Merge branch 'MsgProjectGeneration' into 'master'

Msg project generation

See merge request !8

pom.xml

@@ -9,7 +9,7 @@
 
   <groupId>de.monticore.lang.monticar</groupId>
   <artifactId>embedded-montiarc-math-rosmsg-generator</artifactId>
-  <version>0.1.2-SNAPSHOT</version>
+  <version>0.1.3-SNAPSHOT</version>
 
   <!-- == PROJECT DEPENDENCIES ============================================= -->
 

src/main/java/de/monticore/lang/monticar/generator/rosmsg/GeneratorRosMsg.java

 package de.monticore.lang.monticar.generator.rosmsg;
 
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAPortInstanceSymbol;
 import de.monticore.lang.monticar.common2._ast.ASTCommonMatrixType;
+import de.monticore.lang.monticar.generator.rosmsg.util.CMakeListsViewModel;
 import de.monticore.lang.monticar.generator.rosmsg.util.FileContent;
+import de.monticore.lang.monticar.generator.rosmsg.util.RosMsgTemplates;
 import de.monticore.lang.monticar.struct._symboltable.StructFieldDefinitionSymbol;
 import de.monticore.lang.monticar.struct._symboltable.StructSymbol;
 import de.monticore.lang.monticar.ts.MCASTTypeSymbol;
 import de.monticore.lang.monticar.ts.MCTypeSymbol;
 import de.monticore.lang.monticar.ts.MontiCarTypeSymbol;
 import de.monticore.lang.monticar.ts.references.MCTypeReference;
+import de.monticore.symboltable.references.SymbolReference;
 import de.se_rwth.commons.logging.Log;
 import org.apache.commons.io.FileUtils;
 
@@ -15,6 +20,7 @@ import java.io.File;
 import java.io.IOException;
 import java.util.*;
 import java.util.stream.Collectors;
+import java.util.stream.Stream;
 
 public class GeneratorRosMsg {
     private String path;
@@ -53,7 +59,7 @@ public class GeneratorRosMsg {
 
     public List<FileContent> generateStrings(MCTypeReference<? extends MCTypeSymbol> typeReference) {
         //is typeReference basic type or struct?
-        if (getRosType(currentPackageName, typeReference) != null) {
+        if (getRosType(currentPackageName, typeReference, ros2mode) != null) {
             MCTypeSymbol type = typeReference.getReferencedSymbol();
             List<FileContent> res = new ArrayList<>();
             if (type instanceof StructSymbol) {
@@ -77,7 +83,7 @@ public class GeneratorRosMsg {
 
         String definition = structSymbol.getStructFieldDefinitions().stream()
                 .filter(sfds -> sfds.getType().existsReferencedSymbol())
-                .map(sfds -> getInMsgRosType(currentPackageName, sfds.getType().getReferencedSymbol(), ros2mode) + " " + sfds.getName())
+                .map(sfds -> getInMsgRosType(currentPackageName, sfds.getType().getReferencedSymbol(), ros2mode) + " " + getFieldName(sfds, ros2mode))
                 .collect(Collectors.joining("\n"));
 
         FileContent fc = new FileContent();
@@ -114,10 +120,9 @@ public class GeneratorRosMsg {
     }
 
     private static String getFieldName(StructFieldDefinitionSymbol sfds, boolean ros2mode) {
-        if (ros2mode){
+        if (ros2mode) {
             return sfds.getName().toLowerCase();
-        }
-        else{
+        } else {
             return sfds.getName();
         }
 
