Merge branch 'MsBuildFix' into 'master'

Ms build fix

See merge request !27

pom.xml

@@ -9,7 +9,7 @@
 
     <groupId>de.monticore.lang.monticar</groupId>
     <artifactId>embedded-montiarc-math-middleware-generator</artifactId>
-    <version>0.0.14-SNAPSHOT</version>
+    <version>0.0.15-SNAPSHOT</version>
 
 
     <!-- == PROJECT DEPENDENCIES ============================================= -->
@@ -20,10 +20,10 @@
         <se-commons.version>1.7.7</se-commons.version>
 
         <embedded-montiarc.version>0.1.9-SNAPSHOT</embedded-montiarc.version>
-        <Embedded-montiarc-math-generator.version>0.1.3-SNAPSHOT</Embedded-montiarc-math-generator.version>
-        <Embedded-montiarc-math-roscpp-generator.version>0.1.1-SNAPSHOT</Embedded-montiarc-math-roscpp-generator.version>
-        <EMADL.version>0.2.4</EMADL.version>
-        <EMADL2CPP.version>0.2.6-SNAPSHOT</EMADL2CPP.version>
+        <Embedded-montiarc-math-generator.version>0.1.5-SNAPSHOT</Embedded-montiarc-math-generator.version>
+        <Embedded-montiarc-math-roscpp-generator.version>0.1.3-SNAPSHOT</Embedded-montiarc-math-roscpp-generator.version>
+        <EMADL2CPP.version>0.2.7-SNAPSHOT</EMADL2CPP.version>
+        <EMADL.version>0.2.5</EMADL.version>
 
         <!-- .. Libraries .................................................. -->
         <guava.version>18.0</guava.version>

src/main/java/de/monticore/lang/monticar/generator/middleware/CMakeGenerator.java

@@ -38,7 +38,7 @@ public class CMakeGenerator extends StarBridgeGenerator {
         content.append("cmake_minimum_required(VERSION 3.5)\n");
         //TODO setProjectName?
         content.append("project (default)\n");
-        content.append("set (CMAKE_CXX_STANDARD 11)\n");
+        content.append("set (CMAKE_CXX_STANDARD 14)\n");
 
         getGeneratorImpls().stream()
                 .filter(gen -> gen.willAccept(componentInstanceSymbol))

src/main/java/de/monticore/lang/monticar/generator/middleware/DistributedTargetGenerator.java

@@ -4,6 +4,7 @@ import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instance
 import de.monticore.lang.monticar.generator.FileContent;
 import de.monticore.lang.monticar.generator.middleware.helpers.*;
 import de.monticore.lang.monticar.generator.middleware.impls.GeneratorImpl;
+import de.monticore.lang.monticar.generator.middleware.impls.RclCppGenImpl;
 import de.monticore.lang.tagging._symboltable.TaggingResolver;
 import org.apache.commons.io.FileUtils;
 
@@ -48,22 +49,10 @@ public class DistributedTargetGenerator extends CMakeGenerator {
             subDirs.add(NameHelper.getNameTargetLanguage(comp.getFullName()));
         }
 
-        //generate rosMsg CMake iff a .msg file was generated
-        if(files.stream().anyMatch(f -> f.getName().endsWith(".msg"))){
-            subDirs.add("rosMsg");
-            files.add(generateRosMsgGen());
-        }
-
         files.add(generateCMake(componentInstanceSymbol));
         return files;
     }
 
