plugins/ros2/org.eclipse.papyrus.robotics.ros2.reverse/src/org/eclipse/papyrus/robotics/ros2/reverse/fromsys/ReverseNodes.java - papyrus/org.eclipse.papyrus-robotics - Git at Google

 /*****************************************************************************
  * 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;
 import java.io.InputStreamReader;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;

 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.core.runtime.Path;
 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.notation.Diagram;
 import org.eclipse.jface.dialogs.MessageDialog;
 import org.eclipse.papyrus.designer.infra.base.StringUtils;
 import org.eclipse.papyrus.designer.languages.cpp.library.CppUriConstants;
 import org.eclipse.papyrus.designer.transformation.base.utils.ModelManagement;
 import org.eclipse.papyrus.designer.uml.tools.utils.ElementUtils;
 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.ParameterUtils;
 import org.eclipse.papyrus.robotics.core.utils.ScanUtils;
 import org.eclipse.papyrus.robotics.profile.robotics.components.ComponentDefinitionModel;
 import org.eclipse.papyrus.robotics.profile.robotics.components.ComponentInstance;
 import org.eclipse.papyrus.robotics.profile.robotics.generics.Connects;
 import org.eclipse.papyrus.robotics.profile.robotics.parameters.ParameterEntry;
 import org.eclipse.papyrus.robotics.ros2.base.ProcessUtils;
 import org.eclipse.papyrus.robotics.ros2.base.Ros2Constants;
 import org.eclipse.papyrus.robotics.ros2.base.Ros2ProcessBuilder;
 import org.eclipse.papyrus.robotics.ros2.reverse.PortInfo;
 import org.eclipse.papyrus.robotics.ros2.reverse.PortInfo.PortKind;
 import org.eclipse.papyrus.robotics.ros2.reverse.ReverseConstants;
 import org.eclipse.papyrus.robotics.ros2.reverse.fromsys.MessageParser.MessageEntry;
 import org.eclipse.papyrus.robotics.ros2.reverse.utils.CreatePortUtils;
 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.robotics.ros2.reverse.utils.ServiceDefUtils;
 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.swt.widgets.Display;
 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.Property;
 import org.eclipse.uml2.uml.Type;
 import org.eclipse.uml2.uml.UMLPackage;

 /**
  * Reverse existing ROS2 nodes. The reversal is based on the ROS2 command line tool:
  * 1. The set of nodes is obtained using "ros2 node list"
  * 2. The information about the ports of each node is obtained using "ros2 node info <nodename>""
  */
 @SuppressWarnings("nls")
 public class ReverseNodes {

 	protected IProgressMonitor monitor;

 	protected List<URI> pathMapURIs;

 	protected List<NodeInfo> niList;

 	protected Map<String, List<NodeInfo>> portHash;

 	protected int response;

 	protected static int DIALOG_NO = 0;
 	protected static int DIALOG_YES = 1;
 	protected static int DIALOG_NO_ALL = 2;
 	protected static int DIALOG_YES_ALL = 3;

 	protected class UIQuestion implements Runnable {

 		UIQuestion(String fileName) {
 			this.fileName = fileName;
 		}

 		protected String fileName;

 		@Override
 		public void run() {
 			response = MessageDialog.open(MessageDialog.QUESTION, Display.getDefault().getActiveShell(),
 					"Overwrite model?",
 					String.format(
 							"A model for the node exists already (at the default location \"%s\"). Should it (and eventually subsequent existing ones) be overwritten?", fileName),
 					MessageDialog.DIALOG_DEFAULT_BOUNDS, "no", "yes", "no to all", "yes to all");
 		}
 	};

 	public ReverseNodes(IProgressMonitor monitor) {
 		this.monitor = monitor;
 		for (Resource resource : ModelManagement.getResourceSet().getResources()) {
 			resource.unload();
 		}
 		ModelManagement.getResourceSet().getResources().clear();
 		pathMapURIs = ScanUtils.allPathmapModels(FileExtensions.SERVICEDEF_UML);
 		niList = new ArrayList<NodeInfo>();
 		portHash = new HashMap<String, List<NodeInfo>>();
 		response = DIALOG_YES;
 	}

 	/**
 	 * read the list of nodes and create models.
 	 */
 	public void readNodeList() {
 		Ros2ProcessBuilder pb = new Ros2ProcessBuilder(Ros2Constants.NODE, Ros2Constants.LIST);
 		try {
 			Process p = pb.start();
 			BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
 			boolean error = ProcessUtils.logErrors(p);
 			if (error) {
 				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 | CoreException exp) {
 			Activator.log.error(exp);
 		}
 	}

 	public void reverseNode(String line) {
 		String frags[] = line.split(MessageParser.SLASH);
 		try {
 			// TODO: always right? (possible that size > 3?)
 			int top = (frags.length == 3) ? 1 : 0;

