load_generator/ros2/plugins/org.eclipse.app4mc.slg.ros2/src/org/eclipse/app4mc/slg/ros2/translationUnits/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.translationUnits;

import java.util.ArrayList;
import java.util.LinkedHashSet;
import java.util.function.Consumer;
import org.eclipse.app4mc.amalthea.model.ActivityGraph;
import org.eclipse.app4mc.amalthea.model.ActivityGraphItem;
import org.eclipse.app4mc.amalthea.model.BooleanObject;
import org.eclipse.app4mc.amalthea.model.ChannelSend;
import org.eclipse.app4mc.amalthea.model.InterProcessTrigger;
import org.eclipse.app4mc.amalthea.model.Value;
import org.eclipse.app4mc.slg.commons.m2t.transformers.ActivityGraphItemTransformer;
import org.eclipse.app4mc.slg.commons.m2t.translationUnits.RunnableTranslationUnit;
import org.eclipse.app4mc.slg.commons.m2t.translationUnits.TranslationUnit;
import org.eclipse.app4mc.slg.ros2.transformers.utils.Utils;
import org.eclipse.app4mc.transformation.util.OutputBuffer;
import org.eclipse.emf.common.util.EList;
import org.eclipse.emf.common.util.EMap;
import org.eclipse.xtend2.lib.StringConcatenation;
import org.eclipse.xtext.xbase.lib.StringExtensions;

public class RosRunnableTranslationUnit extends RunnableTranslationUnit {
  private String param;
  
  private String nodeParam;
  
  private boolean measure_performance;
  
  private ArrayList<String> publishers;
  
  private ArrayList<String> client_declarations;
  
  private ArrayList<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() {
    StringConcatenation _builder = new StringConcatenation();
    _builder.append("run_");
    String _name = this.runnable.getName();
    _builder.append(_name);
    _builder.append("(");
    _builder.append(this.param);
    _builder.append(")");
    return _builder.toString();
  }
  
  public String getNodeCall() {
    StringConcatenation _builder = new StringConcatenation();
    _builder.append("run_");
    String _name = this.runnable.getName();
    _builder.append(_name);
    _builder.append("(");
    _builder.append(this.nodeParam);
    _builder.append(")");
    return _builder.toString();
  }
  
  public ArrayList<String> getPublishers() {
    return this.publishers;
  }
  
  public ArrayList<String> getClientDeclarations() {
    return this.client_declarations;
  }
  