-    private File generateRosMsgGen() throws IOException {
-        File file = new File(generationTargetPath + "rosMsg/CMakeLists.txt");
-        FileUtils.write(file, TemplateHelper.getStruct_msgsCmakeTemplate());
-        return file;
-    }
-
     private GeneratorImpl createFullGenerator(String subdir) {
         MiddlewareGenerator res = new MiddlewareGenerator();
         res.setGenerationTargetPath(generationTargetPath + (subdir.endsWith("/") ? subdir : subdir + "/"));
@@ -74,7 +63,7 @@ public class DistributedTargetGenerator extends CMakeGenerator {
     }
 
     private void fixComponentInstance(EMAComponentInstanceSymbol componentInstanceSymbol) {
-        RosHelper.fixRosConnectionSymbols(componentInstanceSymbol);
+        RosHelper.fixRosConnectionSymbols(componentInstanceSymbol, this.getGeneratorImpls().stream().anyMatch(g -> g instanceof RclCppGenImpl));
     }
 
     @Override

src/main/java/de/monticore/lang/monticar/generator/middleware/DistributedTargetGeneratorCli.java

@@ -5,16 +5,11 @@ import com.google.gson.stream.JsonReader;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
 import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosToEmamTagSchema;
 import de.monticore.lang.monticar.emadl.generator.EMADLAbstractSymtab;
-import de.monticore.lang.monticar.emadl.generator.EMADLGeneratorCli;
-import de.monticore.lang.monticar.generator.middleware.impls.CPPGenImpl;
-import de.monticore.lang.monticar.generator.middleware.impls.EMADLGeneratorImpl;
-import de.monticore.lang.monticar.generator.middleware.impls.ODVGenImpl;
-import de.monticore.lang.monticar.generator.middleware.impls.RosCppGenImpl;
+import de.monticore.lang.monticar.generator.middleware.impls.*;
 import de.monticore.lang.monticar.generator.order.simulator.AbstractSymtab;
 import de.monticore.lang.monticar.generator.roscpp.helper.TagHelper;
 import de.monticore.lang.tagging._symboltable.TaggingResolver;
 import de.se_rwth.commons.logging.Log;
-import org.apache.commons.cli.*;
 
 import java.io.FileNotFoundException;
 import java.io.FileReader;
@@ -24,7 +19,6 @@ import java.nio.file.Paths;
 import java.util.Arrays;
 import java.util.HashSet;
 import java.util.Set;
-import java.util.stream.Collectors;
 
 public final class DistributedTargetGeneratorCli {
 
@@ -48,6 +42,9 @@ public final class DistributedTargetGeneratorCli {
     public static final String GENERATOR_EMADL = "emadlcpp";
     public static final String GENERATOR_ROSCPP = "roscpp";
     public static final String GENERATOR_ODV = "odv";
+    //ros2cpp is an alias for rclcpp
+    public static final String GENERATOR_RCLCPP = "rclcpp";
+    public static final String GENERATOR_ROS2CPP = "ros2cpp";
 
     private DistributedTargetGeneratorCli() {}
 
@@ -85,6 +82,8 @@ public final class DistributedTargetGeneratorCli {
         res.add(GENERATOR_EMADL);
         res.add(GENERATOR_ROSCPP);
         res.add(GENERATOR_ODV);
+        res.add(GENERATOR_ROS2CPP);
+        res.add(GENERATOR_RCLCPP);
         return res;
     }
 
@@ -95,7 +94,8 @@ public final class DistributedTargetGeneratorCli {
         }
         String fullModelsDirPath = expandHomeDir(cliParameters.getModelsDir());
 
-        if(cliParameters.getGenerators().size() == 0){
+        Set<String> generators = cliParameters.getGenerators();
+        if(generators.size() == 0){
             Log.error("0x6178E: No generator was specified!");
             return;
         }
@@ -106,7 +106,7 @@ public final class DistributedTargetGeneratorCli {
         }
 
         TaggingResolver taggingResolver;
-        if (cliParameters.getGenerators().contains(GENERATOR_EMADL)) {
+        if (generators.contains(GENERATOR_EMADL)) {
             taggingResolver = EMADLAbstractSymtab.createSymTabAndTaggingResolver(fullModelsDirPath);
         }
         else{
@@ -118,9 +118,13 @@ public final class DistributedTargetGeneratorCli {
 
         Set<String> validGenNames = getGeneratorNames();
 
