Bug 560665 - [Robotics, ROS2] Improve reverse mechanisms, support source code analysis
- Restructure, add code for source code analysis (remove this code from CDT editor to avoid duplication)
- However: source code analysis is incomplete and is currently not active. This will be done
in a subsequent patch
Change-Id: I524f64a60e496b62dcbb8f89b3e85fdbf28ef267
Signed-off-by: Ansgar Radermacher <ansgar.radermacher@cea.fr>
diff --git a/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/utils/StringUtils.java b/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/utils/StringUtils.java
deleted file mode 100644
index 8bb5ff5..0000000
--- a/plugins/customization/org.eclipse.papyrus.robotics.core/src/org/eclipse/papyrus/robotics/core/utils/StringUtils.java
+++ /dev/null
@@ -1,7 +0,0 @@
-package org.eclipse.papyrus.robotics.core.utils;
-
-public class StringUtils {
- public static String upperCaseFirst(String str) {
- return str.substring(0, 1).toUpperCase() + str.substring(1);
- }
-}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.cdteditor/src/org/eclipse/papyrus/robotics/ros2/cdteditor/sync/PortInfo.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.cdteditor/src/org/eclipse/papyrus/robotics/ros2/cdteditor/sync/PortInfo.java
deleted file mode 100644
index c89c403..0000000
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.cdteditor/src/org/eclipse/papyrus/robotics/ros2/cdteditor/sync/PortInfo.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package org.eclipse.papyrus.robotics.ros2.cdteditor.sync;
-
-public class PortInfo {
-
- public enum ProviderKind {
- PUBLISHER, SUBSCRIBER, CLIENT, SERVER, ACTION_CLI, ACTION_SRV
- }
-
- public ProviderKind pk;
- public String dtQName;
- public String topic;
-}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.cdteditor/src/org/eclipse/papyrus/robotics/ros2/cdteditor/sync/SyncPortsFromSource.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.cdteditor/src/org/eclipse/papyrus/robotics/ros2/cdteditor/sync/SyncPortsFromSource.java
deleted file mode 100644
index 6bfadaa..0000000
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.cdteditor/src/org/eclipse/papyrus/robotics/ros2/cdteditor/sync/SyncPortsFromSource.java
+++ /dev/null
@@ -1,187 +0,0 @@
-/*****************************************************************************
- * Copyright (c) 2020 CEA LIST.
- *
- *
- * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v2.0
- * which accompanies this distribution, and is available at
- * https://www.eclipse.org/legal/epl-2.0/
- *
- * Contributors:
- * Ansgar Radermacher ansgar.radermacher@cea.fr
- *
- *****************************************************************************/
-
-package org.eclipse.papyrus.robotics.ros2.cdteditor.sync;
-
-import java.util.ArrayList;
-import java.util.List;
-
-import org.eclipse.cdt.core.dom.ast.IASTBinaryExpression;
-import org.eclipse.cdt.core.dom.ast.IASTExpression;
-import org.eclipse.cdt.core.dom.ast.IASTExpressionList;
-import org.eclipse.cdt.core.dom.ast.IASTFieldReference;
-import org.eclipse.cdt.core.dom.ast.IASTFunctionDefinition;
-import org.eclipse.cdt.core.dom.ast.IASTName;
-import org.eclipse.cdt.core.dom.ast.IASTNode;
-import org.eclipse.cdt.core.dom.ast.IASTTranslationUnit;
-import org.eclipse.cdt.core.dom.ast.IASTUnaryExpression;
-import org.eclipse.cdt.core.dom.ast.cpp.ICPPASTNamespaceDefinition;
-import org.eclipse.cdt.core.model.CoreModel;
-import org.eclipse.cdt.core.model.ITranslationUnit;
-import org.eclipse.core.resources.IFile;
-import org.eclipse.core.resources.IProject;
-import org.eclipse.core.resources.IResource;
-import org.eclipse.core.resources.IWorkspace;
-import org.eclipse.core.resources.ResourcesPlugin;
-import org.eclipse.core.runtime.CoreException;
-import org.eclipse.core.runtime.IPath;
-import org.eclipse.core.runtime.Path;
-import org.eclipse.papyrus.commands.Activator;
-import org.eclipse.papyrus.robotics.ros2.cdteditor.sync.PortInfo.ProviderKind;
-import org.eclipse.swt.SWT;
-import org.eclipse.swt.widgets.Display;
-import org.eclipse.swt.widgets.FileDialog;
-import org.eclipse.swt.widgets.Shell;
-import org.eclipse.uml2.uml.Classifier;
-
-public class SyncPortsFromSource {
-
- private static final String CREATE_PUBLISHER = "create_publisher"; //$NON-NLS-1$
- private static final String CREATE_SUBSCRIPTION = "create_subscription"; //$NON-NLS-1$
- private static final String CREATE_SERVICE = "create_service"; //$NON-NLS-1$
- private static final String CREATE_CLIENT = "create_client"; //$NON-NLS-1$
-
- private static final String EXTERNAL_FILES = "External Files"; //$NON-NLS-1$
-
- public static void updatePorts(Classifier cl, IASTNode node) {
- List<PortInfo> portInfoList = new ArrayList<PortInfo>();
- scanFunctions(node, portInfoList);
- for (PortInfo pi : portInfoList) {
- System.err.println(pi.dtQName);
- // NamedElement namedElemParamType = ElementUtils.getQualifiedElementFromRS(element, expr2);
- }
- }
-
- public static void scanFunctions(IASTNode node, List<PortInfo> portInfoList) {
-
- for (IASTNode child : node.getChildren()) {
- if (child instanceof IASTFunctionDefinition) {
- IASTFunctionDefinition definition = (IASTFunctionDefinition) child;
- scanBody(definition.getBody(), portInfoList);
- }
- if (child instanceof ICPPASTNamespaceDefinition) {
- // recurse into namespaces
- scanFunctions(child, portInfoList);
- }
- }
- }
- public static String getASTName(IASTExpression expr) {
- if (expr instanceof IASTFieldReference) {
- IASTName fieldName = ((IASTFieldReference) expr).getFieldName();
- if (fieldName != null) {
- return fieldName.toString();
- }
- return ""; //$NON-NLS-1$
- } else {
- return expr.toString();
- }
- }
-
- public static ProviderKind getProviderFromCall(String fctName) {
- if (fctName.equals(CREATE_CLIENT)) {
- return ProviderKind.CLIENT;
- }
- if (fctName.equals(CREATE_SERVICE)) {
- return ProviderKind.SERVER;
- }
- if (fctName.equals(CREATE_SUBSCRIPTION)) {
- return ProviderKind.SUBSCRIBER;
- }
- if (fctName.equals(CREATE_PUBLISHER)) {
- return ProviderKind.PUBLISHER;
- }
- return null;
- }
-
- public static PortInfo obtainCallDetails(ProviderKind pk, IASTExpression expr1, IASTExpression expr2) {
- IASTExpression expr2b = ((IASTBinaryExpression) expr1).getOperand2();
- IASTExpression topicExpr = null;
- if (expr2 instanceof IASTUnaryExpression) {
- IASTExpression arguments = ((IASTUnaryExpression) expr2).getOperand();
- if (arguments instanceof IASTExpressionList) {
- topicExpr = ((IASTExpressionList) arguments).getExpressions()[0];
- } else {
- topicExpr = arguments;
- }
- }
- String topicName = topicExpr.toString();
- // remove quotes
- if (topicName.startsWith("\"") && topicName.length()>=2) { //$NON-NLS-1$
- topicName = topicName.substring(1, topicName.length()-1);
- }
- PortInfo portInfo = new PortInfo();
- portInfo.pk = pk;
- portInfo.dtQName = getASTName(expr2b);
- portInfo.topic = topicName;
- return portInfo;
-}
-
- public static void scanBody(IASTNode node, List<PortInfo> portList) {
- if (node instanceof IASTBinaryExpression) {
- IASTBinaryExpression expr = (IASTBinaryExpression) node;
- IASTExpression expr1 = expr.getOperand1();
- IASTExpression expr2 = expr.getOperand2();
- if (expr1 instanceof IASTBinaryExpression) {
- IASTExpression expr1b = ((IASTBinaryExpression) expr1).getOperand1();
- String fieldName = getASTName(expr1b);
-
- if (fieldName != null) {
- ProviderKind pk = getProviderFromCall(fieldName);
- if (pk != null) {
- PortInfo portInfo = obtainCallDetails(pk, expr1, expr2);
- if (portInfo != null) {
- portList.add(portInfo);
- }
- }
- }
- }
- }
- for (IASTNode child : node.getChildren()) {
- // recurse into all children
- scanBody(child, portList);
- }
- }
-
- public static void tst() {
- IWorkspace ws = ResourcesPlugin.getWorkspace();
- IProject project = ws.getRoot().getProject(EXTERNAL_FILES);
-
- try {
- if (!project.exists())
- project.create(null);
- if (!project.isOpen())
- project.open(null);
- Shell shell = Display.getDefault().getActiveShell();
- String name = (1 == 0) ? "/local/home/ansgar/prog/ros2/demos/demo_nodes_cpp/src/services/add_two_ints_client.cpp" : new FileDialog(shell, SWT.OPEN).open();
- if (name == null)
- return;
- IPath location = new Path(name);
- IFile srcFile = project.getFile(location.lastSegment());
- boolean exists = srcFile.exists();
- if (exists) {
- srcFile.delete(false, null);
- }
- srcFile.createLink(location, IResource.NONE, null);
-
-
- ITranslationUnit itu = (ITranslationUnit) CoreModel.getDefault().create(srcFile);
-
- IASTTranslationUnit ast = itu.getAST();
- scanFunctions(ast, new ArrayList<PortInfo>());
-
- } catch (CoreException e) {
- Activator.log.error(e);
- }
- }
-}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.cdteditor/src/org/eclipse/papyrus/robotics/ros2/cdteditor/sync/SyncRoboticsCDTtoModel.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.cdteditor/src/org/eclipse/papyrus/robotics/ros2/cdteditor/sync/SyncRoboticsCDTtoModel.java
index 703cd4d..e8125e4 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.cdteditor/src/org/eclipse/papyrus/robotics/ros2/cdteditor/sync/SyncRoboticsCDTtoModel.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.cdteditor/src/org/eclipse/papyrus/robotics/ros2/cdteditor/sync/SyncRoboticsCDTtoModel.java
@@ -99,7 +99,7 @@
examineChildren(itu, selector, itu);
updateCppInclude(itu);
- SyncPortsFromSource.updatePorts(m_classifier, ast);
+ // SyncPortsFromSource.updatePorts(m_classifier, ast);
CUIPlugin.getDefault().getProblemMarkerManager();
if (itu instanceof IWorkingCopy) {
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/Activator.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/Activator.java
index c48ae3d..a083262 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/Activator.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/Activator.java
@@ -1,6 +1,5 @@
/*****************************************************************************
- * Copyright (c) 2013 CEA LIST.
