plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.common/src/org/eclipse/papyrus/robotics/ros2/codegen/common/launch/LaunchScript.xtend - papyrus/org.eclipse.papyrus-robotics - Git at Google

 /*****************************************************************************
  * Copyright (c) 2018-2020 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
  *  Matteo MORELLI      matteo.morelli@cea.fr - Bug #566899
  *
  *****************************************************************************/

 package org.eclipse.papyrus.robotics.ros2.codegen.common.launch

 import java.util.ArrayList
 import java.util.Collections
 import java.util.List
 import org.eclipse.papyrus.designer.deployment.tools.DepUtils
 import org.eclipse.papyrus.designer.languages.common.base.file.IPFileSystemAccess
 import org.eclipse.papyrus.robotics.core.utils.PortUtils
 import org.eclipse.papyrus.robotics.ros2.preferences.Ros2Distributions
 import org.eclipse.papyrus.robotics.ros2.preferences.Ros2PreferenceUtils
 import org.eclipse.papyrus.uml.tools.utils.ConnectorUtil
 import org.eclipse.uml2.uml.Class
 import org.eclipse.uml2.uml.InstanceValue
 import org.eclipse.uml2.uml.Port
 import org.eclipse.uml2.uml.Property

 import static extension org.eclipse.papyrus.robotics.codegen.common.utils.ComponentUtils.isRegistered
 import static extension org.eclipse.papyrus.robotics.codegen.common.utils.PackageTools.pkgName
 import static extension org.eclipse.papyrus.robotics.codegen.common.utils.TopicUtils.getTopic
 import static extension org.eclipse.papyrus.robotics.core.utils.InstanceUtils.*
 import static extension org.eclipse.papyrus.robotics.core.utils.InteractionUtils.*
 import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.SequencerUtils.*
 import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.SkillUtils.*
 import org.eclipse.papyrus.designer.languages.common.base.file.ProtSection

 /**
  * Create a set of launch scripts
  */
 class LaunchScript {
 	/**
 	 * create a launch script for a single component instance (part)
 	 */
 	static def createLaunchScriptSingle(Class system, Property part, boolean addSequencer) '''
 		from launch import LaunchDescription
 		from launch_ros.actions import «IF part.isLifecycle»Lifecycle«ENDIF»Node
 		from ament_index_python.packages import get_package_share_directory

 		share_dir = get_package_share_directory('«system.nearestPackage.pkgName»')

 		# «ProtSection.protSection("imports")»
 		# «ProtSection.protSection»

 		def generate_entity():
 			# define empty user parameter (eventually redefined in the protected section afterwards)
 			«IF !addSequencer»
 				«part.name»_custom_params = {}
 			«ELSE»
 				«system.sequencerName»
 			«ENDIF»

 			# «ProtSection.protSection("parameters")»
 			# «ProtSection.protSection»

 			# Add the actions to the launch description.
 			«val component = part.type as Class»
 			«IF !addSequencer»
 				return «IF part.isLifecycle»Lifecycle«ENDIF»Node(
 					«IF eloquent»node_«ENDIF»name='«part.name»',
 					package='«component.nearestPackage.pkgName»', «IF eloquent»node_«ENDIF»executable='«component.name»«IF component.isRegistered»_main«ENDIF»',
 					namespace='',
 					remappings=[
 						«FOR remap : system.remaps(part) SEPARATOR(", ")»«remap»«ENDFOR»
 					],
 					parameters=[share_dir+'/launch/cfg/param.yaml', «part.name»_custom_params],
 					output='screen',
 					emulate_tty=True	# assure that RCLCPP output gets flushed
 				)
 			«ELSE»
 				return LifecycleNode(
 					«IF eloquent»node_«ENDIF»name='«system.sequencerName»',
 					package='bt_sequencer', «IF eloquent»node_«ENDIF»executable='bt_sequencer',
 					namespace='',
 					parameters=[share_dir+'/launch/cfg/param.yaml'],
 					output='screen',
 					emulate_tty=True	# assure that RCLCPP output gets flushed
 				)
 			«ENDIF»

 		def generate_launch_description():

