Adjust tests for ros2

src/test/java/de/monticore/lang/monticar/generator/roscpp/AbstractSymtabTest.java

@@ -9,6 +9,7 @@ import de.monticore.ModelingLanguageFamily;
 import de.monticore.io.paths.ModelPath;
 import de.monticore.lang.embeddedmontiarc.LogConfig;
 import de.monticore.lang.embeddedmontiarc.embeddedmontiarcmath._symboltable.EmbeddedMontiArcMathLanguage;
+import de.monticore.lang.embeddedmontiarc.tagging.middleware.ros.RosToEmamTagSchema;
 import de.monticore.lang.monticar.Utils;
 import de.monticore.lang.monticar.enumlang._symboltable.EnumLangLanguage;
 import de.monticore.lang.monticar.streamunits._symboltable.StreamUnitsLanguage;
@@ -39,7 +40,9 @@ public class AbstractSymtabTest {
 
     public static TaggingResolver createSymTabAndTaggingResolver(String... modelPath) {
         Scope scope = createSymTab(modelPath);
-        return new TaggingResolver(scope, Arrays.asList(modelPath));
+        TaggingResolver taggingResolver = new TaggingResolver(scope, Arrays.asList(modelPath));
+        RosToEmamTagSchema.registerTagTypes(taggingResolver);
+        return taggingResolver;
     }
 
     public static Scope createSymTab(String... modelPath) {

src/test/java/de/monticore/lang/monticar/generator/roscpp/Ros2Test.java

@@ -53,5 +53,54 @@ public class Ros2Test extends AbstractSymtabTest{
         assertTrue(fileNames.contains("CMakeLists.txt"));
     }
 
+    @Test
+    public void testBasicStructCompGeneration() throws IOException {
+        TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
+        EMAComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<EMAComponentInstanceSymbol>resolve("tests.structs.basicStructComp", EMAComponentInstanceSymbol.KIND).orElse(null);
+        assertNotNull(componentInstanceSymbol);
+        TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
+
+        GeneratorRosCpp generatorRosCpp = new GeneratorRosCpp();
+        generatorRosCpp.setGenerationTargetPath("./target/generated-sources-rclcpp/basicStructComp/");
+        generatorRosCpp.setGenerateCMake(true);
+        generatorRosCpp.setRos2Mode(true);
+        List<File> files = generatorRosCpp.generateFiles(componentInstanceSymbol, taggingResolver);
+
+        List<String> fileNames = files.stream()
+                .map(File::getName)
+                .collect(Collectors.toList());
+
+        assertTrue(fileNames.contains("CMakeLists.txt"));
+        assertTrue(fileNames.contains("generateMsgs.py"));
+        assertTrue(fileNames.contains("rclcpp_msg_gen.json"));
+        assertTrue(fileNames.contains("TestsStructsPosition.msg"));
+    }
+
+    @Test
+    public void testNestedStructCompGeneration() throws IOException {
+        TaggingResolver taggingResolver = createSymTabAndTaggingResolver("src/test/resources/");
+        EMAComponentInstanceSymbol componentInstanceSymbol = taggingResolver.<EMAComponentInstanceSymbol>resolve("tests.structs.nestedStructComp", EMAComponentInstanceSymbol.KIND).orElse(null);
+        assertNotNull(componentInstanceSymbol);
+        TagHelper.resolveTags(taggingResolver, componentInstanceSymbol);
+
+        GeneratorRosCpp generatorRosCpp = new GeneratorRosCpp();
+        generatorRosCpp.setGenerationTargetPath("./target/generated-sources-rclcpp/nestedStructComp/");
+        generatorRosCpp.setGenerateCMake(true);
+        generatorRosCpp.setRos2Mode(true);
+        List<File> files = generatorRosCpp.generateFiles(componentInstanceSymbol, taggingResolver);
+
+        List<String> fileNames = files.stream()
+                .map(File::getName)
+                .collect(Collectors.toList());
+
+        assertTrue(fileNames.contains("CMakeLists.txt"));
+        assertTrue(fileNames.contains("generateMsgs.py"));
+        assertTrue(fileNames.contains("rclcpp_msg_gen.json"));
+        assertTrue(fileNames.contains("TestsStructsPosition.msg"));
+        assertTrue(fileNames.contains("TestsStructsPositionWithDeltaTime.msg"));
+
+    }
+
+
 }
 

src/test/resources/results/basicStructComp/CMakeLists.txt

 cmake_minimum_required(VERSION 3.5)
 project (RosAdapter_tests_msg_basicStructComp)
+set (CMAKE_CXX_STANDARD 14)
+set (AMENT_CMAKE_UNINSTALL_TARGET FALSE)
 
 find_package(roscpp REQUIRED)
 
