Update launch packages generator

ipa320 · Nov 28, 2023 · 04d8a1e · 04d8a1e
1 parent d38445d
commit 04d8a1e
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Showing 5 changed files with 134 additions and 47 deletions.
diff --git a/...ofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend b/...ofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend
@@ -20,6 +20,8 @@ import ros.PackageDependency
 import system.Component
 import system.RosNode
 import ros.impl.AmentPackageImpl
+import system.impl.RosNodeImpl
+import system.SubSystem
 
 class GeneratorHelpers {
 
@@ -29,23 +31,58 @@ class GeneratorHelpers {
 	List<CharSequence> PkgsList
 	String Pkg
 	RosNode node
+	String[] FromFileInfo
+
 
 	def void init_pkg(){
 		PackageSet=false
 	}
 
-	def <String> getPkgsDependencies (System rossystem){
-		PkgsList = new ArrayList()
-		for (component: rossystem.components){
-            init_pkg()
-            node = component as RosNode 
-            Pkg = node.compile_pkg.toString()
-            if (!PkgsList.contains(Pkg)){
-                PkgsList.add(Pkg)
-            }
-		return PkgsList;
+	def <Components> getNodes (System rossystem) {
+	        val nodeList = new ArrayList<RosNode>
+	        for (component: rossystem.components) {
+	        if (component.class.toString.contains("RosNode")){
+	            nodeList.add(component as RosNode)
+	        }
+	    }
+	    return nodeList
 	}
 
+	def <Systems> getSubsystems (System rossystem) {
+            val subSystemsList = new ArrayList<System>
+            for (component: rossystem.components) {
+            if (component.class.toString.contains("SubSystem")){
+                subSystemsList.add((component as SubSystem).system)
+            }
+        }
+        return subSystemsList
+    }
+
+	def <String> getPkgsDependencies (System rossystem){
+		PkgsList = new ArrayList()
+		if (rossystem.fromFile.isNullOrEmpty) {
+            for (component: getNodes(rossystem)){
+                init_pkg()
+                node = component as RosNode 
+                Pkg = node.compile_pkg.toString()
+                if (!PkgsList.contains(Pkg)){
+                    PkgsList.add(Pkg)
+                }
+           }
+           for (component: getSubsystems(rossystem)){
+               if (component.fromFile.isNullOrEmpty){
+                  PkgsList.add(component.name)
+               } else {
+                   PkgsList.add(component.fromFile.split("/",2).get(0))
+               }
+           }
+		} 
+		else {
+		    FromFileInfo = rossystem.fromFile.split("/",2);
+		    PkgsList.add(FromFileInfo.get(0))
+		}
+
+	   return PkgsList;
 	}
 
 	def compile_pkg(RosNode component)

diff --git a/...a.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend b/...a.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend
@@ -1,37 +1,36 @@
 package de.fraunhofer.ipa.rossystem.generator
 
 import system.RosNode
-import ros.RosPackage
 import ros.Artifact
 import system.System
-import ros.AmentPackage
 import ros.impl.AmentPackageImpl
 import system.Connection
 import org.eclipse.emf.common.util.EList
-import system.RosConnection
-import system.impl.RosConnectionImpl
 import system.impl.RosSystemConnectionImpl
-import java.util.ArrayList
 import system.impl.RosPublisherReferenceImpl
 import system.impl.RosInterfaceImpl
 import system.impl.RosSubscriberReferenceImpl
-import system.RosInterface
 import system.impl.RosServiceServerReferenceImpl
 import system.impl.RosServiceClientReferenceImpl
 import system.impl.RosActionServerReferenceImpl
 import system.impl.RosActionClientReferenceImpl
+import com.google.inject.Inject
 
 class LaunchFileCompiler_ROS2 {
 
+    @Inject extension GeneratorHelpers
+
 
     def compile_toROS2launch(System system) '''
 from launch import LaunchDescription
 from launch_ros.actions import Node
-
+«IF !getSubsystems(system).empty»from ament_index_python.packages import get_package_share_directory
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource«ENDIF»
 def generate_launch_description():
     ld = LaunchDescription()
 
-    «FOR component:system.components»
+    «FOR component:getNodes(system)»
     «(component as RosNode).name» = Node(
         package="«((component as RosNode).from.eContainer.eContainer as AmentPackageImpl).name»",
         executable="«((component as RosNode).from.eContainer as Artifact).name»",
@@ -41,9 +40,23 @@ def generate_launch_description():
     )
 
     «ENDFOR»
+
+    «FOR subsystem:getSubsystems(system)»
+    «IF subsystem.fromFile.nullOrEmpty»
+        include_«subsystem.name»= IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([ get_package_share_directory('«subsystem.name»') + '/launch/«subsystem.name».launch.py'])
+        )
+    «ELSE»
+        include_«subsystem.name»= IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([get_package_share_directory('«subsystem.fromFile.split("/",2).get(0)»') + '/«subsystem.fromFile.split("/",2).get(1)»'])
+        )
+    «ENDIF»
+    «ENDFOR»
 
-    «FOR component:system.components»
+    «FOR component:getNodes(system)»
     ld.add_action(«(component as RosNode).name»)
+    «ENDFOR»«FOR subsystem:getSubsystems(system)»
+    ld.add_action(include_«subsystem.name»)
     «ENDFOR»
 
     return ld

diff --git a/...ossystem/generator/compile_toREADME.xtend → .../rossystem/generator/READMECompiler.xtend b/...ossystem/generator/compile_toREADME.xtend → .../rossystem/generator/READMECompiler.xtend
@@ -9,27 +9,32 @@ import system.impl.RosPublisherReferenceImpl
 import system.impl.RosServiceClientReferenceImpl
 import system.impl.RosServiceServerReferenceImpl
 import system.impl.RosSubscriberReferenceImpl
+import com.google.inject.Inject
 
 class READMECompiler {
 
-
+    @Inject extension GeneratorHelpers
+
         def compile_toREADME(System system) '''
 # «system.name»
 
 This package has be created automatically using the [RosTooling](https://github.com/ipa320/RosTooling).
 