 			# Launch Description
 			ld = LaunchDescription()
 			ld.add_entity(generate_entity())

 			# «ProtSection.protSection("post-launch")»
 			# «ProtSection.protSection»
 			return ld
 	'''

 	/**
 	 * Create a launch script based on the launch script for individual instances. This script is used for
 	 * individual activation scripts as well as for launh and activation of the whole system
 	 */
 	static def createLaunchScript(Class system, List<Property> parts, boolean addSequencer, boolean activate) '''
 		import launch.actions
 		import launch_ros
 		import lifecycle_msgs.msg

 		import sys
 		import os.path

 		from launch_ros.events.lifecycle import ChangeState
 		from launch import LaunchDescription
 		from ament_index_python.packages import get_package_share_directory

 		share_dir = get_package_share_directory('«system.nearestPackage.pkgName»')
 		# generated scripts are in launch folder
 		sys.path.append(os.path.join(share_dir, 'launch'))
 		# load launch scripts for each instance
 		«FOR part : parts»
 			import launch_«part.name»
 		«ENDFOR»
 		«IF addSequencer»
 			import launch_«system.sequencerName»
 		«ENDIF»

 		# «ProtSection.protSection("imports")»
 		# «ProtSection.protSection»

 		def generate_launch_description():

 			# Launch Description
 			ld = launch.LaunchDescription()

 			# call entity creation for each instance
 			«FOR part : parts»
 				«part.name»_node = launch_«part.name».generate_entity()
 			«ENDFOR»
 			«IF addSequencer»
 				«system.sequencerName»_node = launch_«system.sequencerName».generate_entity()
 			«ENDIF»
 			# now add all obtained entities to the launch description
 			«FOR part : parts»
 				ld.add_entity(«part.name»_node)
 			«ENDFOR»
 			«IF addSequencer»
 				ld.add_entity(«system.sequencerName»_node)
 			«ENDIF»

 			«IF activate»
 				# transition to configure after startup
 				«FOR part : parts»
 					«IF part.isLifecycle»
 						«generateConfig(part.name)»
 					«ENDIF»
 				«ENDFOR»

 				# transition to activate, once inactive
 				«FOR part : parts»
 					«IF part.isLifecycle»
 						«generateActivation(part.name)»
 					«ENDIF»
 				«ENDFOR»

 			«ENDIF»

 			# «ProtSection.protSection("post-launch")»
 			# «ProtSection.protSection»
 			return ld
 	'''

 	/**
 	 * Generate the commands for node configuration given node name
 	 */
 	static def generateConfig(String name) '''
 		configure_«name» = launch.actions.RegisterEventHandler(
 			launch.event_handlers.on_process_start.OnProcessStart(
 				target_action=«name»_node,
 				on_start=[
 		 			launch.actions.EmitEvent(
 						event=launch_ros.events.lifecycle.ChangeState(
 							lifecycle_node_matcher=launch.events.matches_action(«name»_node),
 							transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE
 						)
 					)
 				]
 			)
 		)
 		ld.add_entity(configure_«name»)
 	'''

 	/**
 	 * Generate the commands for node activation given node name
 	 */
 	static def generateActivation(String name) '''
 		activate_«name» = launch.actions.RegisterEventHandler(
 			launch_ros.event_handlers.OnStateTransition(
 				target_lifecycle_node=«name»_node,
 				start_state='configuring', goal_state='inactive',
 				entities=[
 					launch.actions.EmitEvent(
 						event=launch_ros.events.lifecycle.ChangeState(
 							lifecycle_node_matcher=launch.events.matches_action(«name»_node),
 							transition_id=lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE
 						)
 					)
 				]
 			)
 		)
 		ld.add_entity(activate_«name»)
 	'''

 	/**
 	 * initialize parameter values from IS and the (implicit) system sequencer model
 	 * (In the current implementation, the default skill semantics realization is always selected)
 	 */
 	static def createParameterFile(Class system) '''
 		«FOR part : system.compInstanceList»
 			«IF part.defaultValue instanceof InstanceValue»
 				«val is = (part.defaultValue as InstanceValue).instance»
 				«IF is !== null»
 					«part.name»:
 					  ros__parameters:
 					    «FOR slot : is.slots»
 					    	«IF slot.definingFeature !== null && DepUtils.firstValue(slot) !== null»
 					    		«slot.definingFeature.name» : «DepUtils.firstValue(slot).stringValue»
 					    	«ENDIF»
 					     «ENDFOR»
 				«ENDIF»
 			«ENDIF»
 		«ENDFOR»
 		«IF !system.uniqueSkills.nullOrEmpty»
 			«system.sequencerName»:
 			  ros__parameters:
 			    plugin_lib_names: [
 			    «FOR skill : system.getUniqueSkills SEPARATOR ','»
 			    	«"  \""+skill.realizationFileName»_bt_node"
 			    «ENDFOR»
 			    ]
 		«ENDIF»
 	'''

