load_generator/ros2/plugins/org.eclipse.app4mc.slg.ros2/src/org/eclipse/app4mc/slg/ros2/generators/RosTagTranslationUnit.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.HashSet;
import java.util.LinkedList;
import java.util.function.Consumer;

import org.eclipse.app4mc.amalthea.model.Amalthea;
import org.eclipse.app4mc.amalthea.model.SWModel;
import org.eclipse.app4mc.amalthea.model.StringObject;
import org.eclipse.app4mc.amalthea.model.Tag;
import org.eclipse.app4mc.amalthea.model.Task;
import org.eclipse.app4mc.amalthea.model.Value;
import org.eclipse.app4mc.slg.commons.m2t.generators.TaskTranslationUnit;
import org.eclipse.app4mc.slg.commons.m2t.generators.TranslationUnit;
import org.eclipse.app4mc.slg.ros2.transformers.RosTaskTransformer;
import org.eclipse.app4mc.transformation.util.OutputBuffer;
import org.eclipse.emf.common.util.EList;
import org.eclipse.xtend2.lib.StringConcatenation;

public class RosTagTranslationUnit extends TranslationUnit {
	private RosTaskTransformer rosTransformerTask;

	private Tag tag;

	private Amalthea model;

	private HashSet<String> header = new HashSet<>();

	private LinkedList<String> declaration = new LinkedList<>();

	private LinkedList<String> initialization = new LinkedList<>();

	private LinkedList<String> calls = new LinkedList<>();

	private LinkedList<String> serviceCallbacks = new LinkedList<>();

	private OutputBuffer outputBuffer;

	public RosTagTranslationUnit(final OutputBuffer outputBuffer, final RosTaskTransformer rosTransformerTask,
			final Tag tag, final Amalthea model) {
		super();
		this.tag = tag;
		this.model = model;
		this.rosTransformerTask = rosTransformerTask;
		this.outputBuffer = outputBuffer;
		this.genFiles();
	}

	public boolean genFiles() {
		boolean _xblockexpression = false;
		{
			SWModel _swModel = null;
			if (this.model != null) {
				_swModel = this.model.getSwModel();
			}
			EList<Task> _tasks = null;
			if (_swModel != null) {
				_tasks = _swModel.getTasks();
			}
			final Consumer<Task> _function = (Task task) -> {
				boolean _contains = task.getTags().contains(this.tag);
				if (_contains) {
					TaskTranslationUnit _transform = this.rosTransformerTask.transform(task, null);
					final RosTaskTranslationUnit tu = ((RosTaskTranslationUnit) _transform);
					this.header.add(tu.getHeaders().toString());
					this.declaration.add(tu.getDeclaration().toString());
					this.initialization.add(tu.getInitialisation(this.getModuleName()).toString());
					this.calls.add(tu.getCallback().toString());
					this.serviceCallbacks.add(tu.getServiceCallback().toString());
				}
			};
			_tasks.forEach(_function);
			_xblockexpression = this.srcAppend(
					this.toCpp(this.header, this.declaration, this.initialization, this.calls, this.serviceCallbacks));
		}
		return _xblockexpression;
	}

