Bug 571655 - [Robotics] Existing components not included as dependencies in system assembly projects
- Calculate full list of components, i.e. also those defined in other packages if a system is present
- Use full list of components for package.xml, use lists of components defined in current package as
well as full list for CMakeLists
Change-Id: Ia1849325fa622133ec29a2aa4e22fcc14ac5554f
Signed-off-by: Ansgar Radermacher <ansgar.radermacher@cea.fr>
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/RosTransformations.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/RosTransformations.xtend
index 128136f..111108b 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/RosTransformations.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/RosTransformations.xtend
@@ -1,5 +1,5 @@
/*****************************************************************************
- * Copyright (c) 2018 CEA LIST.
+ * Copyright (c) 2018, 2021 CEA LIST.
*
*
* All rights reserved. This program and the accompanying materials
@@ -10,6 +10,7 @@
* Contributors:
* Ansgar Radermacher ansgar.radermacher@cea.fr
* Matteo MORELLI matteo.morelli@cea.fr - Bug #566899
+ * Ansgar Radermacher ansgar.radermacher@cea.fr - Bug #571655
*
*****************************************************************************/
@@ -39,6 +40,7 @@
import org.eclipse.papyrus.uml.tools.utils.PackageUtil
import org.eclipse.papyrus.uml.tools.utils.StereotypeUtil
import org.eclipse.uml2.uml.Package
+import org.eclipse.uml2.uml.Class
import static extension org.eclipse.papyrus.robotics.codegen.common.utils.PackageTools.*
import static extension org.eclipse.papyrus.robotics.core.utils.InstanceUtils.*
@@ -51,32 +53,51 @@
CreateSkillRelizationPackage skrPkgCreator
/**
- * Create code for a ROS2 package. The passed is used to
- * identify the ros2 package (BAD), must be determined
+ * Create code for a ROS2 package. The passed pkg is used to
+ * identify the ros2 package
+ * @param pkg the passed ROS2 package
*/
def pkgTrafos(Package pkg) {
val project = ProjectTools.getProject(TransformationContext.initialSourceRoot.projectName)
if (project !== null) {
- val compDefs = project.compDefs
+ /*
+ * obtain the list of component definitions defined in the ROS2 package (from the project),
+ * the list of components defined in the system and the concatenation of these (a system
+ * does not necessarily instantiate all components defined within the package)
+ */
+ val compDefsInPkg = project.compDefs
+ val compDefsInSys = new ArrayList<Class>();
+ // all component definitions
+ val compDefs = new ArrayList<Class>();
+ compDefs.addAll(compDefsInPkg)
val system = project.system
+ if (system !== null) {
+ for (part : system.compInstanceList) {
+ val type = part.type;
+ compDefsInSys.add(type as Class)
+ if (!compDefs.contains(type)) {
+ compDefs.add(type as Class)
+ }
+ }
+ }
val fileAccess = FileSystemAccessFactory.create(project)
- CreateCompCMakeLists.generate(fileAccess, pkg, compDefs, system)
- CreateCompPackageXML.generate(fileAccess, pkg, compDefs, system)
- ProjectTools.configureIncludes(project, MessageUtils.calcDependencies(compDefs))
+ CreateCompCMakeLists.generate(fileAccess, pkg, compDefs, compDefsInPkg, system)
+ CreateCompPackageXML.generate(fileAccess, pkg, compDefs, compDefsInPkg, system)
+ ProjectTools.configureIncludes(project, MessageUtils.calcDependencies(compDefsInSys))
if (system !== null) {
// generate launch before the component transformations
// since the latter remove ports
fileAccess.generateLaunch(system)
}
val ct = new ComponentTransformations(fileAccess, project);
- for (compDef : compDefs) {
+ for (compDef : compDefsInPkg) {
ct.componentTrafo(compDef, msgPkgCreator)
}
if (!system.uniqueSkills.nullOrEmpty) {
skrPkgCreator = new CreateSkillRelizationPackage(system, system.componentList);
skrPkgCreator.createSkillRealizationPkg(pkg)
}
- for (compDef : compDefs) {
+ for (compDef : compDefsInPkg) {
ct.componentCodegen(compDef, msgPkgCreator)
}
val cleanup = fileAccess as ICleanUntouchedTmp
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateCompCMakeLists.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateCompCMakeLists.xtend
index 28ccee2..fcc3a29 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateCompCMakeLists.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateCompCMakeLists.xtend
@@ -1,5 +1,5 @@
/*****************************************************************************
- * Copyright (c) 2018 CEA LIST.