 	/**
 	 * an XML based aunch script (XML)
 	 */
 	static def createLaunchScriptXML(Class system) '''
 		<launch>
 			«FOR part : system.compInstanceList»
 				«val component = part.type as Class»
 				<node pkg="«component.nearestPackage.pkgName»" exec="«component.name»" name="«part.name»" respawn="false" output="screen">
 					«FOR remap : system.remapsXML(part)»
 						«remap»
 					«ENDFOR»
 					<param from="$(find-pkg-share «component.nearestPackage.pkgName»)/launch/cfg/param.yaml"/>
 				</node>
 			«ENDFOR»
 		</launch>
 	'''

 	/**
 	 * Remappings for XML
 	 */
 	static def remapsXML(Class system, Property part) {
 		val remaps = new ArrayList<String>
 		for (port : PortUtils.getAllPorts(part.type as Class)) {
 			val oppositeEnd = system.getOpposite(part, port)
 			if (oppositeEnd !== null) {
 				val from = port.topic
 				val to = part.getTopic(port, oppositeEnd)
 				if (from != to) {
 					remaps.add('''<remap from="«from»" to="«to»"/>''')
 				}
 			}
 		}
 		return remaps
 	}

 	/**
 	 * Re-mappings for command line (used for debugging a binary)
 	 */
 	static def remapsCmd(Class system, Property part) '''
 		«FOR port : PortUtils.getAllPorts(part.type as Class) SEPARATOR " "»
 			«val oppositeEnd = system.getOpposite(part, port)»
 			«IF oppositeEnd !== null»
 				«val from = port.topic»
 				«val to = part.getTopic(port, oppositeEnd)»
 				«IF from != to»
 					-r «port.topic»:=«part.getTopic(port, oppositeEnd)»
 				«ENDIF»
 			«ENDIF»
 		«ENDFOR»
 	'''

 	static def remaps(Class system, Property part) {
 		val remaps = new ArrayList<String>
 		for (port : PortUtils.getAllPorts(part.type as Class)) {
 			val oppositeEnd = system.getOpposite(part, port)
 			if (oppositeEnd !== null && port.commObject !== null) {
 				val from = port.topic
 				val to = part.getTopic(port, oppositeEnd)
 				if (!from.equals(to)) {
 					remaps.add('''('«from»', '«to»')''')
 				}
 			}
 		}
 		return remaps
 	}

 	/**
 	 * Return opposite part, based on the assumption that there is a single port
 	 * targeting a port
 	 */
 	static def getOpposite(Class system, Property part, Port port) {
 		for (connector: system.ownedConnectors) {
 			if (ConnectorUtil.connectsPort(connector, port)) {
 				val end = ConnectorUtil.connEndNotPart(connector, part)
 				if (end !== null) {
 					return end
 				}
 			}
 		}
 		return null
 	}

 	static def generateLaunch(IPFileSystemAccess fileAccess, Class system) {
 		val parts = system.compInstanceList;
 		val addSequencer = !system.uniqueSkills.nullOrEmpty
 		fileAccess.generateFile("launch/launch.py", system.createLaunchScript(parts, addSequencer, false).toString)
 		fileAccess.generateFile("launch/activate.py", system.createLaunchScript(parts, addSequencer, true).toString)
 		// create a separate launch file for each part
 		for (Property part : parts) {
 			fileAccess.generateFile('''launch/launch_«part.name».py''', system.createLaunchScriptSingle(part, false).toString)
 			if (part.isLifecycle) {
 				fileAccess.generateFile('''launch/activate_«part.name».py''', system.createLaunchScript(Collections.singletonList(part), false, true).toString)
 			}
 		}
 		if (isGalactic) {
 			// generate XML based file
 			fileAccess.generateFile('''launch/«system.name».launch''', system.createLaunchScriptXML.toString)
 		}
 		if (addSequencer) {
 			// create a separate launch file for the sequencer
 			fileAccess.generateFile('''launch/launch_«system.sequencerName».py''', system.createLaunchScriptSingle(null, true).toString)
 			// do not activate the sequencer directly - the user must first specify which behavior wants to be executed
 			// fileAccess.generateFile('''launch/activate_«system.sequencerName».py''', system.createLaunchScript(Collections.emptyList(), true, true).toString)
 		}
 		// create the parameters file
 		fileAccess.generateFile("launch/cfg/param.yaml", system.createParameterFile().toString)
 	}