- *
+ * Copyright (c) 2020 CEA LIST.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v2.0
@@ -11,6 +10,7 @@
* Ansgar Radermacher ansgar.radermacher@cea.fr
*
*****************************************************************************/
+
package org.eclipse.papyrus.robotics.ros2.reverse;
import org.eclipse.papyrus.infra.core.log.LogHelper;
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ParamInfo.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ParamInfo.java
new file mode 100644
index 0000000..0711fcf
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ParamInfo.java
@@ -0,0 +1,23 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
+package org.eclipse.papyrus.robotics.ros2.reverse;
+
+public class ParamInfo {
+
+ public String name;
+ public String cppType;
+ public String defaultValue;
+ public String description;
+}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/PortInfo.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/PortInfo.java
new file mode 100644
index 0000000..28d2232
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/PortInfo.java
@@ -0,0 +1,26 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
+package org.eclipse.papyrus.robotics.ros2.reverse;
+
+public class PortInfo {
+
+ public enum ProviderKind {
+ PUBLISHER, SUBSCRIBER, CLIENT, SERVER, ACTION_CLI, ACTION_SRV
+ }
+
+ public ProviderKind pk;
+ public String dtQName;
+ public String topic;
+}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ReverseConstants.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ReverseConstants.java
new file mode 100644
index 0000000..a7948c8
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ReverseConstants.java
@@ -0,0 +1,20 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
+package org.eclipse.papyrus.robotics.ros2.reverse;
+
+public class ReverseConstants {
+
+ public static final String MODEL_NAME_UC = "[modelNameUC]"; //$NON-NLS-1$
+
+}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ReverseNodes.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ReverseNodes.java
deleted file mode 100644
index 0c8ced6..0000000
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ReverseNodes.java
+++ /dev/null
@@ -1,376 +0,0 @@
-package org.eclipse.papyrus.robotics.ros2.reverse;
-
-import java.io.BufferedReader;
-import java.io.IOException;
-import java.io.InputStreamReader;
-import java.util.List;
-
-import org.eclipse.core.commands.ExecutionException;
-import org.eclipse.core.resources.IFile;
-import org.eclipse.core.resources.IFolder;
-import org.eclipse.core.resources.IProject;
-import org.eclipse.core.resources.IWorkspaceRoot;
-import org.eclipse.core.resources.ResourcesPlugin;
-import org.eclipse.core.runtime.CoreException;
-import org.eclipse.core.runtime.IProgressMonitor;
-import org.eclipse.core.runtime.NullProgressMonitor;
-import org.eclipse.emf.common.util.URI;
-import org.eclipse.emf.transaction.RecordingCommand;
-import org.eclipse.emf.transaction.TransactionalEditingDomain;
-import org.eclipse.gmf.runtime.common.core.command.ICommand;
-import org.eclipse.gmf.runtime.notation.Diagram;
-import org.eclipse.papyrus.designer.languages.common.base.ElementUtils;
-import org.eclipse.papyrus.designer.languages.cpp.library.CppUriConstants;
-import org.eclipse.papyrus.infra.core.resource.BadArgumentExcetion;
-import org.eclipse.papyrus.infra.core.resource.ModelSet;
-import org.eclipse.papyrus.infra.core.resource.NotFoundException;
-import org.eclipse.papyrus.infra.core.services.ExtensionServicesRegistry;
-import org.eclipse.papyrus.infra.core.services.ServiceException;
-import org.eclipse.papyrus.infra.core.services.ServicesRegistry;
-import org.eclipse.papyrus.infra.gmfdiag.common.model.NotationModel;
-import org.eclipse.papyrus.infra.gmfdiag.common.model.NotationUtils;
-import org.eclipse.papyrus.robotics.core.utils.FileExtensions;
-import org.eclipse.papyrus.robotics.core.utils.ParameterUtils;
-import org.eclipse.papyrus.robotics.core.utils.PortUtils;
-import org.eclipse.papyrus.robotics.core.utils.ScanUtils;
-import org.eclipse.papyrus.robotics.core.utils.StringUtils;
-import org.eclipse.papyrus.robotics.profile.robotics.components.ComponentPort;
-import org.eclipse.papyrus.robotics.ros2.reverse.MessageParser.MessageEntry;
-import org.eclipse.papyrus.robotics.ros2.reverse.utils.FolderUtils;
-import org.eclipse.papyrus.robotics.ros2.reverse.utils.ReverseUtils;
-import org.eclipse.papyrus.uml.diagram.wizards.Activator;
-import org.eclipse.papyrus.uml.diagram.wizards.command.InitFromTemplateCommand;
-import org.eclipse.papyrus.uml.diagram.wizards.command.NewPapyrusModelCommand;
-import org.eclipse.papyrus.uml.tools.model.UmlModel;
-import org.eclipse.papyrus.uml.tools.model.UmlUtils;
-import org.eclipse.papyrus.uml.tools.utils.PackageUtil;
-import org.eclipse.papyrus.uml.tools.utils.StereotypeUtil;
-import org.eclipse.uml2.uml.AggregationKind;
-import org.eclipse.uml2.uml.Class;
-import org.eclipse.uml2.uml.Interface;
-import org.eclipse.uml2.uml.NamedElement;
-import org.eclipse.uml2.uml.Package;
-import org.eclipse.uml2.uml.Port;
-import org.eclipse.uml2.uml.Property;
-import org.eclipse.uml2.uml.Type;
-
-@SuppressWarnings("nls")
-public class ReverseNodes {
-
- private static final String MODEL_NAME_UC = "[modelNameUC]";
-
- enum PortKind {
- PUBSUB, SERVICE, ACTION
- };
-
- enum PortDirection {
- PROVIDED, REQUIRED
- };
-
- public static void reverseNodes(IProgressMonitor monitor) {
- ProcessBuilder pbMsg = new ProcessBuilder(Ros2Constants.ROS2, Ros2Constants.NODE, Ros2Constants.LIST);
- readNodeList(pbMsg, monitor);
- }
-
- /**
- * read the list of nodes and create models.
- *
- * @param pb
- * a process builder object with a suitable ROS2 command
- */
- public static void readNodeList(ProcessBuilder pb, IProgressMonitor monitor) {
- try {
- Process p = pb.start();
- BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
- StringBuffer errorMsg = new StringBuffer();
- boolean error = ReverseUtils.logErrors(p, errorMsg);
- if (error) {
- Activator.log.debug(errorMsg.toString());
- return;
- }
- String line;
- List<URI> pathMapURIs = ScanUtils.allPathmapModels(FileExtensions.SERVICEDEF_UML);
-
- while ((line = results.readLine()) != null) {
- String frags[] = line.split(MessageParser.SLASH);
- if (frags.length == 2) {
- try {
- String pkgName = frags[0].trim();
- String name = frags[1].trim();
- // ignore some nodes
- if (name.endsWith("_rclcpp_node") || name.endsWith("_client_node") ||
- name.startsWith("transform_listener_") || name.startsWith("launch_ros_")) {
- continue;
- }
-
- monitor.subTask("reverse component " + name);
- String fileName = name + FileExtensions.COMPDEF_UML;
- // pass complete filename (a bit abusing the extension attribute)
- IWorkspaceRoot root = ResourcesPlugin.getWorkspace().getRoot();
- if (pkgName.length() == 0) {
- pkgName = name;
- }
- IProject project = root.getProject(pkgName);
- IProgressMonitor progressMonitor = new NullProgressMonitor();
- if (!project.exists()) {
- project.create(progressMonitor);
- }
- if (!project.isOpen()) {
- project.open(progressMonitor);
- }
-
- IFolder fModels = FolderUtils.createFolderStructure(project);
- IFolder fComponents = FolderUtils.getComponentFolder(fModels);
- IFile fCompModel = fComponents.getFile(fileName);
- if (!fCompModel.exists()) {
-
- ServicesRegistry registry = new ExtensionServicesRegistry(org.eclipse.papyrus.infra.core.Activator.PLUGIN_ID);
- registry.startServicesByClassKeys(ModelSet.class);
-
- ModelSet modelSet = registry.getService(ModelSet.class);
- TransactionalEditingDomain domain = modelSet.getTransactionalEditingDomain();
-
- URI newURIs = URI.createURI("platform:/resource/" + pkgName + "/models/components/" + fileName);
- RecordingCommand command = new NewPapyrusModelCommand(modelSet, newURIs);
- domain.getCommandStack().execute(command);
-
- InitFromTemplateCommand tp = new InitFromTemplateCommand(modelSet.getTransactionalEditingDomain(), modelSet,
- "org.eclipse.papyrus.robotics.wizards",
- "templates/robotics.compdef.uml", "templates/robotics.compdef.notation", "templates/robotics.compdef.di");
- domain.getCommandStack().execute(tp);
-
- UmlModel umlModel = UmlUtils.getUmlModel(modelSet);
