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Overhauled launch files; also bug fixes
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@ClintMcKenzieJr
ClintMcKenzieJr committed Jan 9, 2025
1 parent d75ff57 commit 7e2f8c4
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Showing 3 changed files with 101 additions and 30 deletions.
2 changes: 1 addition & 1 deletion jvm/src/test
Submodule test updated 105 files
116 changes: 91 additions & 25 deletions shared/src/main/scala/org/sireum/hamr/codegen/ros2/Generator.scala
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
package org.sireum.hamr.codegen.ros2

import org.sireum._
import org.sireum.hamr.codegen.common.symbols.{AadlDataPort, AadlEventDataPort, AadlPort, AadlThread, Dispatch_Protocol}
import org.sireum.hamr.codegen.common.symbols.{AadlComponent, AadlDataPort, AadlEventDataPort, AadlPort, AadlProcess, AadlSystem, AadlThread, Dispatch_Protocol}
import org.sireum.hamr.codegen.common.types.{AadlType, ArrayType, BaseType, EnumType, RecordType}
import org.sireum.hamr.ir.Direction
import org.sireum.message.Reporter
Expand Down Expand Up @@ -514,12 +514,12 @@ object Generator {
// L a u n c h File (XML Format)
//================================================

// genLaunchNodeDecl() - generate node declaration
// Generate node launch code
// Example:
// <node pkg="tc_cpp_pkg" exec="tc_test_exe"></node>
def genXmlFormatLaunchNodeDecl(top_level_package_nameT: String,
component: AadlThread): ST = {
val node_executable_file_nameT = genExecutableFileName(genNodeName(component))
thread: AadlThread): ST = {
val node_executable_file_nameT = genExecutableFileName(genNodeName(thread))
val s =
st"""
|<node pkg="${top_level_package_nameT}" exec="${node_executable_file_nameT}">
Expand All @@ -528,27 +528,78 @@ object Generator {
return s
}

// For example, see https://github.com/santoslab/ros-examples/blob/main/tempControl_ws/src/tc_bringup/launch/tc.launch.py
def genXmlFormatLaunchFile(modelName: String, threadComponents: ISZ[AadlThread]): (ISZ[String], ST) = {
val fileName = genXmlLaunchFileName(modelName)
// Generate system launch code (including a system launch file)
// Example:
// <include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py"/>
def genXmlFormatLaunchSystemDecl(top_level_package_nameT: String,
system: AadlSystem): ST = {
val launchFileName: String = genXmlLaunchFileName(system.identifier)
val s =
st"""
|<include file="$$(find-pkg-share ${top_level_package_nameT}_bringup)/launch/${launchFileName}"/>
"""
return s
}

def genXmlFormatLaunchDecls(component: AadlComponent, packageName: String): ISZ[ST] = {
var launch_decls: ISZ[ST] = IS()

for (comp <- component.subComponents) {
comp match {
case thread: AadlThread =>
launch_decls = launch_decls :+ genXmlFormatLaunchNodeDecl(packageName, thread)
case system: AadlSystem =>
launch_decls = launch_decls :+ genXmlFormatLaunchSystemDecl(packageName, system)
case process: AadlProcess =>
launch_decls = launch_decls ++ genXmlFormatLaunchDecls(process, packageName)
case _ =>
}
}

return launch_decls
}

// For example, see https://github.com/santoslab/ros-examples/blob/main/tempControl_ws/src/tc_bringup/launch/tc.launch.py
// Creates a launch file for each system component in the model
def genXmlFormatLaunchFiles(modelName: String, threadComponents: ISZ[AadlThread],
systemComponents: ISZ[AadlSystem]): ISZ[(ISZ[String], ST)] = {
val top_level_package_nameT: String = genCppPackageName(modelName)

var node_decls: ISZ[ST] = IS()
var launchFiles: ISZ[(ISZ[String], ST)] = IS()

for (comp <- threadComponents) {
node_decls = node_decls :+ genXmlFormatLaunchNodeDecl(top_level_package_nameT, comp)
}
for (system <- systemComponents) {
val fileName = genXmlLaunchFileName(system.identifier)

val launchFileBody =
st"""<launch>
| ${(node_decls, "\n")}
|</launch>


val launch_decls: ISZ[ST] = genXmlFormatLaunchDecls(system, top_level_package_nameT)