 	static def isEloquent() {
 		Ros2PreferenceUtils.rosDistro === Ros2Distributions.ELOQUENT;
 	}
 	static def isGalactic() {
 		Ros2PreferenceUtils.rosDistro === Ros2Distributions.GALACTIC;
 	}
 }
	/*****************************************************************************
	* Copyright (c) 2018-2020 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
	* Matteo MORELLI matteo.morelli@cea.fr - Bug #566899
	*
	*****************************************************************************/

	package org.eclipse.papyrus.robotics.ros2.codegen.common.launch

	import java.util.ArrayList
	import java.util.Collections
	import java.util.List
	import org.eclipse.papyrus.designer.deployment.tools.DepUtils
	import org.eclipse.papyrus.designer.languages.common.base.file.IPFileSystemAccess
	import org.eclipse.papyrus.robotics.core.utils.PortUtils
	import org.eclipse.papyrus.robotics.ros2.preferences.Ros2Distributions
	import org.eclipse.papyrus.robotics.ros2.preferences.Ros2PreferenceUtils
	import org.eclipse.papyrus.uml.tools.utils.ConnectorUtil
	import org.eclipse.uml2.uml.Class
	import org.eclipse.uml2.uml.InstanceValue
	import org.eclipse.uml2.uml.Port
	import org.eclipse.uml2.uml.Property

	import static extension org.eclipse.papyrus.robotics.codegen.common.utils.ComponentUtils.isRegistered
	import static extension org.eclipse.papyrus.robotics.codegen.common.utils.PackageTools.pkgName
	import static extension org.eclipse.papyrus.robotics.codegen.common.utils.TopicUtils.getTopic
	import static extension org.eclipse.papyrus.robotics.core.utils.InstanceUtils.*
	import static extension org.eclipse.papyrus.robotics.core.utils.InteractionUtils.*
	import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.SequencerUtils.*
	import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.SkillUtils.*
	import org.eclipse.papyrus.designer.languages.common.base.file.ProtSection

	/**
	* Create a set of launch scripts
	*/
	class LaunchScript {
	/**
	* create a launch script for a single component instance (part)
	*/
	static def createLaunchScriptSingle(Class system, Property part, boolean addSequencer) '''
	from launch import LaunchDescription
	from launch_ros.actions import «IF part.isLifecycle»Lifecycle«ENDIF»Node
	from ament_index_python.packages import get_package_share_directory

	share_dir = get_package_share_directory('«system.nearestPackage.pkgName»')

	# «ProtSection.protSection("imports")»
	# «ProtSection.protSection»

	def generate_entity():
	# define empty user parameter (eventually redefined in the protected section afterwards)
	«IF !addSequencer»
	«part.name»_custom_params = {}
	«ELSE»
	«system.sequencerName»
	«ENDIF»

	# «ProtSection.protSection("parameters")»
	# «ProtSection.protSection»

	# Add the actions to the launch description.
	«val component = part.type as Class»
	«IF !addSequencer»
	return «IF part.isLifecycle»Lifecycle«ENDIF»Node(
	«IF eloquent»node_«ENDIF»name='«part.name»',
	package='«component.nearestPackage.pkgName»', «IF eloquent»node_«ENDIF»executable='«component.name»«IF component.isRegistered»_main«ENDIF»',
	namespace='',
	remappings=[
	«FOR remap : system.remaps(part) SEPARATOR(", ")»«remap»«ENDFOR»
	],
	parameters=[share_dir+'/launch/cfg/param.yaml', «part.name»_custom_params],
	output='screen',
	emulate_tty=True # assure that RCLCPP output gets flushed
	)
	«ELSE»
	return LifecycleNode(
	«IF eloquent»node_«ENDIF»name='«system.sequencerName»',
	package='bt_sequencer', «IF eloquent»node_«ENDIF»executable='bt_sequencer',
	namespace='',
	parameters=[share_dir+'/launch/cfg/param.yaml'],
	output='screen',
	emulate_tty=True # assure that RCLCPP output gets flushed
	)
	«ENDIF»

	def generate_launch_description():