- final NotationModel notation = NotationUtils.getNotationModel(modelSet);
-
- final Package pkg = (Package) umlModel.lookupRoot();
- // load primitive types
- PackageUtil.loadPackage(URI.createURI(ReverseMessages.PATHMAP_ROS2_PRIMITIVE_UML), pkg.eResource().getResourceSet());
- PackageUtil.loadPackage(CppUriConstants.ANSIC_LIB, pkg.eResource().getResourceSet());
-
- final String lineFinal = line;
- RecordingCommand reverseComponent = new RecordingCommand(domain) {
- @Override
- protected void doExecute() {
- pkg.setName(name);
- ReverseUtils.setXmlID(pkg);
-
- Class clazz = (Class) pkg.getOwnedType(MODEL_NAME_UC);
- clazz.setName(name);
- ReverseUtils.setXmlID(clazz);
- reversePorts(clazz, lineFinal, pathMapURIs);
- reverseParams(clazz, lineFinal, pathMapURIs);
-
- Diagram diagram;
- try {
- diagram = notation.getDiagram(MODEL_NAME_UC);
- final String newName = StringUtils.upperCaseFirst(name) + " diagram";
- diagram.setName(newName);
- } catch (NotFoundException | BadArgumentExcetion e) {
- e.printStackTrace();
- }
- }
- };
- domain.getCommandStack().execute(reverseComponent);
-
- modelSet.save(progressMonitor);
- registry.disposeRegistry();
- } else {
- // TODO: in the moment, we do not touch existing projects
- }
- } catch (CoreException | ServiceException | NotFoundException e) {
- e.printStackTrace();
- }
- monitor.worked(1);
- if (monitor.isCanceled())
- break;
- }
- }
- results.close();
- } catch (IOException exp) {
- Activator.log.error(exp);
- }
- }
-
- public static void reversePorts(Class component, String qName, List<URI> pathMapURIs) {
- ProcessBuilder pb = new ProcessBuilder(Ros2Constants.ROS2, Ros2Constants.NODE, Ros2Constants.INFO, qName);
- try {
- Process p = pb.start();
- BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
- StringBuffer errorMsg = new StringBuffer();
- boolean error = ReverseUtils.logErrors(p, errorMsg);
- if (error) {
- Activator.log.debug(errorMsg.toString());
- return;
- }
- String line;
- PortKind current = PortKind.PUBSUB;
- PortDirection direction = PortDirection.PROVIDED;
- while ((line = results.readLine()) != null) {
- line = MessageParser.filterComment(line);
- if (line.contains("Publishers:")) {
- current = PortKind.PUBSUB;
- direction = PortDirection.PROVIDED;
- } else if (line.contains("Subscribers:")) {
- current = PortKind.PUBSUB;
- direction = PortDirection.REQUIRED;
- } else if (line.contains("Service servers:")) {
- current = PortKind.SERVICE;
- direction = PortDirection.PROVIDED;
- } else if (line.contains("Service clients:")) {
- current = PortKind.SERVICE;
- direction = PortDirection.REQUIRED;
- } else if (line.contains("Action servers:")) {
- current = PortKind.ACTION;
- direction = PortDirection.PROVIDED;
- } else if (line.contains("Action clients:")) {
- current = PortKind.ACTION;
- direction = PortDirection.REQUIRED;
- } else {
- String frags[] = line.split(MessageParser.COLON);
- if (frags.length == 2) {
- String qPortName = frags[0].trim();
- String qMessageName = frags[1].trim();
- MessageEntry entry = MessageParser.extractMessageEntry(qMessageName);
- if (entry.pkgName.equals("rcl_interfaces") || entry.pkgName.equals("lifecycle")) {
- // length 3, e.g. "/ROSadder/change_state: lifecycle_msgs/srv/ChangeState" indicate automatically
- // standard interfaces
- // TODO - might need info whether a lifecycle node.
- continue;
- }
- if (entry.name.equals("clock")) {
- continue;
- }
- Interface sd = getServiceDef(component, current, entry);
- if (sd == null) {
- // check, if the model representing the ROS2 resource is already in the resource set
- if (ElementUtils.getQualifiedElementFromRS(component, entry.pkgName) == null) {
- // not loaded => load and retry to get service definition
- String fileName = ReverseUtils.fileName(entry.pkgName);
- // load message set from registered packages (TODO: important restriction?)
- // Cannot use the load function in ReverseUtils, since this loads into the "wrong" resource set
- for (URI pathURI : pathMapURIs) {
- if (pathURI.toString().endsWith(fileName)) {
- component.eResource().getResourceSet().getResource(pathURI, true);
- sd = getServiceDef(component, current, entry);
- break;
- }
- }
- }
- if (sd == null) {
- Activator.log.debug(String.format("Cannot find service definition for %s", qMessageName));
- break;
- }
- }
- String portName = qPortName.trim().substring(1);
- Port port = component.createOwnedPort(portName, null);
- ReverseUtils.setXmlID(port);
- port.setAggregation(AggregationKind.COMPOSITE_LITERAL);
- StereotypeUtil.apply(port, ComponentPort.class);
- ICommand csCmd = PortUtils.associateCSCommand(port);
- csCmd.execute(null, null);
- Class cs = (Class) port.getType();
- if (direction == PortDirection.PROVIDED) {
- cs.createInterfaceRealization(null, sd);
- } else {
- cs.createUsage(sd);
- }
- }
- }
- }
- results.close();
-
- } catch (IOException exp) {
- Activator.log.error(exp);
- } catch (ExecutionException exp) {
- Activator.log.error(exp);
- }
- }
-
- public static void reverseParams(Class component, String qName, List<URI> pathMapURIs) {
- ProcessBuilder pb = new ProcessBuilder(Ros2Constants.ROS2, Ros2Constants.PARAM, Ros2Constants.LIST, qName);
- try {
- Process p = pb.start();
- BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
- StringBuffer errorMsg = new StringBuffer();
- boolean error = ReverseUtils.logErrors(p, errorMsg);
- if (error) {
- Activator.log.debug(errorMsg.toString());
- return;
- }
- String line;
- // read list of ROS parameters and add these to the list of parameters of the
- // describe command
- ProcessBuilder pbDesc = new ProcessBuilder(Ros2Constants.ROS2, Ros2Constants.PARAM, Ros2Constants.DESCRIBE, qName);
- while (results.ready() && (line = results.readLine()) != null) {
- String param = line.trim();
- pbDesc.command().add(param);
- }
- results.close();
-
- String paramName = "";
- Class paramSet = ParameterUtils.getParameterClass(component);
- // now obtain type
- Process pDesc = pbDesc.start();
- results = new BufferedReader(new InputStreamReader(pDesc.getInputStream()));
- error = ReverseUtils.logErrors(pDesc, errorMsg);
- if (error) {
- Activator.log.debug(errorMsg.toString());
- }
- while (results.ready() && (line = results.readLine()) != null) {
- String desc = line.trim();
- if (desc.startsWith("Parameter name:")) {
- paramName = desc.substring("Parameter name:".length()).trim();
- }
- if (desc.startsWith("Type:")) {
- String type = desc.substring(5).trim();
- int upper = 1;
- if (type.equals("string array")) { // TODO - right mapping?
- type = "string";
- upper = -1;
- }
- String name = "primitive" + NamedElement.SEPARATOR + type;
- NamedElement ne = ElementUtils.getQualifiedElementFromRS(component, name);
- if (ne == null) {
- if (type.equals("boolean")) {
- type = "bool";
- }
- if (type.equals("integer")) {
- type = "int";
- }
- name = "AnsiCLibrary" + NamedElement.SEPARATOR + type;
- ne = ElementUtils.getQualifiedElementFromRS(component, name);
- }
- Property paramUML = paramSet.createOwnedAttribute(paramName, (Type) ne);
- if (upper != 1) {
- paramUML.setUpper(upper);
- }
- if (ne == null) {
- Activator.log.debug(String.format("Cannot find type %s", type));
- }
- }
- }
- results.close();
-
- } catch (IOException exp) {
- Activator.log.error(exp);
- }
- }
-
- public static Interface getServiceDef(Class component, PortKind portKind, MessageEntry entry) {
- String prefix = "";
- if (portKind == PortKind.PUBSUB) {
- prefix = "P_";
- } else if (portKind == PortKind.SERVICE) {
- prefix = "Q_";
- } else if (portKind == PortKind.ACTION) {
- prefix = "A_";
- }
- String qName = entry.pkgName + NamedElement.SEPARATOR + Ros2Constants.SVCDEFS + NamedElement.SEPARATOR
- + prefix + entry.name;
- NamedElement ne = ElementUtils.getQualifiedElementFromRS(component, qName);
- if (ne instanceof Interface) {
- return (Interface) ne;
- }
- return null;
- }
-}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/Ros2Constants.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/Ros2Constants.java
index 4286860..7069b18 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/Ros2Constants.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/Ros2Constants.java
@@ -1,3 +1,16 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
