Added rclcpp/ros2 generator impl + basic tests

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/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/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;
@@ -335,4 +337,20 @@ public class GenerationTest extends AbstractSymtabTest {
 
         assertFalse(filenames.stream().anyMatch(fn -> fn.endsWith("rosMsg/CMakeLists.txt")));
     }
+
+    @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("./target/generated-sources-ros2/addComp/src");
+        distributedTargetGenerator.add(new CPPGenImpl(),"cpp");
+        distributedTargetGenerator.add(new RclCppGenImpl(), "rclcpp");
+        List<File> files = distributedTargetGenerator.generate(componentInstanceSymbol, taggingResolver);
+    }
 }

src/test/resources/results/CMakeCppOnly/src/cpp/HelperA.h

-#ifndef HELPERA_H
-#define HELPERA_H
-#include <iostream>
-#include "armadillo.h"
-#include <stdarg.h>
-#include <initializer_list>
-#include <fstream>
-using namespace arma;
-#ifndef _FILESTRING_CONVERSION___A
-#define _FILESTRING_CONVERSION___A
-#include "armadillo.h"
-using namespace arma;
-void toFileString(std::ofstream& myfile, mat A){
-    myfile << "[";
-    for (int i = 0; i < A.n_rows; i++){
-        for (int j = 0; j < A.n_cols; j++){
-            myfile << A(i,j);
-            if(j + 1 < A.n_cols){
-                myfile << ", ";
-            }
-        }
-        if(i + 1 < A.n_rows){
-            myfile << ";";
-        }
-    }
-    myfile << "]";
-}
-void toFileString(std::ofstream& myfile, double A){
-    myfile << A;
-}
-void toFileString(std::ofstream& myfile, float A){
-    myfile << A;
-}
-void toFileString(std::ofstream& myfile, int A){
-    myfile << A;
-}
-void toFileString(std::ofstream& myfile, bool A){
-    myfile << A;
-}
-bool Is_close(mat& X, mat& Y, double tol)
-{
-    // abs returns a mat type then max checks columns and returns a row_vec
-    // max used again will return the biggest element in the row_vec
-    bool close(false);
-    if(arma::max(arma::max(arma::abs(X-Y))) < tol)
-    {
-        close = true;
-    }
-    return close;
-}
-void rangeValueCheck(double A, double lower, double upper){
-    REQUIRE( A >= lower );
-    REQUIRE( A <= upper );
-}
-
-void rangeValueCheck(int A, double lower, double upper){
-    REQUIRE( A >= lower );
-    REQUIRE( A <= upper );
-}
-void rangeValueCheck(mat& A, mat& lower , mat& upper){
-    REQUIRE(Is_close(A, lower, 0.0001));
-    REQUIRE(Is_close(A, upper, 0.0001));
-}
-#endif
-class HelperA{
-public:
-static mat getEigenVectors(mat A){
-vec eigenValues;
-mat eigenVectors;
-eig_sym(eigenValues,eigenVectors,A);
-return eigenVectors;
-}
-static vec getEigenValues(mat A){
-vec eigenValues;
-mat eigenVectors;
-eig_sym(eigenValues,eigenVectors,A);
-return eigenValues;
-}
-
-static mat getKMeansClusters(mat A, int k){
-mat clusters;
-kmeans(clusters,A.t(),k,random_subset,20,true);
-/*printf("cluster centroid calculation done\n");
-std::ofstream myfile;
-     myfile.open("data after cluster.txt");
-     myfile << A;
-     myfile.close();
-
-	 std::ofstream myfile2;
-     myfile2.open("cluster centroids.txt");
-     myfile2 << clusters;
-     myfile2.close();*/
-mat indexedData=getKMeansClustersIndexData(A.t(), clusters);
-
-/*std::ofstream myfile3;
-     myfile3.open("data after index.txt");
-     myfile3 << indexedData;
-     myfile3.close();
-	 */
-return indexedData;
-}
-
-static mat getKMeansClustersIndexData(mat A, mat centroids){
-	mat result=mat(A.n_cols, 1);
-	for(int i=0;i<A.n_cols;++i){
-		result(i, 0) = getIndexForClusterCentroids(A, i, centroids);
-	}
-	return result;
-}
-
-static int getIndexForClusterCentroids(mat A, int colIndex, mat centroids){
-	int index=1;
-	double lowestDistance=getEuclideanDistance(A, colIndex, centroids, 0);
-	for(int i=1;i<centroids.n_cols;++i){
-		double curDistance=getEuclideanDistance(A, colIndex, centroids, i);
-		if(curDistance<lowestDistance){
-			lowestDistance=curDistance;
-			index=i+1;
-		}
-	}
-	return index;
-}
-
-static double getEuclideanDistance(mat A, int colIndexA, mat B, int colIndexB){
-	double distance=0;
-	for(int i=0;i<A.n_rows;++i){
-		double elementA=A(i,colIndexA);
-		double elementB=B(i,colIndexB);
-		double diff=elementA-elementB;
-		distance+=diff*diff;
-	}
-	return sqrt(distance);
-}
-
-static mat getSqrtMat(mat A){
-    cx_mat result=sqrtmat(A);
-    return real(result);
-}
-
-static mat getSqrtMatDiag(mat A){
-for(int i=0;i<A.n_rows;++i){
-    double curVal = A(i,i);
-    A(i,i) = sqrt(curVal);
-}
-return A;
-}
-
-static mat invertDiagMatrix(mat A){
-for(int i=0;i<A.n_rows;++i){
-    double curVal = A(i,i);
-    A(i,i) = 1/curVal;
-}
-return A;
-}
-};
-#endif

src/test/resources/tests/aRos2/Add.tag

+package tests.aRos2;
+conforms to de.monticore.lang.monticar.generator.roscpp.RosToEmamTagSchema;
+
+tags Add {
+    tag addComp.in1 with RosConnection = {topic = (/clock, std_msgs/msg/Float64), msgField = data};
+    tag addComp.out1 with RosConnection = {topic = (/echo, std_msgs/msg/Float64), msgField = data};
+}

src/test/resources/tests/aRos2/AddComp.emam

+package tests.aRos2;
+
+component AddComp{
+    ports in Q in1,
+          in Q in2,
+          out Q out1;
+
+    implementation Math{
+        out1 = in1 + in2;
+    }
+
+}
\ No newline at end of file