load_generator/ros2/plugins/org.eclipse.app4mc.slg.ros2/src/org/eclipse/app4mc/slg/ros2/transformers/sw/RosRunnableTransformer.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.transformers.sw;

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.amalthea.model.Runnable;
import org.eclipse.app4mc.slg.commons.m2t.transformers.SLGTranslationUnit;
import org.eclipse.app4mc.slg.commons.m2t.transformers.sw.RunnableTransformer;
import org.eclipse.app4mc.slg.ros2.generators.RosRunnableGenerator;
import org.eclipse.app4mc.slg.ros2.transformers.utils.Utils;
import org.eclipse.app4mc.transformation.util.OutputBuffer;

import com.google.inject.Inject;

public class RosRunnableTransformer extends RunnableTransformer {

	public static final String LIB_NAME = "RUNNABLES_LIB";
	public static final String BASE_PATH = "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 RosActivityGraphItemTransformer activityGraphItemTransformer;
	@Inject private RosRunnableCache rosRunnableCache;

	@Override
	public void genFiles(SLGTranslationUnit tu, Runnable runnable) {
		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

		String param = "";
		String nodeParam = "";
		final List<String> publishers = new ArrayList<>();
		final List<String> clientDeclarations = new ArrayList<>();
		final List<String> clientInits = new ArrayList<>();

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

				final SLGTranslationUnit graphItemTU = activityGraphItemTransformer.transform(item);
				String graphItemIncFile = getIncFile(graphItemTU);
				if (graphItemIncFile != null && !graphItemIncFile.isEmpty() && !getIncFile(tu).equals(graphItemIncFile)) {
					includes.add(graphItemIncFile);
				}

				// 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");
					clientDeclarations.add(
							"rclcpp::Client<" + stimulus.getName() + "_service::srv::"
							+ Utils.toIdlCompliantName(stimulus.getName() + "_service")
							+ ">::SharedPtr " + stimulus.getName() + "_client");
					clientInits.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 = graphItemTU.getCall();
				if (call != null && !call.isEmpty()) {
					calls.add(call);
				}
			}
		}

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

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

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

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

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

	private void toCpp(SLGTranslationUnit tu, final String runnableName, final String fullCall, final List<String> calls, boolean measurePerformance) {
		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");
	}

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

}