package org.eclipse.papyrus.robotics.ros2.reverse;
@SuppressWarnings("nls")
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromfile/ReverseNodeFromSource.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromfile/ReverseNodeFromSource.java
new file mode 100644
index 0000000..848ef63
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromfile/ReverseNodeFromSource.java
@@ -0,0 +1,181 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
+package org.eclipse.papyrus.robotics.ros2.reverse.fromfile;
+
+import java.io.BufferedReader;
+import java.io.InputStreamReader;
+
+import org.eclipse.cdt.core.dom.ast.IASTTranslationUnit;
+import org.eclipse.cdt.core.model.CoreModel;
+import org.eclipse.cdt.core.model.ITranslationUnit;
+import org.eclipse.core.resources.IContainer;
+import org.eclipse.core.resources.IFile;
+import org.eclipse.core.resources.IFolder;
+import org.eclipse.core.resources.IProject;
+import org.eclipse.core.resources.IWorkspaceRoot;
+import org.eclipse.core.resources.ResourcesPlugin;
+import org.eclipse.core.runtime.IProgressMonitor;
+import org.eclipse.core.runtime.NullProgressMonitor;
+import org.eclipse.core.runtime.Path;
+import org.eclipse.emf.common.util.URI;
+import org.eclipse.emf.transaction.RecordingCommand;
+import org.eclipse.gmf.runtime.notation.Diagram;
+import org.eclipse.papyrus.designer.languages.common.base.StringUtils;
+import org.eclipse.papyrus.designer.languages.cpp.library.CppUriConstants;
+import org.eclipse.papyrus.infra.core.resource.BadArgumentExcetion;
+import org.eclipse.papyrus.infra.core.resource.NotFoundException;
+import org.eclipse.papyrus.infra.gmfdiag.common.model.NotationModel;
+import org.eclipse.papyrus.robotics.core.utils.FileExtensions;
+import org.eclipse.papyrus.robotics.ros2.reverse.Activator;
+import org.eclipse.papyrus.robotics.ros2.reverse.ReverseConstants;
+import org.eclipse.papyrus.robotics.ros2.reverse.fromsys.ReverseMessages;
+import org.eclipse.papyrus.robotics.ros2.reverse.utils.FolderUtils;
+import org.eclipse.papyrus.robotics.ros2.reverse.utils.ModelTemplate;
+import org.eclipse.papyrus.robotics.ros2.reverse.utils.ReverseUtils;
+import org.eclipse.papyrus.uml.tools.utils.PackageUtil;
+import org.eclipse.uml2.uml.Class;
+import org.eclipse.uml2.uml.Package;
+
+public class ReverseNodeFromSource {
+
+ private static final String PACKAGE_XML = "package.xml"; //$NON-NLS-1$
+ private static final String NAME_TAG = "<name>"; //$NON-NLS-1$
+ private static final String NAME_TAG_END = "</name>"; //$NON-NLS-1$
+
+ public static void reverseNode(IFile file, IProgressMonitor monitor) {
+ try {
+ String pkgName = null;
+ IFile packageXML = scanPackageXML(file.getParent());
+ if (packageXML != null) {
+ BufferedReader results = new BufferedReader(new InputStreamReader(packageXML.getContents()));
+ String line;
+ while ((line = results.readLine()) != null) {
+ line = line.trim();
+ if (line.startsWith(NAME_TAG)) {
+ pkgName = line.substring(NAME_TAG.length());
+ int idx = pkgName.indexOf(NAME_TAG_END);
+ if (idx != -1) {
+ pkgName = pkgName.substring(0, idx);
+ }
+ break;
+ }
+ }
+ }
+ // TODO - obtain nodeName from code
+ String name = file.getName();
+ if (name.endsWith(".cpp")) {
+ name = name.substring(0, name.length() - 4);
+ }
+
+ monitor.beginTask("reverse component " + name, 3);
+ monitor.subTask("obtain AST");
+ ITranslationUnit itu = (ITranslationUnit) CoreModel.getDefault().create(file);
+ IASTTranslationUnit ast = itu.getAST();
+ monitor.worked(1);
+
+ String fileName = name + FileExtensions.COMPDEF_UML;
+ // pass complete filename (a bit abusing the extension attribute)
+ IWorkspaceRoot root = ResourcesPlugin.getWorkspace().getRoot();
+ if (pkgName == null) {
+ IProject project = FolderUtils.obtainProject(fileName);
+ if (project != null) {
+ pkgName = project.getName();
+ } else {
+ pkgName = name;
+ }
+ }
+
+ IProject project = root.getProject(pkgName);
+ IProgressMonitor progressMonitor = new NullProgressMonitor();
+ if (!project.exists()) {
+ project.create(progressMonitor);
+ }
+ if (!project.isOpen()) {
+ project.open(progressMonitor);
+ }
+
+ IFolder fModels = FolderUtils.createFolderStructure(project);
+ IFolder fComponents = FolderUtils.getComponentFolder(fModels);
+ IFile fCompModel = fComponents.getFile(fileName);
+
+ if (!fCompModel.exists()) {
+ URI newURI = URI.createURI("platform:/resource/" + pkgName + "/models/components/" + fileName);
+ ModelTemplate mt = new ModelTemplate(newURI, "compdef");
+ final NotationModel notation = mt.getNotationModel();
+
+ final Package pkg = mt.getUMLModel();
+ // load primitive types
+ PackageUtil.loadPackage(URI.createURI(ReverseMessages.PATHMAP_ROS2_PRIMITIVE_UML), pkg.eResource().getResourceSet());
+ PackageUtil.loadPackage(CppUriConstants.ANSIC_LIB, pkg.eResource().getResourceSet());
+
+ final String nameFinal = name;
+ final String pkgNameFinal = pkgName;
+ RecordingCommand reverseComponent = new RecordingCommand(mt.getDomain()) {
+ @Override
+ protected void doExecute() {
+ pkg.setName(pkgNameFinal);
+ ReverseUtils.setXmlID(pkg);
+
+ Class clazz = (Class) pkg.getOwnedType(ReverseConstants.MODEL_NAME_UC);
+ clazz.setName(nameFinal);
+ ReverseUtils.setXmlID(clazz);
+
+ Diagram diagram;
+ try {
+ diagram = notation.getDiagram(ReverseConstants.MODEL_NAME_UC);
+ final String newName = StringUtils.upperCaseFirst(nameFinal) + " diagram";
+ diagram.setName(newName);
+ } catch (NotFoundException | BadArgumentExcetion e) {
+ e.printStackTrace();
+ }
+
+ monitor.subTask("obtain ports");
+ ReversePortsFromSource.updatePorts(clazz, ast);
+ monitor.worked(1);
+
+ monitor.subTask("obtain parameters");
+ ReverseParametersFromSource.updateParameters(clazz, ast);
+ monitor.worked(1);
+ }
+ };
+ mt.executeCmd(reverseComponent);
+
+ mt.save(monitor);
+ }
+ } catch (Exception e) {
+ Activator.log.error(e);
+ }
+ }
+
+ /**
+ * Scan folder for package.xml file
+ *
+ * @param folder
+ * a folder where the seach is started
+ * @return
+ */
+ public static IFile scanPackageXML(IContainer folder) {
+ IFile candidate = folder.getFile(new Path(PACKAGE_XML));
+ if (candidate != null && candidate.exists()) {
+ return candidate;
+ }
+ if (folder.getParent() != null) {
+ IFile result = scanPackageXML(folder.getParent());
+ if (result != null) {
+ return result;
+ }
+ }
+ return null;
+ }
+}
\ No newline at end of file
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromfile/ReverseParametersFromSource.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromfile/ReverseParametersFromSource.java
new file mode 100644
index 0000000..94e05d9
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromfile/ReverseParametersFromSource.java
@@ -0,0 +1,170 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
+package org.eclipse.papyrus.robotics.ros2.reverse.fromfile;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import org.eclipse.cdt.core.dom.ast.ASTNodeProperty;
+import org.eclipse.cdt.core.dom.ast.IASTExpression;
+import org.eclipse.cdt.core.dom.ast.IASTFieldReference;
+import org.eclipse.cdt.core.dom.ast.IASTFunctionCallExpression;
+import org.eclipse.cdt.core.dom.ast.IASTFunctionDefinition;
+import org.eclipse.cdt.core.dom.ast.IASTIdExpression;
+import org.eclipse.cdt.core.dom.ast.IASTInitializerClause;
+import org.eclipse.cdt.core.dom.ast.IASTName;
+import org.eclipse.cdt.core.dom.ast.IASTNode;
+import org.eclipse.cdt.core.dom.ast.cpp.ICPPASTNamespaceDefinition;
+import org.eclipse.papyrus.designer.languages.common.base.StringUtils;
+import org.eclipse.papyrus.robotics.ros2.reverse.ParamInfo;
+import org.eclipse.uml2.uml.Class;
+
+public class ReverseParametersFromSource {
+
+ private static final String ADD_PARAMETER = "add_parameter"; //$NON-NLS-1$
+ private static final String GET_PARAMETER = "get_parameter"; //$NON-NLS-1$
+ private static final String DECLARE_PARAMETER = "declare_parameter"; //$NON-NLS-1$
+
+ enum EParam {
+ ADD_OR_DECLARE,
+ GET_PARAM,
+ NONE
+ };
+
+ public static void updateParameters(Class clazz, IASTNode node) {
+ List<ParamInfo> paramInfoList = new ArrayList<ParamInfo>();
+ scanFunctions(node, paramInfoList);
+ for (ParamInfo pi : paramInfoList) {
+ System.err.println(pi.name);
+ // NamedElement namedElemParamType = ElementUtils.getQualifiedElementFromRS(element, expr2);