@@ -229,13 +234,12 @@ public class GeneratorRosMsg {
     }
 
     private static String getTargetName(StructSymbol structSymbol, boolean ros2mode) {
-        if (ros2mode){
+        if (ros2mode) {
             return Arrays.stream(structSymbol.getFullName()
                     .split("\\."))
                     .map(fn -> fn.substring(0, 1).toUpperCase() + fn.substring(1))
                     .collect(Collectors.joining());
-        }
-        else{
+        } else {
             return structSymbol.getFullName().replace(".", "_");
         }
     }
@@ -243,4 +247,61 @@ public class GeneratorRosMsg {
     private static String getFullTargetName(String packageName, StructSymbol structSymbol, boolean ros2mode) {
         return ros2mode ? packageName + "/msg/" + getTargetName(structSymbol, ros2mode) : packageName + "/" + getTargetName(structSymbol, ros2mode);
     }
+
+    public List<FileContent> generateProjectStrings(List<MCTypeReference<? extends MCTypeSymbol>> typeReferences) {
+        ArrayList<FileContent> res = new ArrayList<>();
+
+        // .msg files
+        for (MCTypeReference<? extends MCTypeSymbol> tr : typeReferences) {
+            for (FileContent fc : generateStrings(tr)) {
+                fc.setFileName("msg/" + fc.getFileName());
+                res.add(fc);
+            }
+        }
+
+        if (!ros2mode) {
+            res.add(getRosCMakeLists(res));
+        } else {
+            res.add(getRos2CMakeLists(res));
+            res.add(getRos2PackageXml());
+        }
+
+
+        return res;
+    }
+
+    private FileContent getRos2CMakeLists(ArrayList<FileContent> res) {
+        return new FileContent("CMakeLists.txt", RosMsgTemplates.generateRos2CMakeLists(new CMakeListsViewModel(res)));
+    }
+
+    private FileContent getRos2PackageXml() {
+        return new FileContent("package.xml", RosMsgTemplates.generateRos2Package());
+    }
+
+    private FileContent getRosCMakeLists(ArrayList<FileContent> res) {
+        return new FileContent("CMakeLists.txt", RosMsgTemplates.generateRosCMakeLists(new CMakeListsViewModel(res)));
+    }
+
+    public List<File> generateProject(List<MCTypeReference<? extends MCTypeSymbol>> typeReferences) throws IOException {
+        List<File> res = new ArrayList<>();
+        List<FileContent> fileContents = generateProjectStrings(typeReferences);
+        for (FileContent fileContent : fileContents) {
+            File file = new File(path + "/" + fileContent.getFileName());
+            FileUtils.write(file, fileContent.getFileContent());
+            res.add(file);
+        }
+        return res;
+    }
+
+    public List<File> generateProject(EMAComponentInstanceSymbol component) throws IOException {
+        Stream<EMAPortInstanceSymbol> p = component.getPortInstanceList().stream();
+        Stream<EMAPortInstanceSymbol> subp = component.getSubComponents().stream().flatMap(sc -> sc.getPortInstanceList().stream());
+        List<MCTypeReference<? extends MCTypeSymbol>> typeReferences = Stream.concat(p, subp)
+                .map(EMAPortInstanceSymbol::getTypeReference)
+                .filter(SymbolReference::existsReferencedSymbol)
+                .filter(mcTypeReference -> mcTypeReference.getReferencedSymbol() instanceof StructSymbol)
+                .collect(Collectors.toList());
+
+        return generateProject(typeReferences);
+    }
 }

src/main/java/de/monticore/lang/monticar/generator/rosmsg/util/CMakeListsViewModel.java

+package de.monticore.lang.monticar.generator.rosmsg.util;
+
+import java.nio.file.Paths;
+import java.util.List;
+import java.util.function.Function;
+import java.util.stream.Collectors;
+
+public class CMakeListsViewModel{
+    public List<String> getFileNamesWithPath() {
+        return fileContents.stream()
+                .map(FileContent::getFileName)
+                .collect(Collectors.toList());
+    }
+
+    public List<String> getFileNamesOnly() {
+        return fileContents.stream()
+                .map(FileContent::getFileName)
+                .map(fn -> Paths.get(fn).getFileName().toString())
+                .collect(Collectors.toList());
+    }
+
+    private List<FileContent> fileContents;
+
+    public CMakeListsViewModel(List<FileContent> fileContents) {
+        this.fileContents = fileContents;
+    }
+}

src/main/java/de/monticore/lang/monticar/generator/rosmsg/util/FileContent.java

@@ -4,6 +4,14 @@ public class FileContent {
     private String fileName;
     private String fileContent;
 
+    public FileContent() {
+    }
+
+    public FileContent(String fileName, String fileContent) {
+        this.fileName = fileName;
+        this.fileContent = fileContent;
+    }
+
     public String getFileName() {
         return fileName;
     }

src/main/java/de/monticore/lang/monticar/generator/rosmsg/util/RosMsgTemplates.java

