load_generator/ros2/plugins/org.eclipse.app4mc.slg.ros2/src/org/eclipse/app4mc/slg/ros2/generators/RosTaskTranslationUnit.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.LinkedHashSet;
import java.util.LinkedList;
import java.util.List;
import java.util.Set;
import java.util.function.BiConsumer;

import org.eclipse.app4mc.amalthea.model.ActivityGraphItem;
import org.eclipse.app4mc.amalthea.model.Component;
import org.eclipse.app4mc.amalthea.model.Group;
import org.eclipse.app4mc.amalthea.model.ITaggable;
import org.eclipse.app4mc.amalthea.model.InterProcessStimulus;
import org.eclipse.app4mc.amalthea.model.Runnable;
import org.eclipse.app4mc.amalthea.model.RunnableCall;
import org.eclipse.app4mc.amalthea.model.Stimulus;
import org.eclipse.app4mc.amalthea.model.Tag;
import org.eclipse.app4mc.amalthea.model.Task;
import org.eclipse.app4mc.slg.commons.m2t.generators.LabelTranslationUnit;
import org.eclipse.app4mc.slg.commons.m2t.generators.TaskTranslationUnit;
import org.eclipse.app4mc.slg.ros2.transformers.stimuli.RosInterProcessStimulusTransformer;
import org.eclipse.app4mc.slg.ros2.transformers.sw.RosLabelTransformer;
import org.eclipse.app4mc.slg.ros2.transformers.sw.RosRunnableTransformer;
import org.eclipse.app4mc.transformation.util.OutputBuffer;

public class RosTaskTranslationUnit extends TaskTranslationUnit {
	private RosInterProcessStimulusTransformer ipStimulusTransformer;
	private Task task;

	private final Set<String> includes = new LinkedHashSet<>();
	private final List<String> initCalls = new LinkedList<>();
	private final List<String> stepCalls = new LinkedList<>();
	private final List<Stimulus> stimuli = new ArrayList<>();
	private final List<String> publishers = new ArrayList<>();
	private final List<String> clientDeclarations = new ArrayList<>();
	private final List<String> clientInits = new ArrayList<>();

	public RosTaskTranslationUnit(final OutputBuffer outputBuffer, final RosRunnableTransformer transformerRunnable,
			final RosLabelTransformer transformerLabel, final RosInterProcessStimulusTransformer ipStimulusTransformer,
			final Task task, final Component c) {
		super(outputBuffer, transformerRunnable, transformerLabel, task);
		this.ipStimulusTransformer = ipStimulusTransformer;
		this.task = task;

		this.genFiles();
	}

	@Override
	public String getBasePath() {
		return "";
	}

	@Override
	public String getModuleName() {
		return this.task.getName();
	}

	@Override
	public void genFiles() {

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

				if ((item instanceof RunnableCall)) {
					final RunnableCall runnableCall = (RunnableCall) item;
					final Runnable runnable = runnableCall.getRunnable();

					RosRunnableTranslationUnit tu = (RosRunnableTranslationUnit) runnableTransformer.transform(runnable);
					includes.add(tu.getIncFile());

					if (hasTagNamed(runnableCall, "initialize")) {
						initCalls.add(tu.getNodeCall());
					} else {
						stepCalls.add(tu.getNodeCall());
					}

					// TODO: Make set
					publishers.addAll(tu.getPublishers());
					clientDeclarations.addAll(tu.getClientDeclarations());
					clientInits.addAll(tu.getClientInits());
					// TODO: add terminate function, if requested

				} else if (item instanceof Group) {
					final Group group = ((Group) item);
					for (ActivityGraphItem groupitem : group.getItems()) {
						if ((groupitem instanceof RunnableCall)) {
							final RunnableCall runnableCall = (RunnableCall) groupitem;
							final Runnable runnable = runnableCall.getRunnable();
							
							RosRunnableTranslationUnit tu = (RosRunnableTranslationUnit) runnableTransformer.transform(runnable);
							includes.add(tu.getIncFile());
							
							if (hasTagNamed(runnableCall, "initialize")) {
								initCalls.add((tu).getNodeCall());
							} else {
								stepCalls.add((tu).getNodeCall());
							}
							//TODO: add terminate function, if requested 
						}
					}
				}
			}
		}

		// labels must be initialized before usage, generated labels provide this method

		for (LabelTranslationUnit tu : labelTransformer.getCache().values()) {
			includes.add(tu.getIncFile());
			initCalls.add(tu.getInitCall());
		}

		labelTransformer.getCache().forEach(
				(BiConsumer<ArrayList<?>, LabelTranslationUnit>) (ArrayList<?> label, LabelTranslationUnit tu) -> {

				});

		// add header for srv file in case of an interprocessstimulus
		// create .srv file for the messages to be translated

		if (task != null) {
			for (Stimulus stimulus : task.getStimuli()) {
				if (stimulus instanceof InterProcessStimulus) {
					String name = stimulus.getName();
					includes.add(name + "_service/srv/" + name + "_service.hpp");

					ipStimulusTransformer.transform(((InterProcessStimulus) stimulus));
				}
			}
			
			stimuli.addAll(task.getStimuli());
		}

	}

	private boolean hasTagNamed(ITaggable element, String name) {
		for (Tag tag : element.getTags()) {
			if (tag.getName().equals(name))
				return true;
		}
		return false;
	}

	public String getDeclaration() {
		return RosTaskGenerator.getDeclaration(stimuli, publishers, clientDeclarations);
	}
	
	public String getInitialisation(String nodeName) {
		return RosTaskGenerator.getInitialisation(nodeName, stimuli, publishers, clientInits);
	}
	
	public String getServiceCallback() {
		return RosTaskGenerator.getServiceCallback(stimuli, stepCalls);
	}
	
	public String getCallback() {
		return RosTaskGenerator.getCallback(stimuli, stepCalls);
	}
	
	public String getHeaders() {
		return RosTaskGenerator.getHeaders(includes);
	}
}