Merge "Bug 581597 - [Robotics, ROS2] Support callback groups"
diff --git a/plugins/bt/org.eclipse.papyrus.robotics.bt.animation.zmq/src/org/eclipse/papyrus/robotics/bt/animation/zmq/core/ZMQBTReader.java b/plugins/bt/org.eclipse.papyrus.robotics.bt.animation.zmq/src/org/eclipse/papyrus/robotics/bt/animation/zmq/core/ZMQBTReader.java
index 2749267..bb74b27 100644
--- a/plugins/bt/org.eclipse.papyrus.robotics.bt.animation.zmq/src/org/eclipse/papyrus/robotics/bt/animation/zmq/core/ZMQBTReader.java
+++ b/plugins/bt/org.eclipse.papyrus.robotics.bt.animation.zmq/src/org/eclipse/papyrus/robotics/bt/animation/zmq/core/ZMQBTReader.java
@@ -1,5 +1,5 @@
/*****************************************************************************
- * Copyright (c) 2020 CEA LIST.
+ * Copyright (c) 2020, 2023 CEA LIST.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License 2.0
@@ -10,6 +10,7 @@
*
* Contributors:
* Matteo MORELLI (CEA LIST) <matteo.morelli@cea.fr> - Initial API and implementation
+ * Matteo MORELLI (CEA LIST) <matteo.morelli@cea.fr> - Bug #581828
*****************************************************************************/
package org.eclipse.papyrus.robotics.bt.animation.zmq.core;
@@ -25,7 +26,7 @@
protected ZContext _context;
protected Socket _treeReader;
- protected String BT_READER_TCP = "tcp://*:1667";
+ protected String BT_READER_TCP = "tcp://*:2667";
protected int BT_READER_TIMEOUT_SEC = 60;
byte[] _treeInfo;
diff --git a/plugins/bt/org.eclipse.papyrus.robotics.bt.animation.zmq/src/org/eclipse/papyrus/robotics/bt/animation/zmq/core/ZMQBehaviorTreeAnimator.java b/plugins/bt/org.eclipse.papyrus.robotics.bt.animation.zmq/src/org/eclipse/papyrus/robotics/bt/animation/zmq/core/ZMQBehaviorTreeAnimator.java
index 538e99c..045d497 100644
--- a/plugins/bt/org.eclipse.papyrus.robotics.bt.animation.zmq/src/org/eclipse/papyrus/robotics/bt/animation/zmq/core/ZMQBehaviorTreeAnimator.java
+++ b/plugins/bt/org.eclipse.papyrus.robotics.bt.animation.zmq/src/org/eclipse/papyrus/robotics/bt/animation/zmq/core/ZMQBehaviorTreeAnimator.java
@@ -1,5 +1,5 @@
/*****************************************************************************
- * Copyright (c) 2020 CEA LIST.
+ * Copyright (c) 2020, 2023 CEA LIST.
*
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License 2.0
@@ -10,6 +10,7 @@
*
* Contributors:
* Matteo MORELLI (CEA LIST) <matteo.morelli@cea.fr> - Initial API and implementation
+ * Matteo MORELLI (CEA LIST) <matteo.morelli@cea.fr> - Bug #581828
*****************************************************************************/
package org.eclipse.papyrus.robotics.bt.animation.zmq.core;
@@ -36,7 +37,7 @@
protected ZMQBTReader _treeReader;
protected Socket _logSubscriber;
protected Poller _poller;
- protected String BT_LOG_SUBSCRIBER_TCP = "tcp://*:1666";
+ protected String BT_LOG_SUBSCRIBER_TCP = "tcp://*:2666";
protected ByteBuffer bb;
protected static final AnimationKind[] aks = { AnimationKind.VISITED, AnimationKind.RUNNING, AnimationKind.SUCCESS, AnimationKind.FAILURE };
protected boolean _node_status_update_required = true;
diff --git a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.cpp/src/org/eclipse/papyrus/robotics/ros2/codegen/cpp/skillrealization/CreateSkillRealizationCppCode.xtend b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.cpp/src/org/eclipse/papyrus/robotics/ros2/codegen/cpp/skillrealization/CreateSkillRealizationCppCode.xtend