  public ArrayList<String> getClientInits() {
    return this.client_inits;
  }
  
  @Override
  public boolean genFiles() {
    boolean _xblockexpression = false;
    {
      this.param = "";
      this.nodeParam = "";
      ArrayList<String> _arrayList = new ArrayList<String>();
      this.publishers = _arrayList;
      ArrayList<String> _arrayList_1 = new ArrayList<String>();
      this.client_declarations = _arrayList_1;
      ArrayList<String> _arrayList_2 = new ArrayList<String>();
      this.client_inits = _arrayList_2;
      boolean _isSrcFileEmpty = this.isSrcFileEmpty();
      if (_isSrcFileEmpty) {
        String _incFile = this.getIncFile();
        String _plus = ("#include \"" + _incFile);
        String _plus_1 = (_plus + "\"\n");
        this.srcAppend(_plus_1);
      }
      final LinkedHashSet<String> includes = new LinkedHashSet<String>();
      final ArrayList<String> calls = new ArrayList<String>();
      EMap<String, Value> _customProperties = null;
      if (this.runnable!=null) {
        _customProperties=this.runnable.getCustomProperties();
      }
      Value _get = null;
      if (_customProperties!=null) {
        _get=_customProperties.get("measure_performance");
      }
      boolean _isValue = false;
      if (((BooleanObject) _get)!=null) {
        _isValue=((BooleanObject) _get).isValue();
      }
      if (_isValue) {
        includes.add("aml.h");
        this.measure_performance = true;
      }
      ActivityGraph _activityGraph = null;
      if (this.runnable!=null) {
        _activityGraph=this.runnable.getActivityGraph();
      }
      EList<ActivityGraphItem> _items = null;
      if (_activityGraph!=null) {
        _items=_activityGraph.getItems();
      }
      final Consumer<ActivityGraphItem> _function = (ActivityGraphItem item) -> {
        final TranslationUnit tmp = this.callGraphItemTransformer.transform(((ActivityGraphItem) item));
        if (((!StringExtensions.isNullOrEmpty(tmp.getIncFile())) && (!this.getIncFile().equals(tmp.getIncFile())))) {
          includes.add(tmp.getIncFile());
        }
        if ((item instanceof ChannelSend)) {
          String _name = ((ChannelSend) item).getData().getName();
          String _plus_2 = (_name + "_publisher");
          this.publishers.add(_plus_2);
          String _nodeParam = this.nodeParam;
          String _xifexpression = null;
          boolean _equals = this.nodeParam.equals("");
          if (_equals) {
            _xifexpression = "";
          } else {
            _xifexpression = ";";
          }
          String _name_1 = ((ChannelSend) item).getData().getName();
          String _plus_3 = (_xifexpression + _name_1);
          String _plus_4 = (_plus_3 + "_publisher");
          this.nodeParam = (_nodeParam + _plus_4);
          String _xifexpression_1 = null;
          boolean _equals_1 = this.param.equals("");
          if (_equals_1) {
            _xifexpression_1 = "";
          } else {
            _xifexpression_1 = ";";
          }
          String _plus_5 = (_xifexpression_1 + "rclcpp::Publisher<std_msgs::msg::String>::SharedPtr& ");
          String _name_2 = ((ChannelSend) item).getData().getName();
          String _plus_6 = (_plus_5 + _name_2);
          String _plus_7 = (_plus_6 + "_publisher");
          this.param = _plus_7;
        }
        if ((item instanceof InterProcessTrigger)) {
          String _name_3 = ((InterProcessTrigger)item).getStimulus().getName();
          String _plus_8 = (_name_3 + "_service/srv/");
          String _name_4 = ((InterProcessTrigger)item).getStimulus().getName();
          String _plus_9 = (_plus_8 + _name_4);
          String _plus_10 = (_plus_9 + "_service");
          String _plus_11 = (_plus_10 + ".hpp");
          includes.add(_plus_11);
          String _name_5 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_12 = ("rclcpp::Client<" + _name_5);
          String _plus_13 = (_plus_12 + "_service::srv::");
          String _name_6 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_14 = (_name_6 + "_service");
          String _idlCompliantName = Utils.toIdlCompliantName(_plus_14);
          String _plus_15 = (_plus_13 + _idlCompliantName);
          String _plus_16 = (_plus_15 + 
            ">::SharedPtr ");
          String _name_7 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_17 = (_plus_16 + _name_7);
          String _plus_18 = (_plus_17 + "_client");
          this.client_declarations.add(_plus_18);
          String _name_8 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_19 = (_name_8 + "_client =  this->create_client<");
          String _name_9 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_20 = (_plus_19 + _name_9);
          String _plus_21 = (_plus_20 + "_service::srv::");
          String _name_10 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_22 = (_name_10 + "_service");
          String _idlCompliantName_1 = Utils.toIdlCompliantName(_plus_22);
          String _plus_23 = (_plus_21 + _idlCompliantName_1);
          String _plus_24 = (_plus_23 + ">");
          String _plus_25 = (_plus_24 + 
            "(\"");
          String _name_11 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_26 = (_plus_25 + _name_11);
          String _plus_27 = (_plus_26 + "_service\")");
          this.client_inits.add(_plus_27);
          String _nodeParam_1 = this.nodeParam;
          String _xifexpression_2 = null;
          boolean _equals_2 = this.nodeParam.equals("");
          if (_equals_2) {
            _xifexpression_2 = "";
          } else {
            _xifexpression_2 = ";";
          }
          String _name_12 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_28 = (_xifexpression_2 + _name_12);
          String _plus_29 = (_plus_28 + "_client");
          this.nodeParam = (_nodeParam_1 + _plus_29);
          String _xifexpression_3 = null;
          boolean _equals_3 = this.param.equals("");
          if (_equals_3) {
            _xifexpression_3 = "";
          } else {
            _xifexpression_3 = ";";
          }
          String _plus_30 = (_xifexpression_3 + "rclcpp::Client<");
          String _name_13 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_31 = (_plus_30 + _name_13);
          String _plus_32 = (_plus_31 + "_service::srv::");
          String _name_14 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_33 = (_name_14 + "_service");
          String _idlCompliantName_2 = Utils.toIdlCompliantName(_plus_33);
          String _plus_34 = (_plus_32 + _idlCompliantName_2);
          String _plus_35 = (_plus_34 + 
            ">::SharedPtr& ");
          String _name_15 = ((InterProcessTrigger) item).getStimulus().getName();
          String _plus_36 = (_plus_35 + _name_15);
          String _plus_37 = (_plus_36 + "_client");
          this.param = _plus_37;
        }
        final String call = tmp.getCall();
        boolean _isNullOrEmpty = StringExtensions.isNullOrEmpty(call);
        boolean _not = (!_isNullOrEmpty);
        if (_not) {
          calls.add(call);
        }
      };
      _items.forEach(_function);
      String _name = this.runnable.getName();
      String _plus_2 = ("\n//Runnable " + _name);
      String _plus_3 = (_plus_2 + "----\n");
      this.incAppend(_plus_3);
      this.toH(includes);
      String _name_1 = this.runnable.getName();
      String _plus_4 = ("\n//Runnable " + _name_1);
      String _plus_5 = (_plus_4 + "----\n");
      this.srcAppend(_plus_5);
      _xblockexpression = this.toCpp(includes, calls);
    }
    return _xblockexpression;
  }
  