 			String pkgName = frags[top].trim();
 			final String name = frags[top+1].trim();

 			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);

 			// Does the model already exist? Only ask again, if user responded with YES or NO before
 			// (not one of the "all options")
 			if (fCompModel.exists() && (response == DIALOG_NO || response == DIALOG_YES)) {
 				Display.getDefault().syncExec(new UIQuestion(fCompModel.toString()));
 			}
 			if (!fCompModel.exists() || response == DIALOG_YES || response == DIALOG_YES_ALL) {
 				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_URI, pkg.eResource().getResourceSet());

 				final String lineFinal = line;
 				RecordingCommand reverseComponent = new RecordingCommand(mt.getDomain()) {
 					@Override
 					protected void doExecute() {
 						// mark component as external (=> no code generation)
 						ComponentDefinitionModel cd = StereotypeUtil.applyApp(pkg, ComponentDefinitionModel.class);
 						cd.setExternal(true);

 						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, false);
 						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
 				Resource r = ModelManagement.getResourceSet().getResource(newURI, true);
 				Package rootPkg = (Package) r.getContents().get(0);
 				// retrieve first class in Model
 				NamedElement ne = rootPkg.getOwnedMember(null, false, UMLPackage.eINSTANCE.getClass_());
 				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(ni.type, ni, line, true);
 			}
 			niList.add(ni);
 		} catch (CoreException | ServiceException e) {
 			e.printStackTrace();
 		}
 	}

 	public void createSystem() throws CoreException {
 		String fileName = "fromRos.uml";
 		IWorkspaceRoot root = ResourcesPlugin.getWorkspace().getRoot();
 		IFile systemModel = root.getFile(new Path("/reverse/models/system/" + fileName));

 		if (systemModel.exists()) {
 			// ask again, unless previous response was not one of the "all" options
 			if (response == DIALOG_NO || response == DIALOG_YES) {
 				Display.getDefault().syncExec(new UIQuestion(systemModel.toString()));
 			}
 			if (!(response == DIALOG_YES || response == DIALOG_YES_ALL)) {
 				return;
 			}
 		}

 		String pkgName = "reverse";
 		IProject project = root.getProject(pkgName);
 		IProgressMonitor progressMonitor = new NullProgressMonitor();
 		if (!project.exists()) {
 			project.create(progressMonitor);
 		}
 		if (!project.isOpen()) {
 			project.open(progressMonitor);
 		}

 		FolderUtils.createFolderStructure(project);
 		URI newURI = URI.createURI("platform:/resource/reverse/models/system/" + fileName);
 		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");
 					ReverseUtils.setXmlID(system);

 					// create instances
 					for (NodeInfo ni : niList) {
 						if (system.getMember(ni.name) == null) {
 							Property instance = system.createOwnedAttribute(ni.name, ni.type);
 							ReverseUtils.setXmlID(instance);
 							ComponentInstance ci = StereotypeUtil.applyApp(instance, ComponentInstance.class);
 							ReverseUtils.setXmlID(ci, "ID_ST_" + ni.name);
 						}
 					}
 					for (String portName : portHash.keySet()) {
 						Connector c = system.createOwnedConnector(null);
 						StereotypeUtil.applyApp(c, Connects.class);
 						String cname = "";
 						for (NodeInfo ni : portHash.get(portName)) {
 							// ignore connections to visualization/simulation nodes
 							if (!ni.name.equals("rviz") && !ni.name.equals("gazebo")) {
 								ConnectorEnd end = c.createEnd();

 								end.setPartWithPort(system.getAttribute(ni.name, null));
 								if (ni.type != null) {
 									end.setRole(ni.type.getOwnedPort(portName, null));
 								}
 								cname += "_" + ni.name;
 							}
 						}
 						ReverseUtils.setXmlID(c, "ID_C" + cname);

 						if (c.getEnds().size() < 2) {
 							c.destroy();
 						}
 					}
 				}
 			};
 			mt.executeCmd(rc);
 			mt.save(monitor);
 		} catch (ServiceException e) {
 			Activator.log.error(e);
 			;
 		}