-        cliParameters.getGenerators().forEach(genName -> {
+        generators.forEach(genName -> {
             if (validGenNames.contains(genName)) {
-                Log.warn("Using generator " + genName);
+                if(genName.equals(GENERATOR_ROS2CPP)) {
+                    Log.warn("Using generator " + GENERATOR_RCLCPP + " since " + genName + " is an alias!");
+                }else {
+                    Log.warn("Using generator " + genName);
+                }
             } else {
                 Log.error("0xE28B6: Not a valid generator Name:" + genName  +".");
                 return;
@@ -134,11 +138,11 @@ public final class DistributedTargetGeneratorCli {
             return;
         }
 
-        if (cliParameters.getGenerators().contains(GENERATOR_CPP)) {
+        if (generators.contains(GENERATOR_CPP)) {
             generator.add(new CPPGenImpl(), "cpp");
         }
 
-        if (cliParameters.getGenerators().contains(GENERATOR_EMADL)) {
+        if (generators.contains(GENERATOR_EMADL)) {
             if(cliParameters.getEmadlBackend() != null && !cliParameters.getEmadlBackend().equals("")) {
                 generator.add(new EMADLGeneratorImpl(fullModelsDirPath, cliParameters.getEmadlBackend()), "cpp");
             }else{
@@ -147,13 +151,19 @@ public final class DistributedTargetGeneratorCli {
             }
         }
 
-        if (cliParameters.getGenerators().contains(GENERATOR_ROSCPP)) {
+        if (generators.contains(GENERATOR_ROSCPP)) {
             generator.add(new RosCppGenImpl(), "roscpp");
             RosToEmamTagSchema.registerTagTypes(taggingResolver);
             TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
         }
 
-        if (cliParameters.getGenerators().contains(GENERATOR_ODV)) {
+        if (generators.contains(GENERATOR_RCLCPP) || generators.contains(GENERATOR_ROS2CPP)) {
+            generator.add(new RclCppGenImpl(), "rclcpp");
+            RosToEmamTagSchema.registerTagTypes(taggingResolver);
+            TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
+        }
+
+        if (generators.contains(GENERATOR_ODV)) {
             generator.add(new ODVGenImpl(), "odv");
         }
 

src/main/java/de/monticore/lang/monticar/generator/middleware/MiddlewareGenerator.java

@@ -24,13 +24,22 @@ public class MiddlewareGenerator extends CMakeGenerator {
         }, subdir);
         List<File> files = super.generate(componentInstanceSymbol, taggingResolver);
 
-        files.add(FileHelper.generateFile(generationTargetPath + subdir, generateIAdapter(componentInstanceSymbol)));
+        files.add(FileHelper.generateFile(generationTargetPath + subdir, generateIAdapterHeader(componentInstanceSymbol)));
+        files.add(FileHelper.generateFile(generationTargetPath + subdir, generateIAdapterCpp(componentInstanceSymbol)));
         files.add(FileHelper.generateFile(generationTargetPath + subdir, generateCoordinator(componentInstanceSymbol, files)));
         files.add(FileHelper.generateFile(generationTargetPath + subdir, generateCoordinatorCMakeList(componentInstanceSymbol, files)));
         return files;
     }
 
-    private FileContent generateIAdapter(EMAComponentInstanceSymbol componentInstanceSymbol) {
+    private FileContent generateIAdapterCpp(EMAComponentInstanceSymbol componentInstanceSymbol) {
+        FileContent res = new FileContent();
+        String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
+        res.setFileName("IAdapter_" + name + ".cpp");
+        res.setFileContent("#include \"IAdapter_" + name + ".h\"");
+        return res;
+    }
+
+    private FileContent generateIAdapterHeader(EMAComponentInstanceSymbol componentInstanceSymbol) {
         FileContent res = new FileContent();
         String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
         res.setFileName("IAdapter_" + name + ".h");

src/main/java/de/monticore/lang/monticar/generator/middleware/helpers/RosHelper.java