	# Launch Description
	ld = LaunchDescription()
	ld.add_entity(generate_entity())

	# «ProtSection.protSection("post-launch")»
	# «ProtSection.protSection»
	return ld
	'''

	/**
	* Create a launch script based on the launch script for individual instances. This script is used for
	* individual activation scripts as well as for launh and activation of the whole system
	*/
	static def createLaunchScript(Class system, List<Property> parts, boolean addSequencer, boolean activate) '''
	import launch.actions
	import launch_ros
	import lifecycle_msgs.msg

	import sys
	import os.path

	from launch_ros.events.lifecycle import ChangeState
	from launch import LaunchDescription
	from ament_index_python.packages import get_package_share_directory

	share_dir = get_package_share_directory('«system.nearestPackage.pkgName»')
	# generated scripts are in launch folder
	sys.path.append(os.path.join(share_dir, 'launch'))
	# load launch scripts for each instance
	«FOR part : parts»
	import launch_«part.name»
	«ENDFOR»
	«IF addSequencer»
	import launch_«system.sequencerName»
	«ENDIF»

	# «ProtSection.protSection("imports")»
	# «ProtSection.protSection»

	def generate_launch_description():

	# Launch Description
	ld = launch.LaunchDescription()

	# call entity creation for each instance
	«FOR part : parts»
	«part.name»_node = launch_«part.name».generate_entity()
	«ENDFOR»
	«IF addSequencer»
	«system.sequencerName»_node = launch_«system.sequencerName».generate_entity()
	«ENDIF»
	# now add all obtained entities to the launch description
	«FOR part : parts»
	ld.add_entity(«part.name»_node)
	«ENDFOR»
	«IF addSequencer»
	ld.add_entity(«system.sequencerName»_node)
	«ENDIF»

	«IF activate»
	# transition to configure after startup
	«FOR part : parts»
	«IF part.isLifecycle»
	«generateConfig(part.name)»
	«ENDIF»
	«ENDFOR»

	# transition to activate, once inactive
	«FOR part : parts»
	«IF part.isLifecycle»
	«generateActivation(part.name)»
	«ENDIF»
	«ENDFOR»

	«ENDIF»

	# «ProtSection.protSection("post-launch")»
	# «ProtSection.protSection»
	return ld
	'''

	/**
	* Generate the commands for node configuration given node name
	*/
	static def generateConfig(String name) '''
	configure_«name» = launch.actions.RegisterEventHandler(
	launch.event_handlers.on_process_start.OnProcessStart(
	target_action=«name»_node,
	on_start=[
	launch.actions.EmitEvent(
	event=launch_ros.events.lifecycle.ChangeState(
	lifecycle_node_matcher=launch.events.matches_action(«name»_node),
	transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE
	)
	)
	]
	)
	)
	ld.add_entity(configure_«name»)
	'''

	/**
	* Generate the commands for node activation given node name
	*/
	static def generateActivation(String name) '''
	activate_«name» = launch.actions.RegisterEventHandler(
	launch_ros.event_handlers.OnStateTransition(
	target_lifecycle_node=«name»_node,
	start_state='configuring', goal_state='inactive',
	entities=[
	launch.actions.EmitEvent(
	event=launch_ros.events.lifecycle.ChangeState(
	lifecycle_node_matcher=launch.events.matches_action(«name»_node),
	transition_id=lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE
	)
	)
	]
	)
	)
	ld.add_entity(activate_«name»)
	'''

	/**
	* initialize parameter values from IS and the (implicit) system sequencer model
	* (In the current implementation, the default skill semantics realization is always selected)
	*/
	static def createParameterFile(Class system) '''
	«FOR part : system.compInstanceList»
	«IF part.defaultValue instanceof InstanceValue»
	«val is = (part.defaultValue as InstanceValue).instance»
	«IF is !== null»
	«part.name»:
	ros__parameters:
	«FOR slot : is.slots»
	«IF slot.definingFeature !== null && DepUtils.firstValue(slot) !== null»
	«slot.definingFeature.name» : «DepUtils.firstValue(slot).stringValue»
	«ENDIF»
	«ENDFOR»
	«ENDIF»
	«ENDIF»
	«ENDFOR»
	«IF !system.uniqueSkills.nullOrEmpty»
	«system.sequencerName»:
	ros__parameters:
	plugin_lib_names: [
	«FOR skill : system.getUniqueSkills SEPARATOR ','»
	«" \""+skill.realizationFileName»_bt_node"
	«ENDFOR»
	]
	«ENDIF»
	'''

