load_generator/ros2/plugins/org.eclipse.app4mc.slg.ros2/src/org/eclipse/app4mc/slg/ros2/generators/RosTagGenerator.xtend

/**
 * 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.HashSet
import java.util.List
import org.eclipse.app4mc.amalthea.model.StringObject
import org.eclipse.app4mc.amalthea.model.Tag

class RosTagGenerator {

	// Suppress default constructor
	private new() {
		throw new IllegalStateException("Utility class");
	}

	static def String toCpp(Tag tag, String moduleName, HashSet<String> headers,  List<String> declarations,
							List<String> inits, List<String> calls, List<String> serviceCallbacks) '''
		#include <chrono>
		#include <memory>
		
		#include "rclcpp/rclcpp.hpp"
		#include "std_msgs/msg/string.hpp"
									  
		«FOR header : headers»
			«header»
		«ENDFOR»
		
		using namespace std::chrono_literals;
		using std::placeholders::_1;
		
		«FOR serviceCallback : serviceCallbacks»
			«serviceCallback»
		«ENDFOR»
		
		class «moduleName» : public rclcpp::Node
		{
		private:
		  «FOR declaration : declarations»
		  	«declaration»
		  «ENDFOR»
		
			public:
			  «moduleName»()
			  : Node("«moduleName.toLowerCase»")
			  {
			  	«FOR init : inits»
			  		«init»
			  	«ENDFOR»
			  	
			  	}
			  	«FOR call : calls»
			  		«call»
			  	«ENDFOR»
			  	
				};
				
				int main(int argc, char * argv[])
				{		  
				  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
				   rclcpp::init(argc, argv);
				   «IF tag.customProperties.get('executor_type') !== null»
				   	«IF (tag.customProperties.get('executor_type') as StringObject).value.equals('single_thread')»
				   		rclcpp::executors::SingleThreadedExecutor executor;
				   	«ELSE»
				   		rclcpp::executors::MultiThreadedExecutor executor;
				   	«ENDIF»
				   «ELSE»
				   	rclcpp::executors::MultiThreadedExecutor executor;
				   «ENDIF»
				
				  auto node = std::make_shared<«moduleName»>();
				
				  executor.add_node(node);
				  executor.spin();
				
				  rclcpp::shutdown();
				
				  return 0;
				}
	'''

}