@@ -16,28 +16,28 @@ public class RosHelper {
     }
 
 
-    public static void fixRosConnectionSymbols(EMAComponentInstanceSymbol componentInstanceSymbol) {
+    public static void fixRosConnectionSymbols(EMAComponentInstanceSymbol componentInstanceSymbol, boolean ros2mode) {
         componentInstanceSymbol.getConnectorInstances().stream()
                 .filter(connectorSymbol -> connectorSymbol.getSourcePort().isRosPort() && connectorSymbol.getTargetPort().isRosPort())
                 .forEach(connectorSymbol -> {
                     if (Objects.equals(connectorSymbol.getSourcePort().getComponentInstance(), componentInstanceSymbol)) {
                         //In port of supercomp
                         inferRosConnectionIfPossible(connectorSymbol.getSourcePort(), connectorSymbol.getTargetPort());
-                        generateRosConnectionIfPossible(connectorSymbol);
+                        generateRosConnectionIfPossible(connectorSymbol, ros2mode);
                     } else if (Objects.equals(connectorSymbol.getTargetPort().getComponentInstance(), componentInstanceSymbol)) {
                         //out port of supercomp
                         inferRosConnectionIfPossible(connectorSymbol.getTargetPort(), connectorSymbol.getSourcePort());
-                        generateRosConnectionIfPossible(connectorSymbol);
+                        generateRosConnectionIfPossible(connectorSymbol, ros2mode);
                     } else {
                         //In between subcomps
-                        generateRosConnectionIfPossible(connectorSymbol);
+                        generateRosConnectionIfPossible(connectorSymbol, ros2mode);
                     }
 
                 });
     }
 
     //Cannot be moved to GeneratorRosCpp: target port name needed for topic name
-    private static void generateRosConnectionIfPossible(EMAConnectorInstanceSymbol connectorSymbol) {
+    private static void generateRosConnectionIfPossible(EMAConnectorInstanceSymbol connectorSymbol, boolean ros2mode) {
         MiddlewareSymbol sourceTag = connectorSymbol.getSourcePort().getMiddlewareSymbol().orElse(null);
         MiddlewareSymbol targetTag = connectorSymbol.getTargetPort().getMiddlewareSymbol().orElse(null);
         if (sourceTag == null || targetTag == null || !sourceTag.isKindOf(RosConnectionSymbol.KIND) || !targetTag.isKindOf(RosConnectionSymbol.KIND)) {
@@ -54,8 +54,8 @@ public class RosHelper {
 
         //target port name is unique: each in port can only have one connection!
         String topicName = NameHelper.getNameTargetLanguage(connectorSymbol.getTargetPort().getFullName());
-        RosMsg rosTypeA = GeneratorRosMsg.getRosType("struct_msgs", connectorSymbol.getTargetPort().getTypeReference());
-        RosMsg rosTypeB = GeneratorRosMsg.getRosType("struct_msgs", connectorSymbol.getSourcePort().getTypeReference());
+        RosMsg rosTypeA = GeneratorRosMsg.getRosType("struct_msgs", connectorSymbol.getTargetPort().getTypeReference(), ros2mode);
+        RosMsg rosTypeB = GeneratorRosMsg.getRosType("struct_msgs", connectorSymbol.getSourcePort().getTypeReference(), ros2mode);
         if (!rosTypeA.equals(rosTypeB)) {
             Log.error("topicType mismatch! "
                     + connectorSymbol.getSourcePort().getFullName() + " has " + rosTypeB + " and "

src/main/java/de/monticore/lang/monticar/generator/middleware/helpers/TemplateHelper.java

@@ -32,10 +32,6 @@ public class TemplateHelper {
         return getTemplate("coordinatorTemplate.ftl");
     }
 