	/**
	* an XML based aunch script (XML)
	*/
	static def createLaunchScriptXML(Class system) '''
	<launch>
	«FOR part : system.compInstanceList»
	«val component = part.type as Class»
	<node pkg="«component.nearestPackage.pkgName»" exec="«component.name»" name="«part.name»" respawn="false" output="screen">
	«FOR remap : system.remapsXML(part)»
	«remap»
	«ENDFOR»
	<param from="$(find-pkg-share «component.nearestPackage.pkgName»)/launch/cfg/param.yaml"/>
	</node>
	«ENDFOR»
	</launch>
	'''

	/**
	* Remappings for XML
	*/
	static def remapsXML(Class system, Property part) {
	val remaps = new ArrayList<String>
	for (port : PortUtils.getAllPorts(part.type as Class)) {
	val oppositeEnd = system.getOpposite(part, port)
	if (oppositeEnd !== null) {
	val from = port.topic
	val to = part.getTopic(port, oppositeEnd)
	if (from != to) {
	remaps.add('''<remap from="«from»" to="«to»"/>''')
	}
	}
	}
	return remaps
	}

	/**
	* Re-mappings for command line (used for debugging a binary)
	*/
	static def remapsCmd(Class system, Property part) '''
	«FOR port : PortUtils.getAllPorts(part.type as Class) SEPARATOR " "»
	«val oppositeEnd = system.getOpposite(part, port)»
	«IF oppositeEnd !== null»
	«val from = port.topic»
	«val to = part.getTopic(port, oppositeEnd)»
	«IF from != to»
	-r «port.topic»:=«part.getTopic(port, oppositeEnd)»
	«ENDIF»
	«ENDIF»
	«ENDFOR»
	'''

	static def remaps(Class system, Property part) {
	val remaps = new ArrayList<String>
	for (port : PortUtils.getAllPorts(part.type as Class)) {
	val oppositeEnd = system.getOpposite(part, port)
	if (oppositeEnd !== null && port.commObject !== null) {
	val from = port.topic
	val to = part.getTopic(port, oppositeEnd)
	if (!from.equals(to)) {
	remaps.add('''('«from»', '«to»')''')
	}
	}
	}
	return remaps
	}

	/**
	* Return opposite part, based on the assumption that there is a single port
	* targeting a port
	*/
	static def getOpposite(Class system, Property part, Port port) {
	for (connector: system.ownedConnectors) {
	if (ConnectorUtil.connectsPort(connector, port)) {
	val end = ConnectorUtil.connEndNotPart(connector, part)
	if (end !== null) {
	return end
	}
	}
	}
	return null
	}

	static def generateLaunch(IPFileSystemAccess fileAccess, Class system) {
	val parts = system.compInstanceList;
	val addSequencer = !system.uniqueSkills.nullOrEmpty
	fileAccess.generateFile("launch/launch.py", system.createLaunchScript(parts, addSequencer, false).toString)
	fileAccess.generateFile("launch/activate.py", system.createLaunchScript(parts, addSequencer, true).toString)
	// create a separate launch file for each part
	for (Property part : parts) {
	fileAccess.generateFile('''launch/launch_«part.name».py''', system.createLaunchScriptSingle(part, false).toString)
	if (part.isLifecycle) {
	fileAccess.generateFile('''launch/activate_«part.name».py''', system.createLaunchScript(Collections.singletonList(part), false, true).toString)
	}
	}
	if (isGalactic) {
	// generate XML based file
	fileAccess.generateFile('''launch/«system.name».launch''', system.createLaunchScriptXML.toString)
	}
	if (addSequencer) {
	// create a separate launch file for the sequencer
	fileAccess.generateFile('''launch/launch_«system.sequencerName».py''', system.createLaunchScriptSingle(null, true).toString)
	// do not activate the sequencer directly - the user must first specify which behavior wants to be executed
	// fileAccess.generateFile('''launch/activate_«system.sequencerName».py''', system.createLaunchScript(Collections.emptyList(), true, true).toString)
	}
	// create the parameters file
	fileAccess.generateFile("launch/cfg/param.yaml", system.createParameterFile().toString)
	}

	static def isEloquent() {
	Ros2PreferenceUtils.rosDistro === Ros2Distributions.ELOQUENT;
	}
	static def isGalactic() {
	Ros2PreferenceUtils.rosDistro === Ros2Distributions.GALACTIC;
	}
	}