+package de.monticore.lang.monticar.generator.rosmsg.util;
+
+import de.se_rwth.commons.logging.Log;
+import freemarker.template.Configuration;
+import freemarker.template.Template;
+import freemarker.template.TemplateException;
+import freemarker.template.TemplateExceptionHandler;
+
+import java.io.IOException;
+import java.io.StringWriter;
+import java.util.HashMap;
+
+public class RosMsgTemplates {
+
+    private RosMsgTemplates(){
+    }
+
+    private static final Template ROS2_CMAKELISTS;
+    private static final Template ROS2_PACKAGE_XML;
+    private static final Template ROS_CMAKELISTS;
+
+    static {
+        Configuration conf = new Configuration(Configuration.VERSION_2_3_23);
+        conf.setDefaultEncoding("UTF-8");
+        conf.setTemplateExceptionHandler(TemplateExceptionHandler.DEBUG_HANDLER);
+        conf.setLogTemplateExceptions(false);
+        conf.setClassForTemplateLoading(RosMsgTemplates.class, "/templates");
+        try {
+            ROS2_CMAKELISTS = conf.getTemplate("ros2.MsgGen.CMakeLists.ftl");
+            ROS_CMAKELISTS = conf.getTemplate("ros.MsgGen.CMakeLists.ftl");
+            ROS2_PACKAGE_XML = conf.getTemplate("ros2.MsgGen.Package.ftl");
+        } catch (IOException e) {
+            String msg = "could not load templates";
+            Log.error(msg, e);
+            throw new RuntimeException(msg, e);
+        }
+    }
+
+    public static String generateRos2CMakeLists(CMakeListsViewModel viewModel){
+        HashMap<String, Object> data = new HashMap<>();
+        data.put("viewModel", viewModel);
+        return generate(ROS2_CMAKELISTS, data);
+    }
+
+    public static String generateRosCMakeLists(CMakeListsViewModel viewModel){
+        HashMap<String, Object> data = new HashMap<>();
+        data.put("viewModel", viewModel);
+        return generate(ROS_CMAKELISTS, data);
+    }
+
+    public static String generateRos2Package(){
+        return generate(ROS2_PACKAGE_XML, new HashMap<>());
+    }
+
+    private static String generate(Template template, Object dataForTemplate) {
+        Log.errorIfNull(template);
+        Log.errorIfNull(dataForTemplate);
+        StringWriter sw = new StringWriter();
+        try {
+            template.process(dataForTemplate, sw);
+        } catch (TemplateException | IOException e) {
+            Log.error("template generation failed, template: " + template.getName(), e);
+        }
+        return sw.toString();
+    }
+}

src/main/resources/templates/ros.MsgGen.CMakeLists.ftl

+# generated by ros.MsgGen.CMakeLists.ftl
+cmake_minimum_required(VERSION 2.8.12)
+project(struct_msgs)
+find_package(genmsg REQUIRED)
+
+<#list viewModel.getFileNamesOnly() as fileOnly>
+add_message_files(FILES ${fileOnly})
+</#list>
+<#noparse>
+set(CATKIN_MESSAGE_GENERATORS gencpp)
+generate_messages()
+set(struct_msgs_INCLUDE_DIRS ${struct_msgs_INCLUDE_DIRS} PARENT_SCOPE)
+</#noparse>
\ No newline at end of file

src/main/resources/templates/ros2.MsgGen.CMakeLists.ftl

+# generated by ros2.MsgGen.CMakeLists.ftl
+cmake_minimum_required(VERSION 3.5)
+project(struct_msgs)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# declare the message files to generate code for
+
+<#list viewModel.getFileNamesWithPath() as fileWithPath>
+LIST(APPEND msg_files "${fileWithPath}")
+</#list>
+
+<#noparse>
+rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files})
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
+
+set(struct_msgs_LIBRARIES struct_msgs__rosidl_typesupport_cpp struct_msgs__rosidl_typesupport_fastrtps_cpp struct_msgs__rosidl_typesupport_introspection_cpp PARENT_SCOPE)
+export(TARGETS struct_msgs__rosidl_typesupport_cpp struct_msgs__rosidl_typesupport_fastrtps_cpp struct_msgs__rosidl_typesupport_introspection_cpp FILE struct_msgs.cmake)
+</#noparse>
\ No newline at end of file

src/main/resources/templates/ros2.MsgGen.Package.ftl

+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<!--Generated by ros2.MsgGen.Package.ftl-->
+<package format="3">
+    <name>struct_msgs</name>
+    <version>0.0.0</version>
+    <description>Generated Messages from Struct</description>
+    <maintainer email="unknown@unknown.com">Unknown</maintainer>
+    <license>Unknown</license>
+
+    <buildtool_depend>ament_cmake</buildtool_depend>
+    <buildtool_depend>rosidl_default_generators</buildtool_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+    <member_of_group>rosidl_interface_packages</member_of_group>
+</package>
\ No newline at end of file