+ }
+ }
+
+ public static void scanFunctions(IASTNode node, List<ParamInfo> paramInfoList) {
+
+ for (IASTNode child : node.getChildren()) {
+ if (child instanceof IASTFunctionDefinition) {
+ IASTFunctionDefinition definition = (IASTFunctionDefinition) child;
+ scanBody(definition.getBody(), paramInfoList);
+ }
+ if (child instanceof ICPPASTNamespaceDefinition) {
+ // recurse into namespaces
+ scanFunctions(child, paramInfoList);
+ }
+ }
+ }
+
+ public static String getASTName(IASTExpression expr) {
+ if (expr instanceof IASTFieldReference) {
+ IASTName fieldName = ((IASTFieldReference) expr).getFieldName();
+ if (fieldName != null) {
+ return fieldName.toString();
+ }
+ return ""; //$NON-NLS-1$
+ } else {
+ return expr.toString();
+ }
+ }
+
+ public static EParam getProviderFromCall(String fctName) {
+ if (fctName.equals(DECLARE_PARAMETER)) {
+ return EParam.ADD_OR_DECLARE;
+ }
+ if (fctName.equals(ADD_PARAMETER)) {
+ return EParam.ADD_OR_DECLARE;
+ }
+ if (fctName.equals(GET_PARAMETER)) {
+ return EParam.GET_PARAM;
+ }
+ return EParam.NONE;
+ }
+
+ /**
+ * Obtain default value from declare or add_parameter call
+ * @param fCallExpr
+ */
+ public static void obtainDeclOrAddDetails(IASTFunctionCallExpression fCallExpr) {
+ IASTInitializerClause arguments[] = fCallExpr.getArguments();
+ String parameterName = arguments[0].toString();
+ parameterName = StringUtils.unquote(parameterName);
+ String defaultValue = null;
+ String description = null;
+ if (arguments.length > 1) {
+ if (arguments[1] instanceof IASTFunctionCallExpression) {
+ IASTInitializerClause argument = arguments[1];
+ while (argument instanceof IASTFunctionCallExpression) {
+ arguments = ((IASTFunctionCallExpression) arguments[1]).getArguments();
+ if (arguments.length == 1) {
+
+ }
+ }
+ defaultValue = ((IASTFunctionCallExpression) arguments[1]).getArguments()[0].toString();
+ }
+ // String parameterName = fCallExpr.getArguments()[0].toString();
+
+ if (arguments.length > 2) {
+ description = arguments[2].toString();
+ }
+ }
+ System.err.println("param: " + parameterName); //$NON-NLS-1$
+ if (defaultValue != null) System.err.println(" " + defaultValue);
+ if (description != null) System.err.println(" " + description);
+ }
+
+ /**
+ * The type can be obtained from the get_parameter call
+ * @param fCallExpr
+ */
+ public static void obtainGetDetails(IASTFunctionCallExpression fCallExpr) {
+ IASTInitializerClause arguments[] = fCallExpr.getArguments();
+ String parameterName = arguments[0].toString();
+ parameterName = StringUtils.unquote(parameterName);
+ String type = null;
+ if (arguments.length > 1) {
+ if (arguments[1] instanceof IASTIdExpression) {
+ IASTIdExpression id = (IASTIdExpression) arguments[1];
+ ASTNodeProperty x = id.getPropertyInParent();
+ System.err.println(x);
+ // type =
+ }
+ }
+ if (type != null) {
+ // System.err.println(" " + defaultValue);
+ }
+ }
+
+ public static void scanBody(IASTNode node, List<ParamInfo> paramList) {
+ if (node instanceof IASTFunctionCallExpression) {
+ IASTFunctionCallExpression fCallExpr = (IASTFunctionCallExpression) node;
+ IASTExpression nameExpr = fCallExpr.getFunctionNameExpression();
+ if (nameExpr instanceof IASTIdExpression) {
+ IASTIdExpression nameId = (IASTIdExpression) nameExpr;
+ IASTName astName = nameId.getName();
+ String fctName = astName.toString();
+ EParam param = getProviderFromCall(fctName);
+ if (param == EParam.ADD_OR_DECLARE) {
+ obtainDeclOrAddDetails(fCallExpr);
+ }
+ else if (param == EParam.GET_PARAM) {
+ obtainGetDetails(fCallExpr);
+ }
+ }
+ }
+ for (IASTNode child : node.getChildren()) {
+ // recurse into all children
+ scanBody(child, paramList);
+ }
+ }
+}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromfile/ReversePortsFromSource.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromfile/ReversePortsFromSource.java
new file mode 100644
index 0000000..21c4286
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromfile/ReversePortsFromSource.java
@@ -0,0 +1,142 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
+package org.eclipse.papyrus.robotics.ros2.reverse.fromfile;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import org.eclipse.cdt.core.dom.ast.IASTExpression;
+import org.eclipse.cdt.core.dom.ast.IASTFieldReference;
+import org.eclipse.cdt.core.dom.ast.IASTFunctionCallExpression;
+import org.eclipse.cdt.core.dom.ast.IASTFunctionDefinition;
+import org.eclipse.cdt.core.dom.ast.IASTIdExpression;
+import org.eclipse.cdt.core.dom.ast.IASTName;
+import org.eclipse.cdt.core.dom.ast.IASTNode;
+import org.eclipse.cdt.core.dom.ast.cpp.ICPPASTNamespaceDefinition;
+import org.eclipse.cdt.core.dom.ast.cpp.ICPPASTTemplateId;
+import org.eclipse.papyrus.robotics.ros2.reverse.PortInfo;
+import org.eclipse.papyrus.robotics.ros2.reverse.PortInfo.ProviderKind;
+import org.eclipse.uml2.uml.Class;
+import org.eclipse.uml2.uml.Port;
+
+public class ReversePortsFromSource {
+
+ private static final String CREATE_PUBLISHER = "create_publisher"; //$NON-NLS-1$
+ private static final String CREATE_SUBSCRIPTION = "create_subscription"; //$NON-NLS-1$
+ private static final String CREATE_SERVICE = "create_service"; //$NON-NLS-1$
+ private static final String CREATE_CLIENT = "create_client"; //$NON-NLS-1$
+ private static final String CREATE_ACTION_SRV = "rclcpp_action::create_server"; //$NON-NLS-1$
+ private static final String CREATE_ACTION_CLI = "rclcpp_action::create_client"; //$NON-NLS-1$
+
+ public static void updatePorts(Class clazz, IASTNode node) {
+ List<PortInfo> portInfoList = new ArrayList<PortInfo>();
+ scanFunctions(node, portInfoList);
+
+ for (PortInfo pi : portInfoList) {
+ Port port = clazz.createOwnedPort(pi.dtQName, null);
+ System.err.println(pi.dtQName);
+ }
+ }
+
+ public static void scanFunctions(IASTNode node, List<PortInfo> portInfoList) {
+
+ for (IASTNode child : node.getChildren()) {
+ if (child instanceof IASTFunctionDefinition) {
+ IASTFunctionDefinition definition = (IASTFunctionDefinition) child;
+ scanBody(definition.getBody(), portInfoList);
+ }
+ if (child instanceof ICPPASTNamespaceDefinition) {
+ // recurse into namespaces
+ scanFunctions(child, portInfoList);
+ }
+ }
+ }
+ public static String getASTName(IASTExpression expr) {
+ if (expr instanceof IASTFieldReference) {
+ IASTName fieldName = ((IASTFieldReference) expr).getFieldName();
+ if (fieldName != null) {
+ return fieldName.toString();
+ }
+ return ""; //$NON-NLS-1$
+ } else {
+ return expr.toString();
+ }
+ }
+
+ public static ProviderKind getProviderFromCall(String fctName) {
+ if (fctName.equals(CREATE_CLIENT)) {
+ return ProviderKind.CLIENT;
+ }
+ else if (fctName.equals(CREATE_SERVICE)) {
+ return ProviderKind.SERVER;
+ }
+ else if (fctName.equals(CREATE_SUBSCRIPTION)) {
+ return ProviderKind.SUBSCRIBER;
+ }
+ else if (fctName.equals(CREATE_PUBLISHER)) {
+ return ProviderKind.PUBLISHER;
+ }
+ else if (fctName.equals(CREATE_ACTION_SRV)) {
+ return ProviderKind.ACTION_SRV;
+ }
+ else if (fctName.equals(CREATE_ACTION_CLI)) {
+ return ProviderKind.ACTION_CLI;
+ }
+ return null;
+ }
+
+ /**
+ * This function obtains the PortInfo from AST data
+ * @param pk
+ * @param fCallExpr the function call expression
+ * @param templateId the template-id
+ */
+ public static PortInfo obtainCallDetails(ProviderKind pk, IASTFunctionCallExpression fCallExpr, ICPPASTTemplateId templateId) {
+ String topicName = fCallExpr.getArguments()[0].toString();
+ PortInfo portInfo = new PortInfo();
+ portInfo.pk = pk;
+ portInfo.dtQName = templateId.getTemplateArguments()[0].toString();
+ portInfo.topic = topicName;
+ return portInfo;
+ }
+
+ public static void scanBody(IASTNode node, List<PortInfo> portList) {
+ if (node instanceof IASTFunctionCallExpression) {
+ IASTFunctionCallExpression fCallExpr = (IASTFunctionCallExpression) node;
+ IASTExpression nameExpr = fCallExpr.getFunctionNameExpression();
+ if (nameExpr instanceof IASTIdExpression) {
+ IASTIdExpression nameId = (IASTIdExpression) nameExpr;
+ IASTName astName = nameId.getName();
+ if (astName instanceof ICPPASTTemplateId) {
+ // all ROS2 "ports" are created by binding one or more concrete message types
+ // e.g. create_publisher<geometry_msgs::msg::PoseArray>(...)
