load_generator/ros2/plugins/org.eclipse.app4mc.slg.ros2/src/org/eclipse/app4mc/slg/ros2/generators/RosRunnableTranslationUnit.java

/**
 * 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.ros2.generators;

import java.util.ArrayList;
import java.util.HashSet;
import java.util.LinkedHashSet;
import java.util.List;

import org.eclipse.app4mc.amalthea.model.ActivityGraphItem;
import org.eclipse.app4mc.amalthea.model.BooleanObject;
import org.eclipse.app4mc.amalthea.model.Channel;
import org.eclipse.app4mc.amalthea.model.ChannelSend;
import org.eclipse.app4mc.amalthea.model.InterProcessStimulus;
import org.eclipse.app4mc.amalthea.model.InterProcessTrigger;
import org.eclipse.app4mc.slg.commons.m2t.generators.RunnableTranslationUnit;
import org.eclipse.app4mc.slg.commons.m2t.generators.TranslationUnit;
import org.eclipse.app4mc.slg.commons.m2t.transformers.sw.ActivityGraphItemTransformer;
import org.eclipse.app4mc.slg.ros2.transformers.utils.Utils;
import org.eclipse.app4mc.transformation.util.OutputBuffer;

public class RosRunnableTranslationUnit extends RunnableTranslationUnit {
	private String param;
	private String nodeParam;
	private boolean measurePerformance;
	private List<String> publishers;
	private List<String> client_declarations;
	private List<String> client_inits;

	public RosRunnableTranslationUnit(final OutputBuffer outputBuffer, final ActivityGraphItemTransformer transformer,
			final org.eclipse.app4mc.amalthea.model.Runnable runnable) {
		super(outputBuffer, transformer, runnable);
	}

	@Override
	public String getCall() {
		return "run_" + runnable.getName() + "(" + param + ")";
	}

	public String getNodeCall() {
		return "run_" + runnable.getName() + "(" + nodeParam + ")";
	}

	public List<String> getPublishers() {
		return this.publishers;
	}

	public List<String> getClientDeclarations() {
		return this.client_declarations;
	}

	public List<String> getClientInits() {
		return this.client_inits;
	}

	@Override
	public void genFiles() {
		param = "";
		nodeParam = "";
		publishers = new ArrayList<>();
		client_declarations = new ArrayList<>();
		client_inits = new ArrayList<>();

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

		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");
		}

		if (runnable != null && runnable.getActivityGraph() != null) {
			for (ActivityGraphItem item : runnable.getActivityGraph().getItems()) {

				final TranslationUnit tmp = callGraphItemTransformer.transform(item);
				if (tmp.getIncFile() != null && !tmp.getIncFile().isEmpty() && !getIncFile().equals(tmp.getIncFile())) {
					includes.add(tmp.getIncFile());
				}

				// check if item is publisher

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

					publishers.add(data.getName() + "_publisher");

					nodeParam = nodeParam + ((nodeParam.equals("")) ? "" : ";") + data.getName() + "_publisher";
					param = ((param.equals("")) ? "" : ";") + "rclcpp::Publisher<std_msgs::msg::String>::SharedPtr& "
							+ data.getName() + "_publisher";
				}

				if ((item instanceof InterProcessTrigger)) {
					InterProcessTrigger trigger = (InterProcessTrigger) item;
					InterProcessStimulus stimulus = trigger.getStimulus();
					
					includes.add(stimulus.getName() + "_service/srv/" + stimulus.getName() + "_service" + ".hpp");
					client_declarations.add(
							"rclcpp::Client<" + stimulus.getName() + "_service::srv::"
							+ Utils.toIdlCompliantName(stimulus.getName() + "_service")
							+ ">::SharedPtr " + stimulus.getName() + "_client");
					client_inits.add(
							stimulus.getName() + "_client =  this->create_client<" + stimulus.getName() + "_service::srv::"
							+ Utils.toIdlCompliantName(stimulus.getName() + "_service") + ">"
							+ "(\"" + stimulus.getName() + "_service\")");
					nodeParam = nodeParam + (nodeParam.equals("") ? "" : ";") + stimulus.getName() + "_client";
					param = (param.equals("") ? "" : ";") + "rclcpp::Client<"
							+ stimulus.getName() + "_service::srv::" + Utils.toIdlCompliantName(stimulus.getName() + "_service")
							+ ">::SharedPtr& " + stimulus.getName() + "_client";
				}

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

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

		// write body
		srcAppend("\n//Runnable " + runnable.getName() + "----\n");
		toCpp(includes, calls);
	}

	@Override
	public void toH(final HashSet<String> includes) {
		for (String include : includes) {
			incAppend("#include \"" + include + "\"\n");
		}
		incAppend("void " + getCall() + ";\n");
	}

	@Override
	public void toCpp(final HashSet<String> includes, final List<String> calls) {
		this.srcAppend("void " + this.getCall() + "{\n");
		if (measurePerformance) {
			srcAppend(
				"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("\t" + call + ";\n");
		}

		if (this.measurePerformance) {
			this.srcAppend("instrument_stop(fd, \"" + runnable.getName() + ".log\");\n");
		}
		this.srcAppend("}\n\n");
	}

}