 	}

 	/**
 	 * Reverse ports and add them to the passed component
 	 *
 	 * @param component
 	 *            the component
 	 * @param ni
 	 *            the node info
 	 * @param qName
 	 *            the qualified name of the component (passed to ros2 command line tool)
 	 * @param readOnly
 	 *            if true, only fill fill passed node info, don't update component
 	 */
 	public void reversePorts(Class component, NodeInfo ni, String qName, boolean readOnly) {
 		Ros2ProcessBuilder pb = new Ros2ProcessBuilder(Ros2Constants.NODE, Ros2Constants.INFO, qName);
 		try {
 			Process p = pb.start();
 			BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
 			boolean error = ProcessUtils.logErrors(p);
 			if (error) {
 				return;
 			}
 			String line;
 			PortKind currentPK = PortKind.PUBLISHER;
 			while ((line = results.readLine()) != null) {
 				line = MessageParser.filterComment(line);
 				if (line.contains("Publishers:")) {
 					currentPK = PortKind.PUBLISHER;
 				} else if (line.contains("Subscribers:")) {
 					currentPK = PortKind.SUBSCRIBER;
 				} else if (line.contains("Service Servers:")) {
 					currentPK = PortKind.SERVER;
 				} else if (line.contains("Service Clients:")) {
 					currentPK = PortKind.CLIENT;
 				} else if (line.contains("Action Servers:")) {
 					currentPK = PortKind.ACTION_SRV;
 				} else if (line.contains("Action Clients:")) {
 					currentPK = PortKind.ACTION_CLI;
 				} 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);
 						Interface sd = ServiceDefUtils.getServiceDef(component, pathMapURIs, currentPK, entry);
 						if (sd == null) {
 							break;
 						}
 						PortInfo pi = new PortInfo();
 						ni.ports.add(pi);
 						pi.dtQName = portName;
 						pi.pk = currentPK;
 						pi.topic = portName;
 						if (!readOnly) {
 							CreatePortUtils.createPort(component, pi, sd);
 						}
 					}
 				}
 			}
 			results.close();

 		} catch (IOException exp) {
 			Activator.log.error(exp);
 		}
 	}

 	public void reverseParams(Class component, String qName) {
 		Ros2ProcessBuilder pb = new Ros2ProcessBuilder(Ros2Constants.PARAM, Ros2Constants.LIST, qName);
 		try {
 			Process p = pb.start();
 			BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
 			boolean error = ProcessUtils.logErrors(p);
 			if (error) {
 				return;
 			}
 			String line;
 			// read list of ROS parameters and add these to the list of parameters of the
 			// describe command
 			Ros2ProcessBuilder pbDesc = new Ros2ProcessBuilder(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 = ProcessUtils.logErrors(pDesc);
 			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);
 		}
 	}
 }
	/*****************************************************************************
	* 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;
	import java.io.InputStreamReader;
	import java.util.ArrayList;
	import java.util.HashMap;
	import java.util.List;
	import java.util.Map;

	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.core.runtime.Path;
	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.notation.Diagram;
	import org.eclipse.jface.dialogs.MessageDialog;
	import org.eclipse.papyrus.designer.infra.base.StringUtils;
	import org.eclipse.papyrus.designer.languages.cpp.library.CppUriConstants;
	import org.eclipse.papyrus.designer.transformation.base.utils.ModelManagement;
	import org.eclipse.papyrus.designer.uml.tools.utils.ElementUtils;
	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.ParameterUtils;
	import org.eclipse.papyrus.robotics.core.utils.ScanUtils;
	import org.eclipse.papyrus.robotics.profile.robotics.components.ComponentDefinitionModel;
	import org.eclipse.papyrus.robotics.profile.robotics.components.ComponentInstance;
	import org.eclipse.papyrus.robotics.profile.robotics.generics.Connects;
	import org.eclipse.papyrus.robotics.profile.robotics.parameters.ParameterEntry;
	import org.eclipse.papyrus.robotics.ros2.base.ProcessUtils;
	import org.eclipse.papyrus.robotics.ros2.base.Ros2Constants;
	import org.eclipse.papyrus.robotics.ros2.base.Ros2ProcessBuilder;
	import org.eclipse.papyrus.robotics.ros2.reverse.PortInfo;
	import org.eclipse.papyrus.robotics.ros2.reverse.PortInfo.PortKind;
	import org.eclipse.papyrus.robotics.ros2.reverse.ReverseConstants;
	import org.eclipse.papyrus.robotics.ros2.reverse.fromsys.MessageParser.MessageEntry;
	import org.eclipse.papyrus.robotics.ros2.reverse.utils.CreatePortUtils;
	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.robotics.ros2.reverse.utils.ServiceDefUtils;
	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.swt.widgets.Display;
	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.Property;
	import org.eclipse.uml2.uml.Type;
	import org.eclipse.uml2.uml.UMLPackage;