+
 It holds the launch file to run the following nodes:
-«FOR node:system.components»
+«FOR node:getNodes(system)»
 - «(node as RosNode).name»
 «ENDFOR»
 
 The listed nodes offer the following connections:
-«FOR node:system.components»«FOR port:(node as RosNode).rosinterfaces»
+«FOR node:getNodes(system)»«FOR port:(node as RosNode).rosinterfaces»
 «getPortInfo(port)»
 «ENDFOR»«ENDFOR»
 
 ## Usage
 
+«IF system.fromFile.nullOrEmpty»
+
 This package can be copied to a valid ROS 2 workspace. Then the worksapce must be compiled using the common ROS 2 build command:
 
 ```
@@ -41,6 +46,21 @@ To execute the launch file, the following command can be called:
 ```
 ros2 launch «system.name» «system.name».launch.py
 ```
+«ELSE»
+To launch this system there is already an existing package that contains the launch file.
+
+The package can be easily installed with the following command:
+
+```
+sudo apt install ros-ROSDISTRO-«system.fromFile.split("/",2).get(0).replace("_","-")»
+```
+
+And the system started by executing:
+
+```
+ros2 launch «system.fromFile.split("/",2).get(0)» «system.fromFile.substring(system.fromFile.lastIndexOf('-') + 1)»
+```
+«ENDIF»
 
 
      '''

diff --git a/...er.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend b/...er.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend
@@ -28,30 +28,33 @@ class RosSystemGenerator extends AbstractGenerator {
                 system.getName().toLowerCase+"/README.md",
                 compile_toREADME(system).toString().replace("\t","  ")
             )
-            fsa.generateFile(
-                system.getName().toLowerCase+"/launch/"+system.getName()+".launch.py",
-                compile_toROS2launch(system).toString().replace("\t","  ")
-            )
-            fsa.generateFile(
-                system.getName().toLowerCase+"/package.xml",
-                compile_package_xml_format3(system)
-            )
-            fsa.generateFile(
-                system.getName().toLowerCase+"/CMakeLists.txt",
-                compile_CMakeLists_ROS2(system)
-            )
-            fsa.generateFile(
-                system.getName().toLowerCase+"/setup.py",
-                compile_setup_py(system)
-            )
-            fsa.generateFile(
-                system.getName().toLowerCase+"/resource/" + system.getName().toLowerCase,
-                ""
-            )
-            fsa.generateFile(
-                system.getName().toLowerCase+"/" + system.getName().toLowerCase + "/__init__.py",
-                ""
-            )
+            if (system.fromFile.isNullOrEmpty) {
+                fsa.generateFile(
+                    system.getName().toLowerCase+"/launch/"+system.getName()+".launch.py",
+                    compile_toROS2launch(system).toString().replace("\t","  ")
+                )
+                fsa.generateFile(
+                    system.getName().toLowerCase+"/package.xml",
+                    compile_package_xml_format3(system)
+                )
+                fsa.generateFile(
+                    system.getName().toLowerCase+"/CMakeLists.txt",
+                    compile_CMakeLists_ROS2(system)
+                )
+                fsa.generateFile(
+                    system.getName().toLowerCase+"/setup.py",
+                    compile_setup_py(system)
+                )
+                fsa.generateFile(
+                    system.getName().toLowerCase+"/resource/" + system.getName().toLowerCase,
+                    ""
+                )
+                fsa.generateFile(
+                    system.getName().toLowerCase+"/" + system.getName().toLowerCase + "/__init__.py",
+                    ""
+                )
+            }
+        }
     }
 }
-}
+
diff --git a/...r.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/validation/RosSystemValidator.xtend b/...r.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/validation/RosSystemValidator.xtend
@@ -45,6 +45,8 @@ class RosSystemValidator extends AbstractRosSystemValidator {
   public static val NOT_IN_THE_SYSTEM = "The element is not part of the system"
   public static val NOT_VALID_PATTERN = "The element has not a valid type"
   public static val TYPE_NOT_MATCH = "The ports have different types"
+  public static val FROM_FILE_PATH = "FromFile"
+
   Object from_type
   Object to_type
 
@@ -62,6 +64,18 @@ class RosSystemValidator extends AbstractRosSystemValidator {
           }
       }
   }
+
+  @Check
+  def fromFileHelper(System system ) {
+      if (!system.fromFile.empty){
+              info('The format for the FromFile attribute is: "NameOfThePackage/Path/to/ExecutableLaunchFile.launch.py"'
+                  ,null,NOT_IN_THE_SYSTEM)
+      }
+      if (!system.fromFile.toString.contains("/")){
+              error('Path not valid, the format for the FromFile attribute is: "NameOfThePackage/Path/to/ExecutableLaunchFile.launch.py"'
+                  ,null,NOT_IN_THE_SYSTEM)
+      }
+  }
 
   @Check
   def checkIfInterfaceInSystem(Connection connection) {