+ ICPPASTTemplateId templateId = (ICPPASTTemplateId) astName;
+ String fctName = templateId.getTemplateName().toString();
+ ProviderKind pk = getProviderFromCall(fctName);
+ if (pk != null) {
+ PortInfo portInfo = obtainCallDetails(pk, fCallExpr, templateId);
+ if (portInfo != null) {
+ portList.add(portInfo);
+ }
+ }
+ }
+ }
+ }
+ for (IASTNode child : node.getChildren()) {
+ // recurse into all children
+ scanBody(child, portList);
+ }
+ }
+}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/MessageParser.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/MessageParser.java
similarity index 83%
rename from plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/MessageParser.java
rename to plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/MessageParser.java
index 314db2f..cfcec21 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/MessageParser.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/MessageParser.java
@@ -1,8 +1,23 @@
-package org.eclipse.papyrus.robotics.ros2.reverse;
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
+package org.eclipse.papyrus.robotics.ros2.reverse.fromsys;
import java.util.ArrayList;
import java.util.List;
+import org.eclipse.papyrus.robotics.ros2.reverse.Activator;
import org.eclipse.uml2.uml.DataType;
public class MessageParser {
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/NodeInfo.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/NodeInfo.java
new file mode 100644
index 0000000..313be63
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/NodeInfo.java
@@ -0,0 +1,27 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
+package org.eclipse.papyrus.robotics.ros2.reverse.fromsys;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import org.eclipse.papyrus.robotics.ros2.reverse.PortInfo;
+import org.eclipse.uml2.uml.Class;
+
+public class NodeInfo {
+ String name;
+ Class type;
+ List<PortInfo> ports = new ArrayList<PortInfo>();
+}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ReverseMessages.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/ReverseMessages.java
similarity index 94%
rename from plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ReverseMessages.java
rename to plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/ReverseMessages.java
index f68ad16..83df4e9 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/ReverseMessages.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/ReverseMessages.java
@@ -1,4 +1,17 @@
-package org.eclipse.papyrus.robotics.ros2.reverse;
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
+package org.eclipse.papyrus.robotics.ros2.reverse.fromsys;
import java.io.BufferedReader;
import java.io.IOException;
@@ -22,8 +35,10 @@
import org.eclipse.papyrus.robotics.library.advice.QueryCommPatternAdvice;
import org.eclipse.papyrus.robotics.library.advice.SendCommPatternAdvice;
import org.eclipse.papyrus.robotics.profile.robotics.services.ServiceDefinition;
-import org.eclipse.papyrus.robotics.ros2.reverse.MessageParser.MessageEntry;
-import org.eclipse.papyrus.robotics.ros2.reverse.MessageParser.NameType;
+import org.eclipse.papyrus.robotics.ros2.reverse.Activator;
+import org.eclipse.papyrus.robotics.ros2.reverse.Ros2Constants;
+import org.eclipse.papyrus.robotics.ros2.reverse.fromsys.MessageParser.MessageEntry;
+import org.eclipse.papyrus.robotics.ros2.reverse.fromsys.MessageParser.NameType;
import org.eclipse.papyrus.robotics.ros2.reverse.utils.ReverseUtils;
import org.eclipse.papyrus.uml.tools.utils.PackageUtil;
import org.eclipse.papyrus.uml.tools.utils.StereotypeUtil;
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/ReverseNodes.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/ReverseNodes.java
new file mode 100644
index 0000000..7b71444
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/ReverseNodes.java
@@ -0,0 +1,493 @@
+package org.eclipse.papyrus.robotics.ros2.reverse.fromsys;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+import org.eclipse.core.commands.ExecutionException;
+import org.eclipse.core.resources.IFile;
+import org.eclipse.core.resources.IFolder;
+import org.eclipse.core.resources.IProject;
+import org.eclipse.core.resources.IWorkspaceRoot;
+import org.eclipse.core.resources.ResourcesPlugin;
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.core.runtime.IProgressMonitor;
+import org.eclipse.core.runtime.NullProgressMonitor;
+import org.eclipse.emf.common.util.URI;
+import org.eclipse.emf.ecore.resource.Resource;
+import org.eclipse.emf.transaction.RecordingCommand;
+import org.eclipse.gmf.runtime.common.core.command.ICommand;
+import org.eclipse.gmf.runtime.notation.Diagram;
+import org.eclipse.papyrus.designer.languages.common.base.ElementUtils;
+import org.eclipse.papyrus.designer.languages.common.base.StringUtils;
+import org.eclipse.papyrus.designer.languages.cpp.library.CppUriConstants;
+import org.eclipse.papyrus.designer.transformation.base.utils.ModelManagement;
+import org.eclipse.papyrus.infra.core.resource.BadArgumentExcetion;
+import org.eclipse.papyrus.infra.core.resource.NotFoundException;
+import org.eclipse.papyrus.infra.core.services.ServiceException;
+import org.eclipse.papyrus.infra.gmfdiag.common.model.NotationModel;
+import org.eclipse.papyrus.robotics.core.utils.FileExtensions;
+import org.eclipse.papyrus.robotics.core.utils.InteractionUtils;
+import org.eclipse.papyrus.robotics.core.utils.ParameterUtils;
+import org.eclipse.papyrus.robotics.core.utils.PortUtils;
+import org.eclipse.papyrus.robotics.core.utils.ScanUtils;
+import org.eclipse.papyrus.robotics.profile.robotics.commpattern.CommunicationPattern;
+import org.eclipse.papyrus.robotics.profile.robotics.components.ComponentPort;
+import org.eclipse.papyrus.robotics.profile.robotics.parameters.ParameterEntry;
+import org.eclipse.papyrus.robotics.ros2.reverse.PortInfo;
+import org.eclipse.papyrus.robotics.ros2.reverse.PortInfo.ProviderKind;
+import org.eclipse.papyrus.robotics.ros2.reverse.ReverseConstants;
+import org.eclipse.papyrus.robotics.ros2.reverse.Ros2Constants;
+import org.eclipse.papyrus.robotics.ros2.reverse.fromsys.MessageParser.MessageEntry;
+import org.eclipse.papyrus.robotics.ros2.reverse.utils.FolderUtils;
+import org.eclipse.papyrus.robotics.ros2.reverse.utils.ModelTemplate;
+import org.eclipse.papyrus.robotics.ros2.reverse.utils.ReverseUtils;
+import org.eclipse.papyrus.uml.diagram.wizards.Activator;
+import org.eclipse.papyrus.uml.tools.utils.PackageUtil;
+import org.eclipse.papyrus.uml.tools.utils.StereotypeUtil;
+import org.eclipse.uml2.uml.AggregationKind;
+import org.eclipse.uml2.uml.Class;
+import org.eclipse.uml2.uml.Connector;
+import org.eclipse.uml2.uml.ConnectorEnd;
+import org.eclipse.uml2.uml.Interface;
+import org.eclipse.uml2.uml.NamedElement;
+import org.eclipse.uml2.uml.Package;
+import org.eclipse.uml2.uml.Port;
+import org.eclipse.uml2.uml.Property;
+import org.eclipse.uml2.uml.TemplateBinding;
+import org.eclipse.uml2.uml.Type;
+
+@SuppressWarnings("nls")
+public class ReverseNodes {
+
+ enum PortKind {
+ PUBSUB, SERVICE, ACTION
+ };
+
+ enum PortDirection {
+ PROVIDED, REQUIRED
+ };
+
+ protected IProgressMonitor monitor;
+
+ protected List<URI> pathMapURIs;
+
+ protected List<NodeInfo> niList;
+
+ protected Map<String, List<NodeInfo>> portHash;
+
+ public static void reverseNodes(IProgressMonitor monitor) {
+ new ReverseNodes(monitor).readNodeList();
+ }
+
+ public ReverseNodes(IProgressMonitor monitor) {
+ this.monitor = monitor;
+ pathMapURIs = ScanUtils.allPathmapModels(FileExtensions.SERVICEDEF_UML);
+ niList = new ArrayList<NodeInfo>();
+ portHash = new HashMap<String, List<NodeInfo>>();
+ }
+
+ /**
+ * read the list of nodes and create models.
+ */
+ public void readNodeList() {
+ ProcessBuilder pb = new ProcessBuilder(Ros2Constants.ROS2, Ros2Constants.NODE, Ros2Constants.LIST);
+ try {
+ Process p = pb.start();
+ BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
+ StringBuffer errorMsg = new StringBuffer();
+ boolean error = ReverseUtils.logErrors(p, errorMsg);
+ if (error) {
+ Activator.log.debug(errorMsg.toString());
+ return;
+ }
+
+ // first, read all lines into an array in order to calculate
+ // the number of nodes
+ String line1;
+ List<String> lines = new ArrayList<String>();
+ while ((line1 = results.readLine()) != null) {
+ String frags[] = line1.split(MessageParser.SLASH);
+ if (frags.length == 2) {
+ String name = frags[1].trim();
+ if (name.endsWith("_rclcpp_node") || name.endsWith("_client_node") ||
+ name.startsWith("transform_listener_") || name.startsWith("launch_ros_")) {
+ // skip
+ } else {
+ lines.add(line1);
+ }
+ }
+ }
+ results.close();
+
+ monitor.beginTask("reverse nodes", lines.size() + 1);
+ for (String line : lines) {
+ reverseNode(line);
+ monitor.worked(1);
+ if (monitor.isCanceled())
+ break;
+ }
+ createSystem();
+ } catch (IOException exp) {
+ Activator.log.error(exp);
+ }
+ }
+
+ public void reverseNode(String line) {
+ String frags[] = line.split(MessageParser.SLASH);
+ try {
+ String pkgName = frags[0].trim();
+ String name = frags[1].trim();
+ // ignore some nodes
+
+ monitor.subTask("reverse component " + name);
+ String fileName = name + FileExtensions.COMPDEF_UML;
+ // pass complete filename (a bit abusing the extension attribute)
+ IWorkspaceRoot root = ResourcesPlugin.getWorkspace().getRoot();
+ if (pkgName.length() == 0) {
+ IProject project = FolderUtils.obtainProject(fileName);
+ if (project != null) {
+ pkgName = project.getName();
+ }
+ else {
+ // could not determine
+ pkgName = name;
+ }
+ }
+
+ IProject project = root.getProject(pkgName);
+ IProgressMonitor progressMonitor = new NullProgressMonitor();
+ if (!project.exists()) {
+ project.create(progressMonitor);
+ }
+ if (!project.isOpen()) {
+ project.open(progressMonitor);
+ }
+
+ NodeInfo ni = new NodeInfo();
+ ni.name = name;
+ IFolder fModels = FolderUtils.createFolderStructure(project);
+ IFolder fComponents = FolderUtils.getComponentFolder(fModels);
+ IFile fCompModel = fComponents.getFile(fileName);
+ URI newURI = URI.createURI("platform:/resource/" + pkgName + "/models/components/" + fileName);
+ if (!fCompModel.exists()) {
+ ModelTemplate mt = new ModelTemplate(newURI, "compdef");
+ final NotationModel notation = mt.getNotationModel();
+
+ final Package pkg = mt.getUMLModel();
+ // load primitive types
+ PackageUtil.loadPackage(URI.createURI(ReverseMessages.PATHMAP_ROS2_PRIMITIVE_UML), pkg.eResource().getResourceSet());
+ PackageUtil.loadPackage(CppUriConstants.ANSIC_LIB, pkg.eResource().getResourceSet());
+
+ final String lineFinal = line;
+ RecordingCommand reverseComponent = new RecordingCommand(mt.getDomain()) {
+ @Override
+ protected void doExecute() {
+ pkg.setName(name);
+ ReverseUtils.setXmlID(pkg);
+
+ Class clazz = (Class) pkg.getOwnedType(ReverseConstants.MODEL_NAME_UC);
+ ni.type = clazz;
+ clazz.setName(name);
+ ReverseUtils.setXmlID(clazz);
+ reversePorts(clazz, ni, lineFinal);
+ reverseParams(clazz, lineFinal);
+
+ Diagram diagram;
+ try {
+ diagram = notation.getDiagram(ReverseConstants.MODEL_NAME_UC);
+ final String newName = StringUtils.upperCaseFirst(name) + " diagram";
+ diagram.setName(newName);
+ } catch (NotFoundException | BadArgumentExcetion e) {
+ e.printStackTrace();
+ }
+ }
+ };
+ mt.executeCmd(reverseComponent);
+ mt.save(progressMonitor);
+ mt.dispose();
+ } else {
+ // obtain clazz
+ ModelManagement.getResourceSet().getResource(newURI, true);
+ String qualifiedName = "*::" + name;
+ NamedElement ne = ElementUtils.getQualifiedElementFromRS(ModelManagement.getResourceSet(), qualifiedName);
+ if (ne instanceof Class) {
+ ni.type = (Class) ne;
+ } else {
+ Activator.log.debug("not found");
+ }
+ // reverse ports without updating the component (in order to fill port hashMap)
+ reversePorts(null, ni, line);
+ // TODO: in the moment, we do not touch existing projects
+ }
+ niList.add(ni);
+ } catch (CoreException | ServiceException e) {
+ e.printStackTrace();
+ }
+ }
+
+ public void createSystem() {
+ String fileName = "fromRos.uml";
+ URI newURI = URI.createURI("platform:/resource/reverse/models/system/" + fileName);
+ Resource r = ModelManagement.getResourceSet().getResource(newURI, true);
+ if (r != null) {
+ // model already exists, don't overwrite it.