	/**
	* Reverse existing ROS2 nodes. The reversal is based on the ROS2 command line tool:
	* 1. The set of nodes is obtained using "ros2 node list"
	* 2. The information about the ports of each node is obtained using "ros2 node info <nodename>""
	*/
	@SuppressWarnings("nls")
	public class ReverseNodes {

	protected IProgressMonitor monitor;

	protected List<URI> pathMapURIs;

	protected List<NodeInfo> niList;

	protected Map<String, List<NodeInfo>> portHash;

	protected int response;

	protected static int DIALOG_NO = 0;
	protected static int DIALOG_YES = 1;
	protected static int DIALOG_NO_ALL = 2;
	protected static int DIALOG_YES_ALL = 3;

	protected class UIQuestion implements Runnable {

	UIQuestion(String fileName) {
	this.fileName = fileName;
	}

	protected String fileName;

	@Override
	public void run() {
	response = MessageDialog.open(MessageDialog.QUESTION, Display.getDefault().getActiveShell(),
	"Overwrite model?",
	String.format(
	"A model for the node exists already (at the default location \"%s\"). Should it (and eventually subsequent existing ones) be overwritten?", fileName),
	MessageDialog.DIALOG_DEFAULT_BOUNDS, "no", "yes", "no to all", "yes to all");
	}
	};

	public ReverseNodes(IProgressMonitor monitor) {
	this.monitor = monitor;
	for (Resource resource : ModelManagement.getResourceSet().getResources()) {
	resource.unload();
	}
	ModelManagement.getResourceSet().getResources().clear();
	pathMapURIs = ScanUtils.allPathmapModels(FileExtensions.SERVICEDEF_UML);
	niList = new ArrayList<NodeInfo>();
	portHash = new HashMap<String, List<NodeInfo>>();
	response = DIALOG_YES;
	}

	/**
	* read the list of nodes and create models.
	*/
	public void readNodeList() {
	Ros2ProcessBuilder pb = new Ros2ProcessBuilder(Ros2Constants.NODE, Ros2Constants.LIST);
	try {
	Process p = pb.start();
	BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
	boolean error = ProcessUtils.logErrors(p);
	if (error) {
	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 \| CoreException exp) {
	Activator.log.error(exp);
	}
	}

	public void reverseNode(String line) {
	String frags[] = line.split(MessageParser.SLASH);
	try {
	// TODO: always right? (possible that size > 3?)
	int top = (frags.length == 3) ? 1 : 0;

	String pkgName = frags[top].trim();
	final String name = frags[top+1].trim();

	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);

	// Does the model already exist? Only ask again, if user responded with YES or NO before
	// (not one of the "all options")
	if (fCompModel.exists() && (response == DIALOG_NO \|\| response == DIALOG_YES)) {
	Display.getDefault().syncExec(new UIQuestion(fCompModel.toString()));
	}
	if (!fCompModel.exists() \|\| response == DIALOG_YES \|\| response == DIALOG_YES_ALL) {
	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_URI, pkg.eResource().getResourceSet());

	final String lineFinal = line;
	RecordingCommand reverseComponent = new RecordingCommand(mt.getDomain()) {
	@Override
	protected void doExecute() {
	// mark component as external (=> no code generation)
	ComponentDefinitionModel cd = StereotypeUtil.applyApp(pkg, ComponentDefinitionModel.class);
	cd.setExternal(true);

	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, false);
	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
	Resource r = ModelManagement.getResourceSet().getResource(newURI, true);
	Package rootPkg = (Package) r.getContents().get(0);
	// retrieve first class in Model
	NamedElement ne = rootPkg.getOwnedMember(null, false, UMLPackage.eINSTANCE.getClass_());
	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(ni.type, ni, line, true);
	}
	niList.add(ni);
	} catch (CoreException \| ServiceException e) {
	e.printStackTrace();
	}
	}

	public void createSystem() throws CoreException {
	String fileName = "fromRos.uml";
	IWorkspaceRoot root = ResourcesPlugin.getWorkspace().getRoot();
	IFile systemModel = root.getFile(new Path("/reverse/models/system/" + fileName));

	if (systemModel.exists()) {
	// ask again, unless previous response was not one of the "all" options
	if (response == DIALOG_NO \|\| response == DIALOG_YES) {
	Display.getDefault().syncExec(new UIQuestion(systemModel.toString()));
	}
	if (!(response == DIALOG_YES \|\| response == DIALOG_YES_ALL)) {
	return;
	}
	}