-    public static String getStruct_msgsCmakeTemplate() {
-        return getTemplate("struct_msgsCmakeTemplate.ftl");
-    }
-
     public static String getDummyCmakeTemplate() {
         return getTemplate("dummyCmakeTemplate.ftl");
     }

src/main/java/de/monticore/lang/monticar/generator/middleware/impls/DummyMiddlewareGenImpl.java

@@ -23,12 +23,13 @@ public class DummyMiddlewareGenImpl implements GeneratorImpl {
 
         List<File> res = new ArrayList<>();
         res.add(FileHelper.generateFile(generationTargetPath, generateCMake(componentInstanceSymbol)));
-        res.add(FileHelper.generateFile(generationTargetPath, generateAdapter(componentInstanceSymbol)));
+        res.add(FileHelper.generateFile(generationTargetPath, generateAdapterHeader(componentInstanceSymbol)));
+        res.add(FileHelper.generateFile(generationTargetPath, generateAdapterCpp(componentInstanceSymbol)));
         return res;
     }
 
 
-    private FileContent generateAdapter(EMAComponentInstanceSymbol componentInstanceSymbol) {
+    private FileContent generateAdapterHeader(EMAComponentInstanceSymbol componentInstanceSymbol) {
         String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
         String content = TemplateHelper.getDummyAdapterTemplate()
                 .replace("${compName}", name);
@@ -39,6 +40,15 @@ public class DummyMiddlewareGenImpl implements GeneratorImpl {
         return res;
     }
 
+    private FileContent generateAdapterCpp(EMAComponentInstanceSymbol componentInstanceSymbol){
+        String name = NameHelper.getNameTargetLanguage(componentInstanceSymbol.getFullName());
+        String content = "#include \"" + name +".h\"";
+        FileContent res = new FileContent();
+        res.setFileName("DummyAdapter_" + name + ".cpp");
+        res.setFileContent(content);
+        return res;
+    }
+
     @Override
     public void setGenerationTargetPath(String path) {
         this.generationTargetPath = path;

src/main/java/de/monticore/lang/monticar/generator/middleware/impls/RclCppGenImpl.java

+package de.monticore.lang.monticar.generator.middleware.impls;
+
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAPortInstanceSymbol;
+import de.monticore.lang.monticar.generator.roscpp.GeneratorRosCpp;
+import de.monticore.lang.tagging._symboltable.TaggingResolver;
+import de.se_rwth.commons.logging.Log;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.List;
+
+public class RclCppGenImpl implements GeneratorImpl {
+    private String generationTargetPath;
+    private GeneratorRosCpp generatorRosCpp;
+
+    public RclCppGenImpl(){
+        generatorRosCpp = new GeneratorRosCpp();
+        generatorRosCpp.setGenerateCMake(true);
+        generatorRosCpp.setRos2Mode(true);
+    }
+
+    public void setGeneratorRosCpp(GeneratorRosCpp generatorRosCpp) {
+        this.generatorRosCpp = generatorRosCpp;
+    }
+
+    @Override
+    public List<File> generate(EMAComponentInstanceSymbol componentInstanceSymbol, TaggingResolver taggingResolver) throws IOException {
+        generatorRosCpp.setGenerationTargetPath(generationTargetPath);
+        return generatorRosCpp.generateFiles(componentInstanceSymbol, taggingResolver);
+    }
+
+    @Override
+    public void setGenerationTargetPath(String path) {
+        this.generationTargetPath = path;
+    }
+
+    @Override
+    public boolean willAccept(EMAComponentInstanceSymbol componentInstanceSymbol) {
+        boolean result = componentInstanceSymbol.getPortInstanceList().stream().anyMatch(EMAPortInstanceSymbol::isRosPort);
+        if(!result){
+            Log.warn("Generator rclcpp: No ROS Ports found! Ignoring component " + componentInstanceSymbol.getName());
+        }
+
+        return result;
+    }
+}

src/main/java/de/monticore/lang/monticar/generator/middleware/impls/RosCppGenImpl.java