+ * Copyright (c) 2018, 2021 CEA LIST.
*
*
* All rights reserved. This program and the accompanying materials
@@ -10,6 +10,7 @@
* Contributors:
* Ansgar Radermacher ansgar.radermacher@cea.fr
* Matteo MORELLI matteo.morelli@cea.fr - Bug #566899
+ * Ansgar Radermacher ansgar.radermacher@cea.fr - Bug #571655
*
*****************************************************************************/
@@ -30,10 +31,10 @@
import static extension org.eclipse.papyrus.robotics.ros2.codegen.utils.SkillUtils.*
/**
- * Create CMakeLists file for a component definition
+ * Create CMakeLists file for a ROS2 package, containing components and eventually one system
*/
class CreateCompCMakeLists {
- static def createCMakeLists(Package pkg, List<Class> components, Class system) '''
+ static def createCMakeLists(Package pkg, List<Class> allComponents, List<Class> componentsInPkg, Class system) '''
cmake_minimum_required(VERSION 3.5.0)
project(«pkg.pkgName»)
@@ -47,8 +48,8 @@
endif()
find_package(ament_cmake REQUIRED)
- «FOR msg_pkg : CreateCompPackageXML.calcDependencies(components)»
- find_package(«msg_pkg» REQUIRED)
+ «FOR dep_pkg : CreateCompPackageXML.calcDependencies(pkg, allComponents, componentsInPkg)»
+ find_package(«dep_pkg» REQUIRED)
«ENDFOR»
«IF !system.uniqueSkills.nullOrEmpty»
find_package(«pkg.realizationPackageName» REQUIRED)
@@ -60,7 +61,7 @@
${PROJECT_SOURCE_DIR}/src-gen
)
- «FOR component : components»
+ «FOR component : componentsInPkg»
«val compBaseFile = component.fileName»
«IF component.isRegistered»
add_library(«component.name»_comp SHARED
@@ -72,13 +73,13 @@
target_compile_definitions(«component.name»_comp
PRIVATE "«component.name»_shared_library")
ament_target_dependencies(«component.name»_comp
- «component.msgDependencies»
+ «pkg.msgDependencies(component)»
«IF !system.uniqueSkills.nullOrEmpty»
«pkg.realizationPackageName»
«ENDIF»
)
rclcpp_components_register_nodes(«component.name»_comp "«pkg.pkgName»::«component.name»")
-
+
add_executable(«component.name»_main src-gen/«compBaseFile»_main.cpp)
target_link_libraries(«component.name»_main «component.name»_comp)
ament_target_dependencies(«component.name»_main rclcpp)
@@ -92,7 +93,7 @@
ENDIF»
)
ament_target_dependencies(«component.name»
- «component.msgDependencies»
+ «pkg.msgDependencies(component)»
«IF !system.uniqueSkills.nullOrEmpty»
«pkg.realizationPackageName»
«ENDIF»
@@ -104,7 +105,7 @@
# «ProtSection.protSection("dependencies")»
# «ProtSection.protSection»
- «FOR component : components»
+ «FOR component : componentsInPkg»
install(TARGETS
«IF component.isRegistered»
«component.name»_main
@@ -126,14 +127,15 @@
ament_package()
'''
- static def msgDependencies(Class component) '''
- «FOR msg_pkg : CreateCompPackageXML.calcDependencies(Collections.singletonList(component))»
+ static def msgDependencies(Package model, Class component) '''
+ «val compList = Collections.singletonList(component)»
+ «FOR msg_pkg : CreateCompPackageXML.calcDependencies(model, compList, compList)»
«msg_pkg»
«ENDFOR»
'''
- static def generate(IPFileSystemAccess fileAccess, Package pkg, List<Class> components, Class system) {
- fileAccess.generateFile("CMakeLists.txt", createCMakeLists(pkg, components, system).toString)
+ static def generate(IPFileSystemAccess fileAccess, Package pkg, List<Class> allComponents, List<Class> componentsInPkg, Class system) {
+ fileAccess.generateFile("CMakeLists.txt", createCMakeLists(pkg, allComponents, componentsInPkg, system).toString)
}
static def fileName(NamedElement ne) {
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateCompPackageXML.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateCompPackageXML.xtend
index c233bf7..346d3e7 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateCompPackageXML.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/build/CreateCompPackageXML.xtend
@@ -1,5 +1,5 @@
/*****************************************************************************
- * Copyright (c) 2018 CEA LIST.
