
 			srcAppend(tu, "instrument_stop(fd, \"" + runnableName + ".log\");\n");
 		}
 		srcAppend(tu, "}\n\n");

 	//Adding additional method

 		if(runnable.getLocalLabels().size()>0) {

 			srcAppend(tu, "void " + fullCall_with_context + "{\n"+ "\n");
 			if (measurePerformance) {
 				srcAppend(tu,
 						"uint64_t event_list[] = {0x11, 0x13, 0x17}; //CPU CYCLES, MEM ACCESS, L2 Cache Refill\n"
 								+ "int total_events =  sizeof(event_list)/sizeof(event_list[0]);\n"
 								+ "int fd = instrument_start(0,event_list, total_events);\n");
 			}

 			for(SwitchEntry switchEntry: switchEntries) {

 				{
 					srcAppend(tu,  "if("+getConditionString(switchEntry)+"){" + "\n");

 					for (String call : switchBasedCalls.get(switchEntry)) {
 						srcAppend(tu, call + ";" + "\n");
 					}
 					srcAppend(tu, "\n" + "}" + "\n");
 				}

 			}

 			if (measurePerformance) {
 				srcAppend(tu, "instrument_stop(fd, \"" + runnableName + "_context.log\");\n");
 			}
 			srcAppend(tu, "}\n\n");
 		}

 	}

 	@Override
 	public boolean createCMake() {
 		return outputBuffer.appendTo(
 				"OTHER", MAKEFILE_PATH, MicroRosRunnableGenerator.toCMake(LIB_NAME, getSrcFiles()));
 	}

 	private Tag tag;
 	public SLGTranslationUnit transform(Tag tag,Runnable runnable) {
 		this.tag=tag;
 		return super.transform(runnable);
 	}

 	private String getParamNames(EList<LocalModeLabel> localLabels) {

 		List<String> ls=new ArrayList<String>();

 		for (LocalModeLabel localModeLabel : localLabels) {
 			ls.add("char* "+localModeLabel.getName());
 		}

 		return String.join(",", ls);
 	}

 	private String getConditionString(SwitchEntry switchEntry) {

 		ConditionDisjunction condition = switchEntry.getCondition();

 		if(condition !=null) {

 			EList<ConditionDisjunctionEntry> entries = condition.getEntries();

 			for (ConditionDisjunctionEntry conditionDisjunctionEntry : entries) {

 				if(conditionDisjunctionEntry instanceof LocalModeCondition) {
 					LocalModeLabel localLabel = ((LocalModeCondition) conditionDisjunctionEntry).getLabel();

 					if(localLabel !=null) {

 						String localVariableName = localLabel.getName();


 						ILocalModeValueSource valueSource = ((LocalModeCondition) conditionDisjunctionEntry).getValueSource();

 						if(valueSource !=null && valueSource instanceof ModeLiteralConst) {
 							ModeLiteral value = ((ModeLiteralConst)valueSource).getValue();

 							String caseName= value.getName();

 							return "strcmp("+localVariableName+",\""+caseName+"\")==0";
 						}
 					}
 				}
 			}
 		}


 		return "false";
 	}
 }
	/**
	********************************************************************************
	* 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.HashSet;
	import java.util.LinkedHashMap;
	import java.util.LinkedHashSet;
	import java.util.List;
	import java.util.Map;

	import org.eclipse.app4mc.amalthea.model.ActivityGraphItem;
	import org.eclipse.app4mc.amalthea.model.AmaltheaFactory;
	import org.eclipse.app4mc.amalthea.model.BooleanObject;
	import org.eclipse.app4mc.amalthea.model.Channel;
	import org.eclipse.app4mc.amalthea.model.ChannelReceive;
	import org.eclipse.app4mc.amalthea.model.ChannelSend;
	import org.eclipse.app4mc.amalthea.model.ConditionDisjunction;
	import org.eclipse.app4mc.amalthea.model.ConditionDisjunctionEntry;
	import org.eclipse.app4mc.amalthea.model.DataSize;
	import org.eclipse.app4mc.amalthea.model.ILocalModeValueSource;
	import org.eclipse.app4mc.amalthea.model.InterProcessStimulus;
	import org.eclipse.app4mc.amalthea.model.InterProcessTrigger;
	import org.eclipse.app4mc.amalthea.model.Label;
	import org.eclipse.app4mc.amalthea.model.LocalModeCondition;
	import org.eclipse.app4mc.amalthea.model.LocalModeLabel;
	import org.eclipse.app4mc.amalthea.model.ModeLiteral;
	import org.eclipse.app4mc.amalthea.model.ModeLiteralConst;
	import org.eclipse.app4mc.amalthea.model.Runnable;
	import org.eclipse.app4mc.amalthea.model.Switch;
	import org.eclipse.app4mc.amalthea.model.SwitchEntry;
	import org.eclipse.app4mc.amalthea.model.Tag;
	import org.eclipse.app4mc.slg.commons.m2t.CustomObjectsStore;
	import org.eclipse.app4mc.slg.commons.m2t.transformers.SLGTranslationUnit;
	import org.eclipse.app4mc.slg.commons.m2t.transformers.sw.RunnableTransformer;
	import org.eclipse.app4mc.slg.microros.generators.MicroRosRunnableGenerator;
	import org.eclipse.app4mc.slg.ros2.generators.RosRunnableGenerator;
	import org.eclipse.app4mc.slg.ros2.transformers.sw.RosLabelTransformer;
	import org.eclipse.app4mc.slg.ros2.transformers.sw.RosRunnableCache;
	import org.eclipse.app4mc.slg.ros2.transformers.utils.Utils;
	import org.eclipse.app4mc.transformation.util.OutputBuffer;
	import org.eclipse.emf.common.util.BasicEList;
	import org.eclipse.emf.common.util.EList;
	import org.eclipse.emf.ecore.EObject;