  @Override
  public boolean toH(final LinkedHashSet<String> includes) {
    boolean _xblockexpression = false;
    {
      final Consumer<String> _function = (String include) -> {
        this.incAppend((("#include \"" + include) + "\"\n"));
      };
      includes.forEach(_function);
      StringConcatenation _builder = new StringConcatenation();
      _builder.append("void ");
      String _call = this.getCall();
      _builder.append(_call);
      _builder.append(";");
      _builder.newLineIfNotEmpty();
      _xblockexpression = this.incAppend(_builder.toString());
    }
    return _xblockexpression;
  }
  
  @Override
  public boolean toCpp(final LinkedHashSet<String> includes, final ArrayList<String> calls) {
    boolean _xblockexpression = false;
    {
      String _call = this.getCall();
      String _plus = ("void " + _call);
      String _plus_1 = (_plus + "{\n");
      this.srcAppend(_plus_1);
      if (this.measure_performance) {
        StringConcatenation _builder = new StringConcatenation();
        _builder.append("uint64_t event_list[] = {0x11, 0x13, 0x17}; //CPU CYCLES, MEM ACCESS, L2 Cache Refill");
        _builder.newLine();
        _builder.append("int total_events =  sizeof(event_list)/sizeof(event_list[0]);");
        _builder.newLine();
        _builder.append("int fd = instrument_start(0,event_list, total_events);");
        _builder.newLine();
        this.srcAppend(_builder.toString());
      }
      final Consumer<String> _function = (String call) -> {
        this.srcAppend((("\t" + call) + ";\n"));
      };
      calls.forEach(_function);
      if (this.measure_performance) {
        StringConcatenation _builder_1 = new StringConcatenation();
        _builder_1.append("instrument_stop(fd, \"");
        String _name = this.runnable.getName();
        _builder_1.append(_name);
        _builder_1.append(".log\");");
        _builder_1.newLineIfNotEmpty();
        this.srcAppend(_builder_1.toString());
      }
      _xblockexpression = this.srcAppend("}\n\n");
    }
    return _xblockexpression;
  }
}