+ * Copyright (c) 2018, 2021 CEA LIST.
*
*
* All rights reserved. This program and the accompanying materials
@@ -28,12 +28,15 @@
import static extension org.eclipse.papyrus.robotics.ros2.codegen.utils.PackageXMLUtils.*
import static extension org.eclipse.papyrus.robotics.ros2.codegen.utils.SkillUtils.*
+/**
+ * Create PackageXML file for a ROS2 package, containing components and eventually one system
+ */
class CreateCompPackageXML {
public static String USER = "USER"
-
- static def createPackageXML(Package model, List<Class> components, Class system) '''
- «val entities = entityArray(components, system)»
+
+ static def createPackageXML(Package model, List<Class> allComponents, List<Class> componentsInPkg, Class system) '''
+ «val entities = entityArray(allComponents, system)»
<?xml version="1.0"?>
<package format="3">
<name>«model.pkgName»</name>
@@ -46,14 +49,14 @@
<buildtool_depend>ament_cmake</buildtool_depend>
- «FOR dependency : calcDependencies(components)»
+ «FOR dependency : model.calcDependencies(allComponents, componentsInPkg)»
<build_depend>«dependency»</build_depend>
«ENDFOR»
«IF !system.uniqueSkills.nullOrEmpty»
<build_depend>«model.realizationPackageName»</build_depend>
«ENDIF»
- «FOR dependency : calcDependencies(components)»
+ «FOR dependency : model.calcDependencies(allComponents, componentsInPkg)»
<exec_depend>«dependency»</exec_depend>
«ENDFOR»
«IF !system.uniqueSkills.nullOrEmpty»
@@ -69,14 +72,22 @@
</package>
'''
- static def calcDependencies(List<Class> components) {
- val dependencies = MessageUtils.calcDependencies(components)
- for (component : components) {
+ /**
+ * Calculate the dependencies of a list of all components and those defined in
+ * this package. The dependencies includes the message dependencies of the
+ * components in this package and user-defined dependencies as well as the package
+ * defining the component itself for all components.
+ */
+ static def calcDependencies(Package model, List<Class> allComponents, List<Class> componentsInPkg) {
+ val dependencies = MessageUtils.calcDependencies(componentsInPkg)
+ for (component : allComponents) {
// add user-defined dependencies defined for a component package
for (pkgName : component.dependsPackage) {
- if (!dependencies.contains(pkgName)) {
- dependencies.add(pkgName)
- }
+ dependencies.add(pkgName)
+ }
+ // add component package itself, if not part of the current package
+ if (component.model.pkgName != model.pkgName) {
+ dependencies.add(component.model.pkgName)
}
}
return dependencies
@@ -93,7 +104,7 @@
return entities
}
- static def generate(IPFileSystemAccess fileAccess, Package pkg, List<Class> components, Class system) {
- fileAccess.generateFile("package.xml", createPackageXML(pkg, components, system).toString)
+ static def generate(IPFileSystemAccess fileAccess, Package pkg, List<Class> allComponents, List<Class> componentsInPkg, Class system) {
+ fileAccess.generateFile("package.xml", createPackageXML(pkg, allComponents, componentsInPkg, system).toString)
}
}
\ No newline at end of file
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/utils/MessageUtils.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/utils/MessageUtils.xtend
index b5271a3..5787ee1 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/utils/MessageUtils.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen/src/org/eclipse/papyrus/robotics/ros2/codegen/utils/MessageUtils.xtend
@@ -335,10 +335,10 @@
/**
* Return the list of package names that are required by a list of components
- * @param the component list
+ * @param the component list (a unique list in order to avoid duplicates)
*/
def static List<String> calcDependencies(List<Class> components) {
- val list = new ArrayList<String>
+ val list = new UniqueEList<String>
list.add("rclcpp")
if (components.isRegistered) {
list.add("rclcpp_components")
@@ -448,4 +448,4 @@
}
return availPackages
}
-}
+}
\ No newline at end of file