+ return;
+ }
+ try {
+ ModelTemplate mt = new ModelTemplate(newURI, "system");
+ RecordingCommand rc = new RecordingCommand(mt.getDomain()) {
+
+ @Override
+ protected void doExecute() {
+ Package root = mt.getUMLModel();
+ Diagram diagram;
+ try {
+ diagram = mt.getNotationModel().getDiagram(ReverseConstants.MODEL_NAME_UC);
+ diagram.setName("System diagram");
+ } catch (NotFoundException | BadArgumentExcetion e) {
+ Activator.log.error(e);
+ ;
+ }
+ Class system = (Class) root.getOwnedMember("System");
+ for (NodeInfo ni : niList) {
+ system.createOwnedAttribute(ni.name, ni.type);
+ }
+ for (String portName : portHash.keySet()) {
+ Connector c = system.createOwnedConnector(null);
+ for (NodeInfo ni : portHash.get(portName)) {
+ ConnectorEnd end = c.createEnd();
+
+ end.setPartWithPort(system.getAttribute(ni.name, null));
+ end.setRole(ni.type.getOwnedPort(portName, null));
+ }
+ if (c.getEnds().size() < 2) {
+ c.destroy();
+ }
+ }
+ }
+ };
+ mt.executeCmd(rc);
+ mt.save(monitor);
+ } catch (ServiceException e) {
+ Activator.log.error(e);
+ ;
+ }
+
+ }
+
+ public void reversePorts(Class component, NodeInfo ni, String qName) {
+ ProcessBuilder pb = new ProcessBuilder(Ros2Constants.ROS2, Ros2Constants.NODE, Ros2Constants.INFO, qName);
+ try {
+ Process p = pb.start();
+ BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
+ StringBuffer errorMsg = new StringBuffer();
+ boolean error = ReverseUtils.logErrors(p, errorMsg);
+ if (error) {
+ Activator.log.debug(errorMsg.toString());
+ return;
+ }
+ String line;
+ PortKind current = PortKind.PUBSUB;
+ PortDirection direction = PortDirection.PROVIDED;
+ while ((line = results.readLine()) != null) {
+ line = MessageParser.filterComment(line);
+ if (line.contains("Publishers:")) {
+ current = PortKind.PUBSUB;
+ direction = PortDirection.PROVIDED;
+ } else if (line.contains("Subscribers:")) {
+ current = PortKind.PUBSUB;
+ direction = PortDirection.REQUIRED;
+ } else if (line.contains("Service Servers:")) {
+ current = PortKind.SERVICE;
+ direction = PortDirection.PROVIDED;
+ } else if (line.contains("Service Clients:")) {
+ current = PortKind.SERVICE;
+ direction = PortDirection.REQUIRED;
+ } else if (line.contains("Action Servers:")) {
+ current = PortKind.ACTION;
+ direction = PortDirection.PROVIDED;
+ } else if (line.contains("Action Clients:")) {
+ current = PortKind.ACTION;
+ direction = PortDirection.REQUIRED;
+ } else {
+ String frags[] = line.split(MessageParser.COLON);
+ if (frags.length == 2) {
+ String qPortName = frags[0].trim();
+ String qMessageName = frags[1].trim();
+ MessageEntry entry = MessageParser.extractMessageEntry(qMessageName);
+ if (entry.pkgName.equals("rcl_interfaces")
+ || entry.pkgName.equals("lifecycle_msgs")
+ || entry.pkgName.equals("rosgraph_msgs")) {
+ // length 3, e.g. "/ROSadder/change_state: lifecycle_msgs/srv/ChangeState" indicate automatically
+ // standard interfaces
+ // TODO - might need info whether a lifecycle node.
+ continue;
+ }
+ String portName = qPortName.trim().substring(1);
+ List<NodeInfo> niWithName = portHash.get(portName);
+ if (niWithName == null) {
+ niWithName = new ArrayList<NodeInfo>();
+ }
+ niWithName.add(ni);
+ portHash.put(portName, niWithName);
+ if (component == null) {
+ continue;
+ }
+ Interface sd = getServiceDef(component, current, entry);
+ if (sd == null) {
+ // check, if the model representing the ROS2 resource is already in the resource set
+ if (ElementUtils.getQualifiedElementFromRS(component, entry.pkgName) == null) {
+ // not loaded => load and retry to get service definition
+ String fileName = ReverseUtils.fileName(entry.pkgName);
+ // load message set from registered packages (TODO: important restriction?)
+ // Cannot use the load function in ReverseUtils, since this loads into the "wrong" resource set
+ for (URI pathURI : pathMapURIs) {
+ if (pathURI.toString().endsWith(fileName)) {
+ component.eResource().getResourceSet().getResource(pathURI, true);
+ sd = getServiceDef(component, current, entry);
+ break;
+ }
+ }
+ }
+ if (sd == null) {
+ Activator.log.debug(String.format("Cannot find service definition for %s", qMessageName));
+ break;
+ }
+ }
+ PortInfo pi = new PortInfo();
+ ni.ports.add(pi);
+ pi.dtQName = portName;
+ Port port = component.createOwnedPort(portName, null);
+ ReverseUtils.setXmlID(port);
+ port.setAggregation(AggregationKind.COMPOSITE_LITERAL);
+ StereotypeUtil.apply(port, ComponentPort.class);
+ ICommand csCmd = PortUtils.associateCSCommand(port);
+ csCmd.execute(null, null);
+ Class cs = (Class) port.getType();
+ TemplateBinding tb = InteractionUtils.getTemplateBinding(sd);
+ CommunicationPattern cp = InteractionUtils.getCommunicationPattern(tb);
+ if (direction == PortDirection.PROVIDED) {
+ cs.createInterfaceRealization(null, sd);
+ if (InteractionUtils.isPush(cp)) {
+ pi.pk = ProviderKind.PUBLISHER;
+ } else if (InteractionUtils.isQuery(cp)) {
+ pi.pk = ProviderKind.SERVER;
+ } else if (InteractionUtils.isAction(cp)) {
+ pi.pk = ProviderKind.ACTION_SRV;
+ }
+ } else {
+ cs.createUsage(sd);
+ if (InteractionUtils.isPush(cp)) {
+ pi.pk = ProviderKind.SUBSCRIBER;
+ } else if (InteractionUtils.isQuery(cp)) {
+ pi.pk = ProviderKind.CLIENT;
+ } else if (InteractionUtils.isAction(cp)) {
+ pi.pk = ProviderKind.ACTION_CLI;
+ }
+ }
+ }
+ }
+ }
+ results.close();
+
+ } catch (IOException exp) {
+ Activator.log.error(exp);
+ } catch (ExecutionException exp) {
+ Activator.log.error(exp);
+ }
+ }
+
+ public void reverseParams(Class component, String qName) {
+ ProcessBuilder pb = new ProcessBuilder(Ros2Constants.ROS2, Ros2Constants.PARAM, Ros2Constants.LIST, qName);
+ try {
+ Process p = pb.start();
+ BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
+ StringBuffer errorMsg = new StringBuffer();
+ boolean error = ReverseUtils.logErrors(p, errorMsg);
+ if (error) {
+ Activator.log.debug(errorMsg.toString());
+ return;
+ }
+ String line;
+ // read list of ROS parameters and add these to the list of parameters of the
+ // describe command
+ ProcessBuilder pbDesc = new ProcessBuilder(Ros2Constants.ROS2, Ros2Constants.PARAM, Ros2Constants.DESCRIBE, qName);
+ while (results.ready() && (line = results.readLine()) != null) {
+ String param = line.trim();
+ pbDesc.command().add(param);
+ }
+ results.close();
+
+ String paramName = "";
+ Class paramSet = ParameterUtils.getParameterClass(component);
+ // now obtain type
+ Process pDesc = pbDesc.start();
+ results = new BufferedReader(new InputStreamReader(pDesc.getInputStream()));
+ error = ReverseUtils.logErrors(pDesc, errorMsg);
+ if (error) {
+ Activator.log.debug(errorMsg.toString());
+ }
+ while (results.ready() && (line = results.readLine()) != null) {
+ String desc = line.trim();
+ if (desc.startsWith("Parameter name:")) {
+ paramName = desc.substring("Parameter name:".length()).trim();
+ }
+ if (desc.startsWith("Type:")) {
+ String type = desc.substring(5).trim();
+ int upper = 1;
+ if (type.equals("string array")) { // TODO - right mapping?