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

@@ -17,6 +17,7 @@ import de.monticore.lang.tagging._symboltable.TaggingResolver;
 import de.monticore.symboltable.GlobalScope;
 import de.monticore.symboltable.Scope;
 import de.se_rwth.commons.logging.Log;
+import org.apache.commons.io.FilenameUtils;
 import org.junit.Assert;
 
 import java.io.File;

src/test/java/de/monticore/lang/monticar/generator/rosmsg/ProjectTest.java

+package de.monticore.lang.monticar.generator.rosmsg;
+
+import de.monticore.lang.embeddedmontiarc.embeddedmontiarc._symboltable.instanceStructure.EMAComponentInstanceSymbol;
+import de.monticore.symboltable.Scope;
+import org.junit.Test;
+
+import java.io.File;
+import java.io.IOException;
+import java.nio.file.Paths;
+import java.util.List;
+
+import static org.junit.Assert.assertNotNull;
+
+public class ProjectTest extends AbstractSymtabTest{
+
+    @Test
+    public void testRosProjectGeneration() throws IOException {
+        Scope symtab = createSymTab("src/test/resources/");
+        EMAComponentInstanceSymbol component = symtab.<EMAComponentInstanceSymbol>resolve("tests.basicStructComp", EMAComponentInstanceSymbol.KIND).orElse(null);
+        assertNotNull(component);
+
+        GeneratorRosMsg generatorRosMsg = new GeneratorRosMsg();
+        generatorRosMsg.setTarget("target/projects/ros/basicStructComp","struct_msgs");
+        List<File> files = generatorRosMsg.generateProject(component);
+
+        checkFilesAreEqual(files, Paths.get("target/projects/ros/basicStructComp"),"projects/ros/basicStructComp/");
+    }
+
+
+    @Test
+    public void testRos2ProjectGeneration() throws IOException {
+        Scope symtab = createSymTab("src/test/resources/");
+        EMAComponentInstanceSymbol component = symtab.<EMAComponentInstanceSymbol>resolve("tests.basicStructComp", EMAComponentInstanceSymbol.KIND).orElse(null);
+        assertNotNull(component);
+
+        GeneratorRosMsg generatorRosMsg = new GeneratorRosMsg();
+        generatorRosMsg.setTarget("target/projects/ros2/basicStructComp","struct_msgs");
+        generatorRosMsg.setRos2mode(true);
+        List<File> files = generatorRosMsg.generateProject(component);
+
+        checkFilesAreEqual(files, Paths.get("target/projects/ros2/basicStructComp"),"projects/ros2/basicStructComp/");
+    }
+
+}

src/test/resources/results/CMakeLists.txt

-cmake_minimum_required(VERSION 3.5)
-project(multinested)
-find_package(genmsg REQUIRED)
-FILE(GLOB MSG_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.msg)
-add_message_files(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} FILES ${MSG_FILES})
-generate_messages()
\ No newline at end of file

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

+# generated by ros.MsgGen.CMakeLists.ftl
+cmake_minimum_required(VERSION 2.8.12)
+project(struct_msgs)
+find_package(genmsg REQUIRED)
+
+add_message_files(FILES structs_BasicStruct.msg)
+set(CATKIN_MESSAGE_GENERATORS gencpp)
+generate_messages()
+set(struct_msgs_INCLUDE_DIRS ${struct_msgs_INCLUDE_DIRS} PARENT_SCOPE)

src/test/resources/results/projects/ros/basicStructComp/msg/structs_BasicStruct.msg

+float64 fieldQ1
+float64 fieldQ2
+int32 fieldZ1
+int32 fieldZ2
+bool fieldB1
\ No newline at end of file

src/test/resources/results/projects/ros2/basicStructComp/CMakeLists.txt

+# generated by ros2.MsgGen.CMakeLists.ftl
+cmake_minimum_required(VERSION 3.5)
+project(struct_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# declare the message files to generate code for
+LIST(APPEND msg_files "msg/StructsBasicStruct.msg")
+
+rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files})
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
+
+set(struct_msgs_LIBRARIES struct_msgs__rosidl_typesupport_cpp struct_msgs__rosidl_typesupport_fastrtps_cpp struct_msgs__rosidl_typesupport_introspection_cpp PARENT_SCOPE)
+
+export(TARGETS struct_msgs__rosidl_typesupport_cpp struct_msgs__rosidl_typesupport_fastrtps_cpp struct_msgs__rosidl_typesupport_introspection_cpp FILE struct_msgs.cmake)

src/test/resources/results/projects/ros2/basicStructComp/msg/StructsBasicStruct.msg

+float64 fieldq1
+float64 fieldq2
+int32 fieldz1
+int32 fieldz2
+bool fieldb1
\ No newline at end of file

src/test/resources/results/projects/ros2/basicStructComp/package.xml

+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<!--Generated by ros2.MsgGen.Package.ftl-->
+<package format="3">
+  <name>struct_msgs</name>
+  <version>0.0.0</version>
+  <description>Generated Messages from Struct</description>
+  <maintainer email="unknown@unknown.com">Unknown</maintainer>
+  <license>Unknown</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+</package>
\ No newline at end of file