/*
var node_decls: ISZ[ST] = IS()
for (thread <- threadComponents) {
val threadPath: String = thread.pathAsString(",")
val systemPath: String = system.pathAsString(",")
if (threadPath.size > systemPath.size && ops.StringOps(threadPath).substring(0, systemPath.size) == systemPath) {
node_decls = node_decls :+ genXmlFormatLaunchNodeDecl(top_level_package_nameT, thread)
}
}
*/
val launchFileBody =
st"""<launch>
| ${(launch_decls, "\n")}
|</launch>
"""

val filePath: ISZ[String] = IS("src", s"${top_level_package_nameT}_bringup", "launch", fileName)
val filePath: ISZ[String] = IS("src", s"${top_level_package_nameT}_bringup", "launch", fileName)

return (filePath, launchFileBody)
launchFiles = launchFiles :+ (filePath, launchFileBody)
}

return launchFiles
}


Expand Down Expand Up @@ -1503,6 +1554,11 @@ object Generator {
val inputPorts = connectionMap.get(p.path).get
publisherHeaders = publisherHeaders :+ genCppTopicPublisherVarHeader(p, portDatatype, inputPorts.size)
}
else {
// Out ports with no connections should still publish to a topic (for other non-generated components
// to subscribe to, for example)
publisherHeaders = publisherHeaders :+ genCppTopicPublisherVarHeader(p, portDatatype, 1)
}
}
}
else {
Expand All @@ -1523,8 +1579,12 @@ object Generator {
if (connectionMap.get(p.path).nonEmpty) {
val inputPorts = connectionMap.get(p.path).get
publisherHeaders = publisherHeaders :+ genCppTopicPublisherVarHeader(p, portDatatype, inputPorts.size)
putMethodHeaders = putMethodHeaders :+
genCppPutMsgMethodHeader(p, portDatatype)
putMethodHeaders = putMethodHeaders :+ genCppPutMsgMethodHeader(p, portDatatype)
}
else {
// Out ports with no connections should still publish to a topic
publisherHeaders = publisherHeaders :+ genCppTopicPublisherVarHeader(p, portDatatype, 1)
putMethodHeaders = putMethodHeaders :+ genCppPutMsgMethodHeader(p, portDatatype)
}
}
}
Expand Down Expand Up @@ -1749,8 +1809,8 @@ object Generator {
genCppTopicPublishMethodStrict(p, nodeName, portDatatype, inputPortNames.size)
}
else {
// Out ports with no connections should still publish to a topic (for other non-generated components
// to subscribe to, for example)
// Out ports with no connections should still publish to a topic
publishers = publishers :+ genCppTopicPublisher(p, portDatatype, getPortNames(IS(p.path.toISZ)))
publisherMethods = publisherMethods :+
genCppTopicPublishMethodStrict(p, nodeName, portDatatype, 1)
}
Expand Down Expand Up @@ -1779,6 +1839,12 @@ object Generator {
publisherMethods = publisherMethods :+
genCppTopicPublishMethod(p, nodeName, portDatatype, inputPortNames.size)
}
else {
// Out ports with no connections should still publish to a topic
publishers = publishers :+ genCppTopicPublisher(p, portDatatype, getPortNames(IS(p.path.toISZ)))
publisherMethods = publisherMethods :+
genCppTopicPublishMethod(p, nodeName, portDatatype, 1)
}
}
}
}
Expand Down Expand Up @@ -2092,7 +2158,7 @@ object Generator {
var converterHeaders: ISZ[ST] = IS()

for (enum <- enumTypes) {
val enumName: String = enum._2.classifier.apply(enum._2.classifier.size - 1)
val enumName: String = ops.StringOps(enum._2.classifier.apply(enum._2.classifier.size - 1)).replaceAllLiterally("_", "")

includes = includes :+ st"#include \"${packageName}_interfaces/msg/${enum._1}.hpp\""