index 1d8c846..d0c3e95 100644
--- a/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.cpp/src/org/eclipse/papyrus/robotics/ros2/codegen/cpp/skillrealization/CreateSkillRealizationCppCode.xtend
+++ b/plugins/ros2/org.eclipse.papyrus.robotics.ros2.codegen.cpp/src/org/eclipse/papyrus/robotics/ros2/codegen/cpp/skillrealization/CreateSkillRealizationCppCode.xtend
@@ -10,6 +10,7 @@
* Contributors:
* Matteo MORELLI (CEA LIST) <matteo.morelli@cea.fr> - Bug #566899
* Matteo MORELLI (CEA LIST) <matteo.morelli@cea.fr> - Bug #581690
+ * Matteo MORELLI (CEA LIST) <matteo.morelli@cea.fr> - Bug #581812
*
*****************************************************************************/
@@ -26,6 +27,7 @@
import static extension org.eclipse.papyrus.robotics.core.utils.InteractionUtils.*
import static extension org.eclipse.papyrus.robotics.ros2.codegen.common.utils.SkillUtils.*
+import org.eclipse.papyrus.designer.languages.common.base.file.ProtSection
/**
* Create the C++ code of a skill realization executed
@@ -61,6 +63,9 @@
// Generated by Papyrus4Robotics
//
+ // «ProtSection.protSection("BtActionNode header files")»
+ // «ProtSection.protSection»
+ #include "bt_utils/generic_types_conversions.hpp"
«FOR tp : skill.uniqueSkillParameterTypes»
#include "«tp.ROS2TypeIncludePath»"
«ENDFOR»
@@ -81,6 +86,7 @@
«IF !skill.ins.isNullOrEmpty»
void on_tick() override
{
+ // «ProtSection.protSection("BtActionNode on_tick()")»
«FOR param : skill.ins»
«param.type.getROS2TypeFromMsgName» «param.name»;
getInput("«param.name»", «param.name»);
@@ -88,12 +94,14 @@
goal_.«prop.name» = «param.name».«prop.name»;
«ENDFOR»
«ENDFOR»
+ // «ProtSection.protSection»
}
«ENDIF»
«IF !skill.outs.isNullOrEmpty»
BT::NodeStatus on_success() override
{
+ // «ProtSection.protSection("BtActionNode on_success()")»
«FOR param : skill.outs»
«param.type.getROS2TypeFromMsgName» «param.name»;
«FOR prop : param.type.ownedAttributes»
@@ -102,10 +110,14 @@
setOutput("«param.name»", «param.name»);
«ENDFOR»
return BT::NodeStatus::SUCCESS;
+ «ProtSection.protSection»
}
«ENDIF»
- «createProvidedPortsMethod(skill)»
+ «createProvidedPortsMethod(skill,true)»
+
+ // «ProtSection.protSection("- BtActionNode other class methods and attributes (if any)")»
+ // «ProtSection.protSection»
};
#include "behaviortree_cpp_v3/bt_factory.h"
@@ -125,6 +137,9 @@
// Generated by Papyrus4Robotics
//
+ // «ProtSection.protSection("BtConditionNode header files")»
+ // «ProtSection.protSection»
+ #include "bt_utils/generic_types_conversions.hpp"
«FOR tp : skill.uniqueSkillParameterTypes»
#include "«tp.ROS2TypeIncludePath»"
«ENDFOR»
@@ -145,6 +160,7 @@
«IF !skill.ins.isNullOrEmpty»
void on_tick() override
{
+ // «ProtSection.protSection("BtConditionNode on_tick()")»
«FOR param : skill.ins»
«param.type.getROS2TypeFromMsgName» «param.name»;
getInput("«param.name»", «param.name»);
@@ -152,6 +168,7 @@
request_->«prop.name» = «param.name».«prop.name»;
«ENDFOR»
«ENDFOR»
+ // «ProtSection.protSection»
}
«ENDIF»
@@ -175,7 +192,10 @@
return BT::NodeStatus::FAILURE;
}
- «createProvidedPortsMethod(skill)»
+ «createProvidedPortsMethod(skill,true)»
+
+ // «ProtSection.protSection("- BtConditionNode other class methods and attributes (if any)")»
+ // «ProtSection.protSection»
};
#include "behaviortree_cpp_v3/bt_factory.h"
@@ -196,13 +216,16 @@
// ...