 add_library(RosAdapter_tests_msg_basicStructComp RosAdapter_tests_msg_basicStructComp.cpp)
 set_target_properties(RosAdapter_tests_msg_basicStructComp PROPERTIES LINKER_LANGUAGE CXX)
-target_link_libraries(RosAdapter_tests_msg_basicStructComp tests_msg_basicStructComp IAdapter_tests_msg_basicStructComp ${roscpp_LIBRARIES} ${struct_msgs_LIBRARIES})
-target_include_directories(RosAdapter_tests_msg_basicStructComp PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${roscpp_INCLUDE_DIRS} ${struct_msgs_INCLUDE_DIRS})
-add_dependencies(RosAdapter_tests_msg_basicStructComp struct_msgs_generate_messages)
-export(TARGETS RosAdapter_tests_msg_basicStructComp FILE RosAdapter_tests_msg_basicStructComp.cmake)
\ No newline at end of file
+target_link_libraries(RosAdapter_tests_msg_basicStructComp tests_msg_basicStructComp IAdapter_tests_msg_basicStructComp ${roscpp_LIBRARIES})
+target_include_directories(RosAdapter_tests_msg_basicStructComp PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${roscpp_INCLUDE_DIRS})
+
+
+export(TARGETS RosAdapter_tests_msg_basicStructComp FILE RosAdapter_tests_msg_basicStructComp.cmake)
+
+# Generate .h files from .msg files
+add_custom_target(gen_RosAdapter_tests_msg_basicStructComp_struct_msgs_tests_structs_BasicStruct ALL
+COMMAND python /opt/ros/kinetic/lib/gencpp/gen_cpp.py ${CMAKE_CURRENT_SOURCE_DIR}/struct_msgs/tests_structs_BasicStruct.msg -Istruct_msgs:${CMAKE_CURRENT_SOURCE_DIR}/struct_msgs -p struct_msgs -o ${CMAKE_CURRENT_SOURCE_DIR}/struct_msgs -e /opt/ros/kinetic/share/gencpp/)
+
+add_dependencies(RosAdapter_tests_msg_basicStructComp gen_RosAdapter_tests_msg_basicStructComp_struct_msgs_tests_structs_BasicStruct)
\ No newline at end of file

src/test/resources/results/echoCMake/CMakeLists.txt

 cmake_minimum_required(VERSION 3.5)
 project (RosAdapter_tests_a_compA)
+set (CMAKE_CXX_STANDARD 14)
+set (AMENT_CMAKE_UNINSTALL_TARGET FALSE)
 
 find_package(automated_driving_msgs REQUIRED)
 find_package(roscpp REQUIRED)

src/test/resources/results/echoCMakeRos2/CMakeLists.txt

 cmake_minimum_required(VERSION 3.5)
 project (RosAdapter_tests_a_compB)
+set (CMAKE_CXX_STANDARD 14)
+set (AMENT_CMAKE_UNINSTALL_TARGET FALSE)
 
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)

src/test/resources/results/testInstanceArrayComp/CMakeLists.txt

 cmake_minimum_required(VERSION 3.5)
 project (RosAdapter_test_instanceArrayComp_basicPorts_1_)
+set (CMAKE_CXX_STANDARD 14)
+set (AMENT_CMAKE_UNINSTALL_TARGET FALSE)
 
 find_package(roscpp REQUIRED)
 

src/test/resources/test/BasicPorts.emam

 package test;
 
 component BasicPorts{
-    ports in (-oo:oo) in1,in (-oo:oo) in2,
-          out (-oo:oo) out1,out (-oo:oo) out2;
+    ports in Q in1,in Q in2,
+          out Q out1,out Q out2;
 
      connect in1 -> out2;
 

src/test/resources/tests/structs/Structs.tag

@@ -2,7 +2,7 @@ package tests.structs;
 conforms to de.monticore.lang.monticar.generator.roscpp.RosToEmamTagSchema;
 
 tags Structs{
-tag basicStructComp.posIn with RosConnection = {topic = (name1,package/type1), msgField = field1};
-tag nestedStructComp.posWithDtIn with RosConnection = {topic = (name2,package/type2), msgField = field2};
-tag arrayStructComp.trajectoryIn with RosConnection = {topic = (name3,package/type3), msgField = field3};
+    tag basicStructComp.posIn with RosConnection = {topic = (name1, struct_msgs/TestsStructsPosition)};
+    tag nestedStructComp.posWithDtIn with RosConnection = {topic = (name2, struct_msgs/msg/TestsStructsPositionWithDeltaTime)};
+    tag arrayStructComp.trajectoryIn with RosConnection = {topic = (name3, package/type3)};
 }
\ No newline at end of file