Expand Down Expand Up @@ -2127,7 +2193,7 @@ object Generator {
var converters: ISZ[ST] = IS()

for (enum <- enumTypes) {
val enumName: String = enum._2.classifier.apply(enum._2.classifier.size - 1)
val enumName: String = ops.StringOps(enum._2.classifier.apply(enum._2.classifier.size - 1)).replaceAllLiterally("_", "")
val enumValues: ISZ[String] = enum._2.asInstanceOf[EnumType].values

var cases: ISZ[ST] = IS()
Expand Down Expand Up @@ -2248,10 +2314,10 @@ object Generator {
return files
}

def genXmlLaunchPkg(modelName: String, threadComponents: ISZ[AadlThread]): ISZ[(ISZ[String], ST)] = {
def genXmlLaunchPkg(modelName: String, threadComponents: ISZ[AadlThread], systemComponents: ISZ[AadlSystem]): ISZ[(ISZ[String], ST)] = {
var files: ISZ[(ISZ[String], ST)] = IS()

files = files :+ genXmlFormatLaunchFile(modelName, threadComponents)
files = files ++ genXmlFormatLaunchFiles(modelName, threadComponents, systemComponents)
files = files :+ genLaunchCMakeListsFile(modelName)
files = files :+ genLaunchPackageFile(modelName)

Expand Down
13 changes: 9 additions & 4 deletions shared/src/main/scala/org/sireum/hamr/codegen/ros2/Ros2Codegen.scala
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ import org.sireum._
import org.sireum.hamr.codegen.common.CommonUtil
import org.sireum.hamr.codegen.common.containers.FileResource
import org.sireum.hamr.codegen.common.plugin.Plugin
import org.sireum.hamr.codegen.common.symbols.{AadlComponent, AadlThread, SymbolTable}
import org.sireum.hamr.codegen.common.symbols.{AadlComponent, AadlSystem, AadlThread, SymbolTable}
import org.sireum.hamr.codegen.common.types.{AadlType, AadlTypes, ArrayType, BaseType, EnumType, RecordType}
import org.sireum.hamr.codegen.common.util.HamrCli.CodegenOption
import org.sireum.hamr.codegen.common.util.ResourceUtil
Expand All @@ -24,6 +24,7 @@ import org.sireum.ops.ISZOps

var resources: ISZ[FileResource] = ISZ()
var threadComponents: ISZ[AadlThread] = ISZ()
var systemComponents: ISZ[AadlSystem] = ISZ()
var connectionMap: Map[ISZ[String], ISZ[ISZ[String]]] = Map.empty
var datatypeMap: Map[AadlType, (String, ISZ[String])] = Map.empty

Expand All @@ -45,7 +46,7 @@ import org.sireum.ops.ISZOps
}

options.ros2LaunchLanguage.name match {
case "Xml" => files = files ++ Generator.genXmlLaunchPkg(modelName, threadComponents)
case "Xml" => files = files ++ Generator.genXmlLaunchPkg(modelName, threadComponents, systemComponents)
case "Python" => files = files ++ Generator.genPyLaunchPkg(modelName, threadComponents)
case _ => reporter.error(None(), toolName, s"Unknown code type: ${options.ros2NodesLanguage.name}")
}
Expand Down Expand Up @@ -80,8 +81,12 @@ import org.sireum.ops.ISZOps
processConnection(ci, c.component, symbolTable, reporter)
}

if (c.isInstanceOf[AadlThread]) {
threadComponents = threadComponents :+ c.asInstanceOf[AadlThread]
c match {
case thread: AadlThread =>
threadComponents = threadComponents :+ thread
case system: AadlSystem =>
systemComponents = systemComponents :+ system
case _ =>
}

for (sc <- c.subComponents) {
Expand Down

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