@@ -10,7 +10,6 @@ import java.io.File;
 import java.io.IOException;
 import java.util.List;
 
-//TODO: make GeneratorRosCpp implement GeneratorImpl
 public class RosCppGenImpl implements GeneratorImpl {
     private String generationTargetPath;
     private GeneratorRosCpp generatorRosCpp;

src/main/resources/de/monticore/lang/monticar/generator/middleware/coordinatorCmakeListsTemplate.ftl

 cmake_minimum_required(VERSION 3.5)
 project (Coordinator_${compName} CXX)
 
-set (CMAKE_CXX_STANDARD 11)
+set (CMAKE_CXX_STANDARD 14)
 set (THREADS_PREFER_PTHREAD_FLAG ON)
 find_package(Threads REQUIRED)
+add_library(IAdapter_${compName} IAdapter_${compName}.cpp)
+target_link_libraries(IAdapter_${compName} ${compName})
+target_include_directories(IAdapter_${compName} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 add_executable(Coordinator_${compName} Coordinator_${compName}.cpp)
 set_target_properties(Coordinator_${compName} PROPERTIES LINKER_LANGUAGE CXX)
-target_link_libraries(Coordinator_${compName} ${targets} Threads::Threads)
+target_link_libraries(Coordinator_${compName} ${targets} Threads::Threads IAdapter_${compName})
 target_include_directories(Coordinator_${compName} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
-export(TARGETS Coordinator_${compName} FILE Coordinator_${compName}.cmake)
\ No newline at end of file
+export(TARGETS Coordinator_${compName} IAdapter_${compName} FILE Coordinator_${compName}.cmake)
\ No newline at end of file

src/main/resources/de/monticore/lang/monticar/generator/middleware/dummyCmakeTemplate.ftl

 cmake_minimum_required(VERSION 3.5)
 project (DummyAdapter_${compName})
 
-add_library(DummyAdapter_${compName} DummyAdapter_${compName}.h)
+add_library(DummyAdapter_${compName} DummyAdapter_${compName}.cpp)
 set_target_properties(DummyAdapter_${compName} PROPERTIES LINKER_LANGUAGE CXX)
-target_link_libraries(DummyAdapter_${compName} ${compName})
+target_link_libraries(DummyAdapter_${compName} ${compName} IAdapter_${compName})
 target_include_directories(DummyAdapter_${compName} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 export(TARGETS DummyAdapter_${compName} FILE DummyAdapter_${compName}.cmake)

src/main/resources/de/monticore/lang/monticar/generator/middleware/struct_msgsCmakeTemplate.ftl

-cmake_minimum_required(VERSION 3.5)
-project (struct_msgs)
-
-find_package(genmsg REQUIRED)
-
-FILE(GLOB MSG_FILES_RAW RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ../*/*/struct_msgs/*.msg)
-
-#generate struct_msgs iff .msg files where found
-if(MSG_FILES_RAW)
-
-    #filter: add each struct msg only once (distinct by filename without path)
-    foreach(CUR_MSG_FILE ${MSG_FILES_RAW})
-        get_filename_component(TMP_MSG_NAME ${CUR_MSG_FILE} NAME)
-        IF(NOT MSG_DEFINED_${TMP_MSG_NAME})
-            get_filename_component(DIR_${TMP_MSG_NAME} ${CUR_MSG_FILE} DIRECTORY)
-            add_message_files(DIRECTORY ${DIR_${TMP_MSG_NAME}} FILES ${TMP_MSG_NAME})
-            SET(MSG_DEFINED_${TMP_MSG_NAME} TRUE)
-        ENDIF()
-    endforeach(CUR_MSG_FILE)
-
-    generate_messages()
-    #export the include_dirs, so that other subprojects can use it
-    set(struct_msgs_INCLUDE_DIRS ${struct_msgs_INCLUDE_DIRS} PARENT_SCOPE)
-endif()
\ No newline at end of file