+ type = "string";
+ upper = -1;
+ }
+ String name = "primitive" + NamedElement.SEPARATOR + type;
+ NamedElement ne = ElementUtils.getQualifiedElementFromRS(component, name);
+ if (ne == null) {
+ if (type.equals("boolean")) {
+ type = "bool";
+ }
+ if (type.equals("integer")) {
+ type = "int";
+ }
+ name = "AnsiCLibrary" + NamedElement.SEPARATOR + type;
+ ne = ElementUtils.getQualifiedElementFromRS(component, name);
+ }
+ Property paramUML = paramSet.createOwnedAttribute(paramName, (Type) ne);
+ StereotypeUtil.apply(paramUML, ParameterEntry.class);
+ if (upper != 1) {
+ paramUML.setUpper(upper);
+ }
+ if (ne == null) {
+ Activator.log.debug(String.format("Cannot find type %s", type));
+ }
+ }
+ }
+ results.close();
+
+ } catch (IOException exp) {
+ Activator.log.error(exp);
+ }
+ }
+
+ public static Interface getServiceDef(Class component, PortKind portKind, MessageEntry entry) {
+ String prefix = "";
+ if (portKind == PortKind.PUBSUB) {
+ prefix = "P_";
+ } else if (portKind == PortKind.SERVICE) {
+ prefix = "Q_";
+ } else if (portKind == PortKind.ACTION) {
+ prefix = "A_";
+ }
+ String qName = entry.pkgName + NamedElement.SEPARATOR + Ros2Constants.SVCDEFS + NamedElement.SEPARATOR
+ + prefix + entry.name;
+ NamedElement ne = ElementUtils.getQualifiedElementFromRS(component, qName);
+ if (ne instanceof Interface) {
+ return (Interface) ne;
+ }
+ return null;
+ }
+}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseMessagesHandler.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseMessagesHandler.java
index cc16b6d..f9122d4 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseMessagesHandler.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseMessagesHandler.java
@@ -1,3 +1,17 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
package org.eclipse.papyrus.robotics.ros2.reverse.handlers;
import org.eclipse.core.commands.AbstractHandler;
@@ -9,7 +23,7 @@
import org.eclipse.core.runtime.Status;
import org.eclipse.core.runtime.jobs.Job;
import org.eclipse.jface.viewers.IStructuredSelection;
-import org.eclipse.papyrus.robotics.ros2.reverse.ReverseMessages;
+import org.eclipse.papyrus.robotics.ros2.reverse.fromsys.ReverseMessages;
import org.eclipse.ui.PlatformUI;
public class ReverseMessagesHandler extends AbstractHandler {
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseNodeFromFileHandler.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseNodeFromFileHandler.java
new file mode 100644
index 0000000..92f2d75
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseNodeFromFileHandler.java
@@ -0,0 +1,60 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
+package org.eclipse.papyrus.robotics.ros2.reverse.handlers;
+
+import org.eclipse.core.commands.AbstractHandler;
+import org.eclipse.core.commands.ExecutionEvent;
+import org.eclipse.core.commands.ExecutionException;
+import org.eclipse.core.resources.IFile;
+import org.eclipse.core.runtime.IProgressMonitor;
+import org.eclipse.core.runtime.IStatus;
+import org.eclipse.core.runtime.Status;
+import org.eclipse.core.runtime.jobs.Job;
+import org.eclipse.jface.viewers.IStructuredSelection;
+import org.eclipse.papyrus.robotics.ros2.reverse.fromfile.ReverseNodeFromSource;
+import org.eclipse.ui.PlatformUI;
+
+public class ReverseNodeFromFileHandler extends AbstractHandler {
+
+ protected IFile file;
+
+ @Override
+ public boolean isEnabled() {
+ // Retrieve selected elements
+ IStructuredSelection selection = (IStructuredSelection) PlatformUI
+ .getWorkbench().getActiveWorkbenchWindow()
+ .getSelectionService().getSelection();
+
+ if (selection.getFirstElement() instanceof IFile) {
+ file = (IFile) selection.getFirstElement();
+ return true;
+ }
+ return false;
+ }
+
+ @Override
+ public Object execute(ExecutionEvent arg0) throws ExecutionException {
+ Job job = new Job("Reverse ROS messages and services") { //$NON-NLS-1$
+ @Override
+ protected IStatus run(final IProgressMonitor monitor) {
+ ReverseNodeFromSource.reverseNode(file, monitor);
+ return Status.OK_STATUS;
+ }
+ };
+ job.schedule();
+
+ return null;
+ }
+}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseNodesHandler.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseNodesHandler.java
index dda6005..9f282f8 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseNodesHandler.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/handlers/ReverseNodesHandler.java
@@ -1,3 +1,17 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
package org.eclipse.papyrus.robotics.ros2.reverse.handlers;
import org.eclipse.core.commands.AbstractHandler;
@@ -7,7 +21,7 @@
import org.eclipse.core.runtime.IStatus;
import org.eclipse.core.runtime.Status;
import org.eclipse.core.runtime.jobs.Job;
-import org.eclipse.papyrus.robotics.ros2.reverse.ReverseNodes;
+import org.eclipse.papyrus.robotics.ros2.reverse.fromsys.ReverseNodes;
public class ReverseNodesHandler extends AbstractHandler {
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/FolderUtils.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/FolderUtils.java
index 887db11..777969c 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/FolderUtils.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/FolderUtils.java
@@ -1,9 +1,27 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
package org.eclipse.papyrus.robotics.ros2.reverse.utils;
import org.eclipse.core.resources.IContainer;
+import org.eclipse.core.resources.IFile;
import org.eclipse.core.resources.IFolder;
import org.eclipse.core.resources.IProject;
+import org.eclipse.core.resources.IWorkspaceRoot;
+import org.eclipse.core.resources.ResourcesPlugin;
import org.eclipse.core.runtime.CoreException;
+import org.eclipse.core.runtime.IPath;
import org.eclipse.core.runtime.Path;
import org.eclipse.papyrus.robotics.ros2.reverse.Activator;
@@ -36,4 +54,26 @@
return getOrCreate(fModels, COMPONENTS);
}
+
+ /**
+ * Obtain an existing project (and thus the presumed package) based on
+ * the assumption that the filename of the component definition corresponds
+ * to the node name that is published.
+ *
+ * @param fileName
+ * the filename of a component definition
+ * @return the obtained project name or null, if none found
+ */
+ public static IProject obtainProject(String fileName) {
+ IWorkspaceRoot root = ResourcesPlugin.getWorkspace().getRoot();
+ for (IProject project : root.getProjects()) {
+ IPath path = new Path("/models/components/" + fileName);
+ IFile file = project.getFile(path);
+ if (file.exists()) {
+ return project;
+ }
+ }
+ return null;
+ }
+
}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/ModelTemplate.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/ModelTemplate.java
new file mode 100644
index 0000000..1dfe783
--- /dev/null
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/ModelTemplate.java
@@ -0,0 +1,80 @@
+package org.eclipse.papyrus.robotics.ros2.reverse.utils;
+
+import java.io.IOException;
+
+import org.eclipse.core.runtime.IProgressMonitor;
+import org.eclipse.emf.common.command.Command;
+import org.eclipse.emf.common.util.URI;
+import org.eclipse.emf.transaction.RecordingCommand;
+import org.eclipse.emf.transaction.TransactionalEditingDomain;
+import org.eclipse.papyrus.commands.Activator;
+import org.eclipse.papyrus.infra.core.resource.ModelSet;
+import org.eclipse.papyrus.infra.core.resource.NotFoundException;
+import org.eclipse.papyrus.infra.core.services.ExtensionServicesRegistry;
+import org.eclipse.papyrus.infra.core.services.ServiceException;
+import org.eclipse.papyrus.infra.core.services.ServiceMultiException;
+import org.eclipse.papyrus.infra.core.services.ServicesRegistry;
+import org.eclipse.papyrus.infra.gmfdiag.common.model.NotationModel;
+import org.eclipse.papyrus.infra.gmfdiag.common.model.NotationUtils;
+import org.eclipse.papyrus.uml.diagram.wizards.command.InitFromTemplateCommand;
+import org.eclipse.papyrus.uml.diagram.wizards.command.NewPapyrusModelCommand;
+import org.eclipse.papyrus.uml.tools.model.UmlModel;
+import org.eclipse.papyrus.uml.tools.model.UmlUtils;
+import org.eclipse.uml2.uml.Package;
+
+public class ModelTemplate {
+ ServicesRegistry registry;
+
+ ModelSet modelSet;
+
+ public ModelTemplate(URI uri, String extension) throws ServiceException {
+ registry = new ExtensionServicesRegistry(org.eclipse.papyrus.infra.core.Activator.PLUGIN_ID);
+ registry.startServicesByClassKeys(ModelSet.class);
+
+ modelSet = registry.getService(ModelSet.class);
+ TransactionalEditingDomain domain = modelSet.getTransactionalEditingDomain();
+
+ RecordingCommand command = new NewPapyrusModelCommand(modelSet, uri);
+ domain.getCommandStack().execute(command);
+
+ String templateName = "templates/robotics." + extension;
+ InitFromTemplateCommand tp = new InitFromTemplateCommand(modelSet.getTransactionalEditingDomain(), modelSet,
+ "org.eclipse.papyrus.robotics.wizards",
+ templateName + ".uml", templateName + ".notation", templateName + ".di");
+ domain.getCommandStack().execute(tp);
+ }
+
+ public Package getUMLModel() {
+ UmlModel umlModel = UmlUtils.getUmlModel(modelSet);
+ try {
+ return (Package) umlModel.lookupRoot();
+ } catch (NotFoundException e) {
+ Activator.log.error(e);
+ }
+ return null;
+ }
+
+ public void save(IProgressMonitor progressMonitor) {
+ try {
+ modelSet.save(progressMonitor);
+ } catch (IOException e) {
+ Activator.log.error(e);
+ }
+ }
+
+ public TransactionalEditingDomain getDomain() {
+ return modelSet.getTransactionalEditingDomain();
+ }
+
+ public void executeCmd(Command command) {
+ getDomain().getCommandStack().execute(command);
+ }
+
+ public NotationModel getNotationModel() {
+ return NotationUtils.getNotationModel(modelSet);
+ }
+
+ public void dispose() throws ServiceMultiException {
+ registry.disposeRegistry();
+ }
+}
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/ReverseUtils.java b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/ReverseUtils.java
index c62380f..405e102 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/ReverseUtils.java
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/utils/ReverseUtils.java
@@ -1,3 +1,17 @@
+/*****************************************************************************
+ * Copyright (c) 2020 CEA LIST.
+ *
+ *
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * https://www.eclipse.org/legal/epl-2.0/
+ *
+ * Contributors:
+ * Ansgar Radermacher ansgar.radermacher@cea.fr
+ *
+ *****************************************************************************/
+
package org.eclipse.papyrus.robotics.ros2.reverse.utils;
import java.io.BufferedReader;