	public String getBasePath() {
		return "";
	}

	public String getModuleName() {
		return this.tag.getName();
	}

	private String toCpp(final HashSet<String> headers, final LinkedList<String> declarations,
			final LinkedList<String> inits, final LinkedList<String> calls, final LinkedList<String> serviceCallbacks) {
		StringConcatenation _builder = new StringConcatenation();
		_builder.append("#include <chrono>");
		_builder.newLine();
		_builder.append("#include <memory>");
		_builder.newLine();
		_builder.newLine();
		_builder.append("#include \"rclcpp/rclcpp.hpp\"");
		_builder.newLine();
		_builder.append("#include \"std_msgs/msg/string.hpp\"");
		_builder.newLine();
		_builder.append("\t\t\t\t\t\t\t  ");
		_builder.newLine();
		{
			for (final String header : headers) {
				_builder.append(header);
				_builder.newLineIfNotEmpty();
			}
		}
		_builder.newLine();
		_builder.append("using namespace std::chrono_literals;");
		_builder.newLine();
		_builder.append("using std::placeholders::_1;");
		_builder.newLine();
		_builder.newLine();
		{
			for (final String serviceCallback : serviceCallbacks) {
				_builder.append(serviceCallback);
				_builder.newLineIfNotEmpty();
			}
		}
		_builder.newLine();
		_builder.append("class ");
		String _moduleName = this.getModuleName();
		_builder.append(_moduleName);
		_builder.append(" : public rclcpp::Node");
		_builder.newLineIfNotEmpty();
		_builder.append("{");
		_builder.newLine();
		_builder.append("private:");
		_builder.newLine();
		{
			for (final String declaration : declarations) {
				_builder.append("  ");
				_builder.append(declaration, "  ");
				_builder.newLineIfNotEmpty();
			}
		}
		_builder.newLine();
		_builder.append("\t");
		_builder.append("public:");
		_builder.newLine();
		_builder.append("\t  ");
		String _moduleName_1 = this.getModuleName();
		_builder.append(_moduleName_1, "\t  ");
		_builder.append("()");
		_builder.newLineIfNotEmpty();
		_builder.append("\t  ");
		_builder.append(": Node(\"");
		String _lowerCase = this.getModuleName().toLowerCase();
		_builder.append(_lowerCase, "\t  ");
		_builder.append("\")");
		_builder.newLineIfNotEmpty();
		_builder.append("\t  ");
		_builder.append("{");
		_builder.newLine();
		{
			for (final String init : inits) {
				_builder.append("\t  \t");
				_builder.append(init, "\t  \t");
				_builder.newLineIfNotEmpty();
			}
		}
		_builder.append("\t  \t");
		_builder.newLine();
		_builder.append("\t  \t");
		_builder.append("}");
		_builder.newLine();
		{
			for (final String call : calls) {
				_builder.append("\t  \t");
				_builder.append(call, "\t  \t");
				_builder.newLineIfNotEmpty();
			}
		}
		_builder.append("\t  \t");
		_builder.newLine();
		_builder.append("\t\t");
		_builder.append("};");
		_builder.newLine();
		_builder.append("\t\t");
		_builder.newLine();
		_builder.append("\t\t");
		_builder.append("int main(int argc, char * argv[])");
		_builder.newLine();
		_builder.append("\t\t");
		_builder.append("{\t\t  ");
		_builder.newLine();
		_builder.append("\t\t  ");
		_builder.append("setvbuf(stdout, NULL, _IONBF, BUFSIZ);");
		_builder.newLine();
		_builder.append("\t\t   ");
		_builder.append("rclcpp::init(argc, argv);");
		_builder.newLine();
		{
			Value _get = this.tag.getCustomProperties().get("executor_type");
			boolean _tripleNotEquals = (_get != null);
			if (_tripleNotEquals) {
				{
					Value _get_1 = this.tag.getCustomProperties().get("executor_type");
					boolean _equals = ((StringObject) _get_1).getValue().equals("single_thread");
					if (_equals) {
						_builder.append("\t\t   ");
						_builder.append("rclcpp::executors::SingleThreadedExecutor executor;");
						_builder.newLine();
					} else {
						_builder.append("\t\t   ");
						_builder.append("rclcpp::executors::MultiThreadedExecutor executor;");
						_builder.newLine();
					}
				}
			} else {
				_builder.append("\t\t   ");
				_builder.append("rclcpp::executors::MultiThreadedExecutor executor;");
				_builder.newLine();
			}
		}
		_builder.append("\t\t");
		_builder.newLine();
		_builder.append("\t\t  ");
		_builder.append("auto node = std::make_shared<");
		String _moduleName_2 = this.getModuleName();
		_builder.append(_moduleName_2, "\t\t  ");
		_builder.append(">();");
		_builder.newLineIfNotEmpty();
		_builder.append("\t\t");
		_builder.newLine();
		_builder.append("\t\t  ");
		_builder.append("executor.add_node(node);");
		_builder.newLine();
		_builder.append("\t\t  ");
		_builder.append("executor.spin();");
		_builder.newLine();
		_builder.append("\t\t");
		_builder.newLine();
		_builder.append("\t\t  ");
		_builder.append("rclcpp::shutdown();");
		_builder.newLine();
		_builder.append("\t\t");
		_builder.newLine();
		_builder.append("\t\t  ");
		_builder.append("return 0;");
		_builder.newLine();
		_builder.append("\t\t");
		_builder.append("}");
		_builder.newLine();
		return _builder.toString();
	}

	public String getModulePath() {
		return getBasePath() + "/" + getModuleName();
	}

	@Override
	public String getIncFile() {
		return getModuleName() + ".hpp";
	}

	@Override
	public String getSrcFile() {
		return getModuleName() + ".cpp";
	}

	public String getIncPath() {
		return getModulePath() + "/_inc/" + getIncFile();
	}

	public String getSrcPath() {
		return getModulePath() + "/_src/" + getSrcFile();
	}

	public boolean isIncFileEmpty() {
		return !outputBuffer.bufferExists("H", getModulePath() + "/_inc/" + getModuleName());
	}

	public boolean isSrcFileEmpty() {
		return !outputBuffer.bufferExists("C", getModulePath() + "/_src/" + getModuleName());
	}

	public boolean incAppend(final String str) {
		return outputBuffer.appendTo("H", getModulePath() + "/_inc/" + getModuleName(), str);
	}

	public boolean srcAppend(final String str) {
		return outputBuffer.appendTo("C", getModulePath() + "/_src/" + getModuleName(), str);
	}

}