#include <string>
+ // «ProtSection.protSection("ActionNodeBase header files")»
+ // «ProtSection.protSection»
#include "rclcpp/rclcpp.hpp"
+ #include "bt_utils/generic_types_conversions.hpp"
«FOR tp : skill.uniqueSkillParameterTypes»
#include "«tp.ROS2TypeIncludePath»"
«ENDFOR»
#include "behaviortree_cpp_v3/action_node.h"
- class «skill.name»Action : public BT::SyncActionNode
+ class «skill.name»Action : public BT::ActionNodeBase
{
public:
@@ -210,14 +233,15 @@
«skill.name»Action(
const std::string& name,
const BT::NodeConfiguration& config)
- : SyncActionNode(name, config)
+ : ActionNodeBase(name, config)
{
}
- «createProvidedPortsMethod(skill)»
+ «createProvidedPortsMethod(skill,false)»
BT::NodeStatus tick() override
{
+ // «ProtSection.protSection("ActionNodeBase tick()")»
«IF !skill.ins.isNullOrEmpty»
// Read from input ports
//
@@ -253,8 +277,12 @@
«ENDFOR»
«ENDIF»
return BT::NodeStatus::SUCCESS;
+ // «ProtSection.protSection»
}
-
+
+ // «ProtSection.protSection("- ActionNodeBase other class methods and attributes (if any)")»
+ // «ProtSection.protSection»
+
};
#include "behaviortree_cpp_v3/bt_factory.h"
@@ -267,22 +295,21 @@
}
'''
- static def createProvidedPortsMethod(SkillDefinition skill) '''
- «IF !skill.ins.isNullOrEmpty || !skill.outs.isNullOrEmpty»
- // «skill.name» has in/out parameters => must provide a providedPorts method
- static BT::PortsList providedPorts()
- {
- return providedBasicPorts(
- {
- «FOR param : skill.ins SEPARATOR ','»
- BT::InputPort<«param.type.getROS2TypeFromMsgName»>("«param.name»")
- «ENDFOR»
- «FOR param : skill.outs SEPARATOR ','»
- BT::OutputPort<«param.type.getROS2TypeFromMsgName»>("«param.name»")
- «ENDFOR»
- });
- }
- «ENDIF»
+ static def createProvidedPortsMethod(SkillDefinition skill, boolean need_basic_ports) '''
+ // «skill.name» has a constructor in the form (const std::string&, const NodeConfiguration&) => must provide a providedPorts method
+ static BT::PortsList providedPorts()
+ {
+ return«IF need_basic_ports» providedBasicPorts(«ENDIF»
+ {
+ «createPortConstructionCommands(skill)»
+ }«IF need_basic_ports»)«ENDIF»;
+ }
+ '''
+
+ static def createPortConstructionCommands(SkillDefinition skill) '''
+ «FOR param : skill.ins + skill.outs SEPARATOR ','»
+ «IF skill.ins.contains(param)»BT::InputPort<«ELSE»BT::OutputPort<«ENDIF»«param.type.getROS2TypeFromMsgName»>("«param.name»")
+ «ENDFOR»
'''
static def genCode(IPFileSystemAccess fileAccess, Map<SkillDefinition, SkillSemantic> skdefToSemanticsMap, Map<Interface, String> serviceToNameMap) {
diff --git a/releng/org.eclipse.papyrus.robotics.ros2.feature/feature.xml b/releng/org.eclipse.papyrus.robotics.ros2.feature/feature.xml
index d52565d..5863aad 100644
--- a/releng/org.eclipse.papyrus.robotics.ros2.feature/feature.xml
+++ b/releng/org.eclipse.papyrus.robotics.ros2.feature/feature.xml
@@ -124,4 +124,11 @@
version="0.0.0"
unpack="false"/>
+ <plugin
+ id="org.eclipse.papyrus.robotics.ros2.library.nav2"
+ download-size="0"
+ install-size="0"
+ version="0.0.0"
+ unpack="false"/>
+
</feature>
