First implementation of the PlantUML generator

README.md

@@ -51,6 +51,7 @@ Publications:
 
 - Combine components to form a ROS System
   - [Create manually a new RosSystem description](docu/RosSystemModelDescription.md)
+  - [Visualize a system using PlantUML](docu/PlantUML.md)
 
 - Examples:
   - [Simple publisher-subscriber](docu/Example_PubSub.md)

docu/PlantUML.md

@@ -0,0 +1,8 @@
+## System Models visualization
+
+The visualization of the models is built on top of the [PlantUML](https://plantuml.com/eclipse) viewer for Eclipse. To install this plugin the Eclipse Marketplace can be used. This tool can be easily opened under the menu Help->Eclipse Marketplace. Then Search the "PlantUML plugin" and install it.
+
+The RosTooling will generate for every rossystem file a new PlaUML textual model compatible with the viewer. By default, the RosSystem compiler creates for every valid system model a file under src-gen/**SystemName**/resources/ called **SystemName**.puml.
+
+The file can be opened with a standard textual editor and the corresponding model can be visualized by opening the visualizer, under "Window"->"Show View"->"Other" and searching for "PlantUML".
+:bangbang the file with the extension *.puml must be open, otherwise, the visualizer will not detect it.

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PlantUMLCompiler.xtend

@@ -0,0 +1,86 @@
+package de.fraunhofer.ipa.rossystem.generator
+
+import system.System
+import com.google.inject.Inject
+import system.RosNode
+import system.impl.RosInterfaceImpl
+import system.RosInterface
+import system.impl.RosSystemConnectionImpl
+
+class PlantUMLCompiler{
+
+	@Inject extension GeneratorHelpers
+
+		def compile_plantuml(System system) '''«init_pkg()»
+@startuml
+
+/'SUBSYSTEMS'/
+«FOR subsystem:system.subsystems»
+component «subsystem.name» {
+«FOR component:getNodes(subsystem)»
+«compile_ports(component)»
+«ENDFOR»
+«ENDFOR» }
+
+«FOR component:getNodes(system)»
+«compile_ports(component)»
+«ENDFOR»
+«FOR connection:system.connections»  «get_connection_port((connection as RosSystemConnectionImpl).from)» --> «get_connection_port((connection as RosSystemConnectionImpl).to)»
+«ENDFOR»
+
+@enduml'''
+
+
+    def compile_ports(RosNode component)'''
+      component «(component as RosNode).name» {
+
+    /' PORTS DEFINED AS AVAILABLE IN THE ROSSYSTEM FILE '/
+    «FOR port:(component as RosNode).rosinterfaces»
+    «IF port_type(port)=="INPUT"»    portin «get_valid_name(component.name, port.name)» as "«port.name»"«
+        IF (port as RosInterfaceImpl).reference.toString.contains("RosSubscriberReference")» #blue«ENDIF»«
+        IF (port as RosInterfaceImpl).reference.toString.contains("RosServiceServerReference")» #orange«ENDIF»«
+        IF (port as RosInterfaceImpl).reference.toString.contains("RosActionServerReference")» #green«ENDIF»«ENDIF»
+    «IF port_type(port)=="OUTPUT"»    portout «get_valid_name(component.name, port.name)» as "«port.name»"«
+        IF (port as RosInterfaceImpl).reference.toString.contains("RosPublisherReference")» #blue«ENDIF»«
+        IF (port as RosInterfaceImpl).reference.toString.contains("RosServiceClientReference")» #orange«ENDIF»«
+        IF (port as RosInterfaceImpl).reference.toString.contains("RosActionClientReference")» #green«ENDIF»«ENDIF»
+    «ENDFOR»
+
+    /' PORTS FROM THE ORIGINAL NODE '/
+    «FOR sub:(component as RosNode).from.subscriber»    portin «get_valid_name(component.name, sub.name)» as "«sub.name»" #line:blue
+    «ENDFOR»
+    «FOR ss:(component as RosNode).from.serviceserver»    portin «get_valid_name(component.name, ss.name)» as "«ss.name»" #line:orange
+    «ENDFOR»
+    «FOR acts:(component as RosNode).from.actionserver»    portin «get_valid_name(component.name, acts.name)» as "«acts.name»" #line:green
+    «ENDFOR»
+    «FOR pub:(component as RosNode).from.publisher»    portout «get_valid_name(component.name, pub.name)» as "«pub.name»" #line:blue
+    «ENDFOR»
+    «FOR sc:(component as RosNode).from.serviceclient»    portout «get_valid_name(component.name, sc.name)» as "«sc.name»" #line:orange
+    «ENDFOR»
+    «FOR actc:(component as RosNode).from.actionclient»    portout «get_valid_name(component.name, actc.name)» as "«actc.name»" #line:green«ENDFOR»
+      }
+
+    '''
+
+    def String port_type (RosInterface rosinterface){
+     if ((rosinterface as RosInterfaceImpl).reference.toString.matches
+         (".*RosSubscriberReferenceImpl.*|.*RosServiceServerReference.*|.*RosActionServerReference.*")){
+         return "INPUT"
+     }else {
+         return "OUTPUT"
+        }
+    }
+
+    def get_valid_name (String componentName, String PortName){
+        val identifier = (componentName+"."+PortName).replace("/","_").replace("~","_")
+        return identifier        
+    }
+
+    def get_connection_port (RosInterface port){
+        val componentName=(port.eContainer as RosNode).name
+        return get_valid_name (componentName, port.name)       
+    }
+}
+
+
+

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend

@@ -21,13 +21,18 @@ class RosSystemGenerator extends AbstractGenerator {
     @Inject extension PackageXmlCompiler
     @Inject extension CMakeListsCompiler
     @Inject extension READMECompiler
+    @Inject extension PlantUMLCompiler
 
     override void doGenerate(Resource resource, IFileSystemAccess2 fsa, IGeneratorContext context) {
         for (system : resource.allContents.toIterable.filter(System)){
             fsa.generateFile(
                 system.getName().toLowerCase+"/README.md",
                 compile_toREADME(system).toString().replace("\t","  ")
             )
+            fsa.generateFile(
+                system.getName().toLowerCase+"/resource/" + system.getName().toLowerCase + ".puml",
+                compile_plantuml(system)
+            )
             if (system.fromFile.isNullOrEmpty) {
                 fsa.generateFile(
                     system.getName().toLowerCase+"/launch/"+system.getName()+".launch.py",