	import com.google.inject.Inject;

	public class MicroRosRunnableTransformer extends RunnableTransformer {

	public static final String LIB_NAME = "RUNNABLES_LIB";
	public static final String BASE_PATH = "MICROROS_SLG/synthetic_gen";
	public static final String MODULE_NAME = "runnables";
	public static final String MODULE_PATH = BASE_PATH + "/" + MODULE_NAME;
	public static final String MAKEFILE_PATH = MODULE_PATH + "/CMakeLists.txt";

	@Inject private OutputBuffer outputBuffer;
	@Inject private MicroRosActivityGraphItemTransformer activityGraphItemTransformer;
	@Inject private RosRunnableCache rosRunnableCache;
	@Inject private MicroRosLabelTransformer microrosLabelTransformer;
	@Inject private CustomObjectsStore customObjsStore; // model

	@Override
	protected SLGTranslationUnit createTranslationUnit(Runnable runnable) {
	if ((runnable == null)) {
	return new SLGTranslationUnit("UNSPECIFIED RUNNABLE");
	} else {
	String basePath = BASE_PATH;
	String moduleName = MODULE_NAME;
	String call = "run_" + runnable.getName() + "()";
	return new SLGTranslationUnit(basePath, moduleName, call);
	}
	}
	@Override
	protected void genFiles(SLGTranslationUnit tu, Runnable runnable) {

	customObjsStore.indexData(tu.getCall(), runnable);

	final Map<SwitchEntry,List<String>> switchBasedCalls = new LinkedHashMap<SwitchEntry, List<String>>();

	final Map<SwitchEntry,List<String>> switchBasedCallsOverwrite = new LinkedHashMap<SwitchEntry, List<String>>(); //overwrite codehook fct

	final List<SwitchEntry> switchEntries=new ArrayList<SwitchEntry>();

	final Map<SwitchEntry, Boolean> switchEntryOverwriteActivityGraph=new LinkedHashMap<SwitchEntry, Boolean>();

	final EList<ActivityGraphItem> defaultActivityGraphItems=new BasicEList<ActivityGraphItem>();


	if (isSrcFileEmpty(tu)) { // all stuff only required once regardless of runnable instance
	srcAppend(tu, "#include \"" + getIncFile(tu) + "\"\n");
	}
	final HashSet<String> includes = new LinkedHashSet<>();
	final List<String> calls = new ArrayList<>();

	boolean measurePerformance = false;
	if (runnable != null && runnable.getCustomProperties().get("measure_performance") instanceof BooleanObject) {
	measurePerformance = ((BooleanObject) runnable.getCustomProperties().get("measure_performance")).isValue();
	}

	if (measurePerformance) {
	includes.add("aml.h");
	}

	// Compute characteristic values of runnable

	final List<String> params = new ArrayList<>();
	final List<String> nodeParams = new ArrayList<>();
	final List<String> publishers = new ArrayList<>();
	final List<String> clientDeclarations = new ArrayList<>();
	final List<String> clientInits = new ArrayList<>();


	if (runnable != null && runnable.getActivityGraph() != null) {
	EList<ActivityGraphItem> activityGraphItems = runnable.getActivityGraph().getItems();

	for (ActivityGraphItem activityGraphItem : activityGraphItems) {

	if(activityGraphItem instanceof Switch) {

	for(SwitchEntry entry: ((Switch)activityGraphItem).getEntries()) {
	switchBasedCalls.put(entry, new ArrayList<String>());
	switchBasedCallsOverwrite.put(entry, new ArrayList<String>());
	switchEntries.add(entry);
	}
	}else {
	defaultActivityGraphItems.add(activityGraphItem);
	}