src/test/java/de/monticore/lang/monticar/generator/middleware/CliTest.java

@@ -286,4 +286,57 @@ public class CliTest {
     private boolean logContains(String errorCode) {
         return LogConfig.getFindings().stream().map(Finding::getMsg).anyMatch(msg -> msg.contains(errorCode));
     }
+
+    @Test
+    public void testRclcppGenerator(){
+        String targetDir = "target/cliTest/AllGenerators/";
+        String json = buildParameterJson(
+                VALID_MODELS_DIR_OPTION,
+                VALID_ROOT_MODEL_OPTION,
+                Arrays.asList("cpp","rclcpp"),
+                targetDir);
+
+        DistributedTargetGeneratorCli.main(new String[]{"-r", json});
+
+        String[] positiveFileNames = {
+                "CMakeLists.txt",
+                "tests_a_addComp/cpp/tests_a_addComp.h",
+                "tests_a_addComp/cpp/CMakeLists.txt",
+                "tests_a_addComp/coordinator/CMakeLists.txt",
+                "tests_a_addComp/coordinator/Coordinator_tests_a_addComp.cpp",
+                "tests_a_addComp/rclcpp/RosAdapter_tests_a_addComp.h",
+                "tests_a_addComp/rclcpp/CMakeLists.txt",
+        };
+
+        for (String positiveFileName : positiveFileNames) {
+            assertTrue(Files.exists(Paths.get(targetDir + positiveFileName)));
+        }
+    }
+
+    @Test
+    public void testRos2cppGenerator(){
+        String targetDir = "target/cliTest/AllGenerators/";
+        String json = buildParameterJson(
+                VALID_MODELS_DIR_OPTION,
+                VALID_ROOT_MODEL_OPTION,
+                Arrays.asList("cpp","ros2cpp"),
+                targetDir);
+
+        DistributedTargetGeneratorCli.main(new String[]{"-r", json});
+
+        String[] positiveFileNames = {
+                "CMakeLists.txt",
+                "tests_a_addComp/cpp/tests_a_addComp.h",
+                "tests_a_addComp/cpp/CMakeLists.txt",
+                "tests_a_addComp/coordinator/CMakeLists.txt",
+                "tests_a_addComp/coordinator/Coordinator_tests_a_addComp.cpp",
+                "tests_a_addComp/rclcpp/RosAdapter_tests_a_addComp.h",
+                "tests_a_addComp/rclcpp/CMakeLists.txt",
+        };
+
+        for (String positiveFileName : positiveFileNames) {
+            assertTrue(Files.exists(Paths.get(targetDir + positiveFileName)));
+        }
+    }
+
 }

src/test/java/de/monticore/lang/monticar/generator/middleware/GenerationTest.java

@@ -2,6 +2,7 @@ package de.monticore.lang.monticar.generator.middleware;
 
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._ast.ASTComponent;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.cncModel.EMAComponentSymbol;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.cncModel.EMAPortSymbol;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAPortInstanceSymbol;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarcmath.cocos.EmbeddedMontiArcMathCoCos;
@@ -19,6 +20,7 @@ import org.junit.Test;
 import java.io.File;
 import java.io.IOException;
 import java.util.List;
+import java.util.Map;
 import java.util.stream.Collectors;
 
 import static junit.framework.TestCase.assertTrue;
@@ -56,12 +58,12 @@ public class GenerationTest extends AbstractSymtabTest {
         assertNotNull(componentInstanceSymbol);
         TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
 
-        StarBridgeGenerator starBridgeGenerator = new CMakeGenerator();
-        starBridgeGenerator.setGenerationTargetPath("./target/generated-sources-cmake/CMakeGeneration/src/");
-        starBridgeGenerator.add(new CPPGenImpl(), "cpp");
-        starBridgeGenerator.add(new RosCppGenImpl(), "roscpp");
+        CMakeGenerator cmakeGenerator = new CMakeGenerator();
+        cmakeGenerator.setGenerationTargetPath("./target/generated-sources-cmake-no-build/CMakeGeneration/src/");
+        cmakeGenerator.add(new CPPGenImpl(), "cpp");
+        cmakeGenerator.add(new RosCppGenImpl(), "roscpp");
 