	String pkgName = "reverse";
	IProject project = root.getProject(pkgName);
	IProgressMonitor progressMonitor = new NullProgressMonitor();
	if (!project.exists()) {
	project.create(progressMonitor);
	}
	if (!project.isOpen()) {
	project.open(progressMonitor);
	}

	FolderUtils.createFolderStructure(project);
	URI newURI = URI.createURI("platform:/resource/reverse/models/system/" + fileName);
	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");
	ReverseUtils.setXmlID(system);

	// create instances
	for (NodeInfo ni : niList) {
	if (system.getMember(ni.name) == null) {
	Property instance = system.createOwnedAttribute(ni.name, ni.type);
	ReverseUtils.setXmlID(instance);
	ComponentInstance ci = StereotypeUtil.applyApp(instance, ComponentInstance.class);
	ReverseUtils.setXmlID(ci, "ID_ST_" + ni.name);
	}
	}
	for (String portName : portHash.keySet()) {
	Connector c = system.createOwnedConnector(null);
	StereotypeUtil.applyApp(c, Connects.class);
	String cname = "";
	for (NodeInfo ni : portHash.get(portName)) {
	// ignore connections to visualization/simulation nodes
	if (!ni.name.equals("rviz") && !ni.name.equals("gazebo")) {
	ConnectorEnd end = c.createEnd();

	end.setPartWithPort(system.getAttribute(ni.name, null));
	if (ni.type != null) {
	end.setRole(ni.type.getOwnedPort(portName, null));
	}
	cname += "_" + ni.name;
	}
	}
	ReverseUtils.setXmlID(c, "ID_C" + cname);

	if (c.getEnds().size() < 2) {
	c.destroy();
	}
	}
	}
	};
	mt.executeCmd(rc);
	mt.save(monitor);
	} catch (ServiceException e) {
	Activator.log.error(e);
	;
	}

	}

	/**
	* Reverse ports and add them to the passed component
	*
	* @param component
	* the component
	* @param ni
	* the node info
	* @param qName
	* the qualified name of the component (passed to ros2 command line tool)
	* @param readOnly
	* if true, only fill fill passed node info, don't update component
	*/
	public void reversePorts(Class component, NodeInfo ni, String qName, boolean readOnly) {
	Ros2ProcessBuilder pb = new Ros2ProcessBuilder(Ros2Constants.NODE, Ros2Constants.INFO, qName);
	try {
	Process p = pb.start();
	BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
	boolean error = ProcessUtils.logErrors(p);
	if (error) {
	return;
	}
	String line;
	PortKind currentPK = PortKind.PUBLISHER;
	while ((line = results.readLine()) != null) {
	line = MessageParser.filterComment(line);
	if (line.contains("Publishers:")) {
	currentPK = PortKind.PUBLISHER;
	} else if (line.contains("Subscribers:")) {
	currentPK = PortKind.SUBSCRIBER;
	} else if (line.contains("Service Servers:")) {
	currentPK = PortKind.SERVER;
	} else if (line.contains("Service Clients:")) {
	currentPK = PortKind.CLIENT;
	} else if (line.contains("Action Servers:")) {
	currentPK = PortKind.ACTION_SRV;
	} else if (line.contains("Action Clients:")) {
	currentPK = PortKind.ACTION_CLI;
	} 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);
	Interface sd = ServiceDefUtils.getServiceDef(component, pathMapURIs, currentPK, entry);
	if (sd == null) {
	break;
	}
	PortInfo pi = new PortInfo();
	ni.ports.add(pi);
	pi.dtQName = portName;
	pi.pk = currentPK;
	pi.topic = portName;
	if (!readOnly) {
	CreatePortUtils.createPort(component, pi, sd);
	}
	}
	}
	}
	results.close();

	} catch (IOException exp) {
	Activator.log.error(exp);
	}
	}

	public void reverseParams(Class component, String qName) {
	Ros2ProcessBuilder pb = new Ros2ProcessBuilder(Ros2Constants.PARAM, Ros2Constants.LIST, qName);
	try {
	Process p = pb.start();
	BufferedReader results = new BufferedReader(new InputStreamReader(p.getInputStream()));
	boolean error = ProcessUtils.logErrors(p);
	if (error) {
	return;
	}
	String line;
	// read list of ROS parameters and add these to the list of parameters of the
	// describe command
	Ros2ProcessBuilder pbDesc = new Ros2ProcessBuilder(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 = ProcessUtils.logErrors(pDesc);
	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);
	}
	}
	}