	}
	}


	extracted(tu, runnable, includes, calls, params, nodeParams, publishers, runnable.getActivityGraph(), defaultActivityGraphItems);

	for(SwitchEntry switchEntry: switchEntries) {


	extracted(tu, runnable, includes, switchBasedCalls.get(switchEntry), params, nodeParams, publishers, switchEntry, switchEntry.getItems());



	}

	String nodeParam = String.join(",", nodeParams);
	String param = String.join(",", params);

	// store characteristic values in runnable cache
	rosRunnableCache.storeValues(tu, runnable, param, nodeParam, publishers, clientDeclarations, clientInits);

	String fullCall = "run_" + runnable.getName() + "(" + param + ")";

	String fullCall_with_context = "run_" + runnable.getName()+"_Context" + "(" + param + ","+getParamNames(runnable.getLocalLabels())+" )";


	// write header
	incAppend(tu, "\n//Runnable " + runnable.getName() + "----\n");
	toH(tu, includes, fullCall,fullCall_with_context);

	// write body
	srcAppend(tu, "\n//Runnable " + runnable.getName() + "----\n");
	toCpp(tu, runnable.getName(), fullCall, fullCall_with_context,calls, measurePerformance,switchEntries, switchBasedCalls, runnable);
	}
	private void extracted(SLGTranslationUnit tu, Runnable runnable, final HashSet<String> includes,
	final List<String> calls, final List<String> params, final List<String> nodeParams,
	final List<String> publishers, final EObject elementContainingCustomProps, final EList<ActivityGraphItem> activityGraphItems) {

	for (ActivityGraphItem item : activityGraphItems) {

	final SLGTranslationUnit graphItemTU = activityGraphItemTransformer.transform(item,tag);
	String graphItemIncFile = getIncFile(graphItemTU);
	if (graphItemIncFile != null && !graphItemIncFile.isEmpty() && !getIncFile(tu).equals(graphItemIncFile)) {
	if (item instanceof ChannelReceive)
	{
	includes.add("labels.h");
	}
	else
	{
	includes.add(graphItemIncFile);
	}
	}

	// check if item is publisher

	if (item instanceof ChannelSend) {
	ChannelSend cs = (ChannelSend) item;
	Channel data = cs.getData();

	publishers.add(tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_publisher");

	//nodeParams.add("&"+tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_publisher");
	//nodeParams.add("&"+tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_msg");
	nodeParams.add(tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_msg");

	// params.add(" rcl_publisher_t * " +tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_publisher");
	params.add(" std_msgs__msg__String " +tag.getName().toLowerCase()+"Node_"+data.getName().toLowerCase() + "_msg");


	//

	// localParamNames.add("&"+tag.getName()+"Node_"+data.getName() + "_publisher");
	// localParamNames.add("&"+tag.getName()+"Node_"+data.getName() + "_msg");
	//
	//
	// localParamWithSignature.add(" rcl_publisher_t * " +tag.getName()+"Node_"+data.getName() + "_publisher");
	// localParamWithSignature.add(" std_msgs__msg__String * " +tag.getName()+"Node_"+data.getName() + "_msg");
	//


	}

	if (item instanceof InterProcessTrigger) {
	/*-InterProcessTrigger trigger = (InterProcessTrigger) item;
	InterProcessStimulus stimulus = trigger.getStimulus();

	String stimName = stimulus.getName();
	String idlName = Utils.toIdlCompliantName(stimName + "_service");

	includes.add(stimName + "_service/srv/" + stimName + "_service" + ".hpp");
	clientDeclarations.add("rclcpp::Client<" + stimName + "_service::srv::" + idlName + ">::SharedPtr " + stimName + "_client");
	clientInits.add(stimName + "_client = this->create_client<" + stimName + "_service::srv::" + idlName + ">" + "(\"" + stimName + "_service\")");
	nodeParams.add(stimName + "_client");
	params.add("rclcpp::Client<" + stimName + "_service::srv::" + idlName + ">::SharedPtr& " + stimName + "_client");*/
	}

	if (item instanceof ChannelReceive) {


	ChannelReceive cr = (ChannelReceive) item;
	Channel data = cr.getData();
	String subLabelName = data.getName()+ "_sub_label";

	// check for the second channel receive
	//AmaltheaIndex.getElements(context, name, targetClass)
	// AmaltheaIndex.getElements((@NonNull Notifier) customObjsStore, subLabelName, customObjsStore.getInstance(RosLabelTransformer.class) );


	Label temp = AmaltheaFactory.eINSTANCE.createLabel();
	temp.setName(subLabelName);

	DataSize value = data.getSize();
	System.out.print(temp.getName()+": ");
	System.out.print(value +"\n");
	//temp.setSize(value); // transformation error


