| /** |
| * 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 com.google.inject.Inject |
| import com.google.inject.Singleton |
| import java.util.HashSet |
| import java.util.Set |
| import org.eclipse.app4mc.amalthea.model.ActivityGraphItem |
| import org.eclipse.app4mc.amalthea.model.Amalthea |
| import org.eclipse.app4mc.amalthea.model.BooleanObject |
| 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.LabelAccess |
| import org.eclipse.app4mc.amalthea.model.RunnableCall |
| import org.eclipse.app4mc.amalthea.model.Tag |
| import org.eclipse.app4mc.amalthea.model.Task |
| import org.eclipse.app4mc.amalthea.model.Ticks |
| import org.eclipse.app4mc.slg.commons.m2t.transformers.AmaltheaModel2TextTransformer |
| import org.eclipse.app4mc.slg.commons.m2t.transformers.TicksUtilsTransformer |
| import org.eclipse.app4mc.slg.ros2.generators.RosAmlTranslationUnit |
| import org.eclipse.app4mc.slg.ros2.transformers.common.RosTagTransformer |
| import org.eclipse.app4mc.slg.ros2.transformers.sw.RosLabelTransformer |
| import org.eclipse.app4mc.transformation.util.OutputBuffer |
| |
| @Singleton |
| class RosModel2TextGenerator { |
| |
| static def String toLaunchFile(Set<String> nodes) ''' |
| from launch import LaunchDescription |
| from launch_ros.actions import Node |
| |
| def generate_launch_description(): |
| return LaunchDescription([ |
| «FOR node : nodes» |
| Node( |
| package='amalthea_ros_model', |
| node_namespace='', |
| node_executable='«node»', |
| ), |
| «ENDFOR» |
| ]) |
| ''' |
| |
| static def String toBuildScript(Set<String> services) ''' |
| «FOR service : services» |
| #building service «service» |
| |
| cd services/«service» |
| colcon build |
| . install/setup.bash |
| cd ../.. |
| |
| «ENDFOR» |
| colcon build |
| . install/setup.bash |
| ''' |
| |
| // TODO: define attributes via ConfigModel |
| static def String toPackageXml(Set<String> services) ''' |
| <?xml version="1.0"?> |
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> |
| <package format="3"> |
| <name>amalthea_ros_model</name> |
| <version>0.0.0</version> |
| <description>TODO: Package description</description> |
| <maintainer email="fixedterm.Patrick.Will@de.bosch.com">wlp8fe</maintainer> |
| <license>TODO: License declaration</license> |
| |
| <buildtool_depend>ament_cmake</buildtool_depend> |
| <depend>rclcpp</depend> |
| <depend>std_msgs</depend> |
| |
| «FOR service : services» |
| <depend>«service»</depend> |
| «ENDFOR» |
| |
| <test_depend>ament_lint_auto</test_depend> |
| <test_depend>ament_lint_common</test_depend> |
| |
| <export> |
| <build_type>ament_cmake</build_type> |
| </export> |
| </package> |
| ''' |
| |
| static def String toCmake(Set<String> tags, Set<String> services, boolean label, boolean ticks, boolean interprocess, boolean channelSend, boolean performance_measurement) ''' |
| # CMakeLists for Nodes |
| cmake_minimum_required(VERSION 3.5) |
| project(amalthea_ros_model) |
| |
| # Default to C++14 |
| if(NOT CMAKE_CXX_STANDARD) |
| set(CMAKE_CXX_STANDARD 14) |
| endif() |
| |
| if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") |
| add_compile_options(-Wall -Wextra -Wpedantic) |
| endif() |
| |
| |
| find_package(ament_cmake REQUIRED) |
| find_package(rclcpp REQUIRED) |
| find_package(std_msgs REQUIRED) |
| |
| «FOR service : services» |
| find_package(«service» REQUIRED) |
| «ENDFOR» |
| |
| «IF channelSend» |
| add_library(CHANNELSEND_UTILS STATIC |
| synthetic_gen/channelSendUtils/_src/channelSendUtils.cpp |
| ) |
| |
| ament_target_dependencies(CHANNELSEND_UTILS rclcpp std_msgs) |
| |
| |
| target_include_directories(CHANNELSEND_UTILS |
| PUBLIC synthetic_gen/channelSendUtils/_inc/ |
| ) |
| «ENDIF» |
| |
| |
| |
| «««Only to compile if there are InterProcessTriggers»»» |
| «IF interprocess» |
| add_library(INTERPROCESSTRIGGER_UTIL STATIC |
| synthetic_gen/interProcessTriggerUtils/_src/interProcessTriggerUtils.cpp |
| ) |
| ament_target_dependencies(INTERPROCESSTRIGGER_UTIL rclcpp «FOR service : services»«service» «ENDFOR») |
| target_include_directories(INTERPROCESSTRIGGER_UTIL |
| PUBLIC synthetic_gen/interProcessTriggerUtils/_inc |
| ) |
| «ENDIF» |
| |
| «IF performance_measurement» |
| add_library(AML_LIB STATIC |
| utils/aml/src/aml.cpp |
| ) |
| target_include_directories(AML_LIB |
| PUBLIC utils/aml/inc/ |
| ) |
| «ENDIF» |
| |
| «IF label» |
| add_subdirectory (synthetic_gen/labels) |
| «ENDIF» |
| «IF ticks» |
| add_subdirectory (synthetic_gen/ticksUtils) |
| «ENDIF» |
| |
| # RUNNABLES_LIB ################################################################ |
| |
| #### |
| add_library(RUNNABLES_LIB STATIC |
| synthetic_gen/runnables/_src/runnables.cpp |
| ) |
| |
| target_include_directories(RUNNABLES_LIB |
| PUBLIC synthetic_gen/runnables/_inc |
| ) |
| |
| |
| target_include_directories(RUNNABLES_LIB |
| PUBLIC |
| «IF ticks» |
| synthetic_gen/ticksUtils/_inc |
| «ENDIF» |
| «IF label» |
| synthetic_gen/labels/_inc |
| «ENDIF» |
| «IF channelSend» |
| synthetic_gen/channelSendUtils/_inc |
| «ENDIF» |
| «IF interprocess» |
| synthetic_gen/interProcessTriggerUtils/_inc |
| «ENDIF» |
| «IF performance_measurement» |
| utils/aml/inc |
| «ENDIF» |
| ) |
| target_link_libraries(RUNNABLES_LIB |
| PRIVATE «IF performance_measurement»AML_LIB«ENDIF» «IF label»LABELS_LIB«ENDIF» «IF ticks»TICKS_UTILS«ENDIF» «IF channelSend»CHANNELSEND_UTILS«ENDIF» «IF interprocess»INTERPROCESSTRIGGER_UTIL«ENDIF» |
| ) |
| |
| |
| |
| «FOR tag : tags» |
| add_executable(«tag» «tag»/_src/«tag».cpp) |
| target_link_libraries(«tag» «IF label»LABELS_LIB«ENDIF» RUNNABLES_LIB) |
| ament_target_dependencies(«tag» rclcpp std_msgs «FOR service : services»«service» «ENDFOR») |
| «ENDFOR» |
| |
| |
| install(TARGETS |
| «FOR tag : tags» |
| «tag» |
| «ENDFOR» |
| DESTINATION lib/${PROJECT_NAME}) |
| |
| ament_package() |
| |
| |
| ''' |
| |
| } |