-        starBridgeGenerator.generate(componentInstanceSymbol, taggingResolver);
+        cmakeGenerator.generate(componentInstanceSymbol, taggingResolver);
     }
 
     @Test
@@ -335,4 +337,5 @@ public class GenerationTest extends AbstractSymtabTest {
 
         assertFalse(filenames.stream().anyMatch(fn -> fn.endsWith("rosMsg/CMakeLists.txt")));
     }
+
 }

src/test/java/de/monticore/lang/monticar/generator/middleware/MiddlewareSymbolTest.java

@@ -43,7 +43,7 @@ public class MiddlewareSymbolTest extends AbstractSymtabTest {
         assertNotEquals(rosInRCS, sub1RosInRCS);
         assertNotEquals(rosOutRCS, sub1RosOutRCS);
 
-        RosHelper.fixRosConnectionSymbols(componentInstanceSymbol);
+        RosHelper.fixRosConnectionSymbols(componentInstanceSymbol, false);
 
         assertEquals(rosInRCS, sub1RosInRCS);
         assertEquals(rosOutRCS, sub1RosOutRCS);

src/test/java/de/monticore/lang/monticar/generator/middleware/Ros2GenerationTest.java

+package de.monticore.lang.monticar.generator.middleware;
+
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
+import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosToEmamTagSchema;
+import de.monticore.lang.monticar.generator.middleware.impls.CPPGenImpl;
+import de.monticore.lang.monticar.generator.middleware.impls.RclCppGenImpl;
+import de.monticore.lang.monticar.generator.roscpp.helper.TagHelper;
+import de.monticore.lang.tagging._symboltable.TaggingResolver;
+import org.junit.Test;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.List;
+
+import static org.junit.Assert.assertNotNull;
+
+public class Ros2GenerationTest extends AbstractSymtabTest {
+    private static final String TEST_PATH = "src/test/resources/";
+    private static final String OUT_BASE = "./target/generated-sources-ros2/";
+
+    @Test
+    public void testRos2Generation() throws IOException {
+        TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
+        EMAComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<EMAComponentInstanceSymbol>resolve("tests.aRos2.addComp", EMAComponentInstanceSymbol.KIND).orElse(null);
+        RosToEmamTagSchema.registerTagTypes(taggingResolver);
+
+        assertNotNull(componentInstanceSymbol);
+        TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
+
+        DistributedTargetGenerator distributedTargetGenerator = new DistributedTargetGenerator();
+        distributedTargetGenerator.setGenerationTargetPath(OUT_BASE + "addComp/src");
+        distributedTargetGenerator.add(new CPPGenImpl(),"cpp");
+        distributedTargetGenerator.add(new RclCppGenImpl(), "rclcpp");
+        List<File> files = distributedTargetGenerator.generate(componentInstanceSymbol, taggingResolver);
+    }
+
+    @Test
+    public void testBaSystem() throws IOException {
+        TaggingResolver taggingResolver = createSymTabAndTaggingResolver(TEST_PATH);
+        RosToEmamTagSchema.registerTagTypes(taggingResolver);
+
+        EMAComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<EMAComponentInstanceSymbol>resolve("ba.system", EMAComponentInstanceSymbol.KIND).orElse(null);
+        assertNotNull(componentInstanceSymbol);
+
+        TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
+
+        DistributedTargetGenerator distributedTargetGenerator = new DistributedTargetGenerator();
+        String generationTargetPath = OUT_BASE + "system/src/";
+        distributedTargetGenerator.setGenerationTargetPath(generationTargetPath);
+        //distributedTargetGenerator.setGenDebug(true);

[Alexander David Hellwig]

@alexander.hellwig Check for RosCpp?