	// with injection
	microrosLabelTransformer.transform(temp);

	calls.add("//ChannelReceiveCall"); // temporary
	calls.add("read_"+temp.getName()+"("+value.getNumberBytes()+")");

	nodeParams.add("msg");
	params.add(" const std_msgs__msg__String * msg");
	calls.add("printf("+"\"Callback: I heard: %s\\n\""+ ", msg->data.data)");


	}

	final String call = graphItemTU.getCall();
	if (call != null && !call.isEmpty()) {
	calls.add(call);
	}
	}
	}

	protected void toH(SLGTranslationUnit tu, final HashSet<String> includes, final String fullCall, String fullCall_with_context) {
	for (String include : includes) {
	incAppend(tu, "#include \"" + include + "\"\n");
	}
	incAppend(tu, "void " + fullCall + ";\n");

	Runnable data = customObjsStore.getData(tu.getCall());
	EList<LocalModeLabel> localLabels = ((Runnable)data).getLocalLabels();


	if(localLabels.size()>0)
	incAppend(tu, "void " +fullCall_with_context+" ;\n");



	}

	protected void toCpp(SLGTranslationUnit tu, final String runnableName, final String fullCall, String fullCall_with_context, final List<String> calls, boolean measurePerformance,List<SwitchEntry> switchEntries, Map<SwitchEntry, List<String>> switchBasedCalls , Runnable runnable) {
	srcAppend(tu, "void " + fullCall + "{\n");
	if (measurePerformance) {
	srcAppend(tu,
	"uint64_t event_list[] = {0x11, 0x13, 0x17}; //CPU CYCLES, MEM ACCESS, L2 Cache Refill\n"
	+ "int total_events = sizeof(event_list)/sizeof(event_list[0]);\n"
	+ "int fd = instrument_start(0,event_list, total_events);\n");
	}

	for (String call : calls) {
	srcAppend(tu, "\t" + call + ";\n");
	}

	if (measurePerformance) {
	srcAppend(tu, "instrument_stop(fd, \"" + runnableName + ".log\");\n");
	}
	srcAppend(tu, "}\n\n");

	//Adding additional method

	if(runnable.getLocalLabels().size()>0) {

	srcAppend(tu, "void " + fullCall_with_context + "{\n"+ "\n");
	if (measurePerformance) {
	srcAppend(tu,
	"uint64_t event_list[] = {0x11, 0x13, 0x17}; //CPU CYCLES, MEM ACCESS, L2 Cache Refill\n"
	+ "int total_events = sizeof(event_list)/sizeof(event_list[0]);\n"
	+ "int fd = instrument_start(0,event_list, total_events);\n");
	}

	for(SwitchEntry switchEntry: switchEntries) {

	{
	srcAppend(tu, "if("+getConditionString(switchEntry)+"){" + "\n");

	for (String call : switchBasedCalls.get(switchEntry)) {
	srcAppend(tu, call + ";" + "\n");
	}
	srcAppend(tu, "\n" + "}" + "\n");
	}

	}

	if (measurePerformance) {
	srcAppend(tu, "instrument_stop(fd, \"" + runnableName + "_context.log\");\n");
	}
	srcAppend(tu, "}\n\n");
	}

	}

	@Override
	public boolean createCMake() {
	return outputBuffer.appendTo(
	"OTHER", MAKEFILE_PATH, MicroRosRunnableGenerator.toCMake(LIB_NAME, getSrcFiles()));
	}

	private Tag tag;
	public SLGTranslationUnit transform(Tag tag,Runnable runnable) {
	this.tag=tag;
	return super.transform(runnable);
	}

	private String getParamNames(EList<LocalModeLabel> localLabels) {

	List<String> ls=new ArrayList<String>();

	for (LocalModeLabel localModeLabel : localLabels) {
	ls.add("char* "+localModeLabel.getName());
	}

	return String.join(",", ls);
	}

	private String getConditionString(SwitchEntry switchEntry) {

	ConditionDisjunction condition = switchEntry.getCondition();

	if(condition !=null) {

	EList<ConditionDisjunctionEntry> entries = condition.getEntries();

	for (ConditionDisjunctionEntry conditionDisjunctionEntry : entries) {

	if(conditionDisjunctionEntry instanceof LocalModeCondition) {
	LocalModeLabel localLabel = ((LocalModeCondition) conditionDisjunctionEntry).getLabel();

	if(localLabel !=null) {

	String localVariableName = localLabel.getName();


	ILocalModeValueSource valueSource = ((LocalModeCondition) conditionDisjunctionEntry).getValueSource();

	if(valueSource !=null && valueSource instanceof ModeLiteralConst) {
	ModeLiteral value = ((ModeLiteralConst)valueSource).getValue();

	String caseName= value.getName();

	return "strcmp("+localVariableName+",\""+caseName+"\")==0";
	}
	}
	}
	}
	}



	return "false";
	}
	}