def getMessageFromJSON(aadl_namespace, aadl_type, json_source, associated_class):
file_path = os.path.join(json_default_path, json_source)
try:
parsed = json.load(open(file_path))
except json.JSONDecodeError:
log.error("Unable to load JSON file {}".format(file_path))
return None
# new_msg_header = list(parsed.keys())[0]
message = Message(aadl_namespace, aadl_type)
# parameters_asn = parsed[new_msg_header]['values']
for key, value in parsed["properties"].items():
var = Variable()
var.setName(key)
# TODO string format + nested messages
var.setType(getROSMsgtypeFromJSON(value["type"], associated_class))
var.setIsParameter()
message.addParameter(var)
# Aggiungo il messaggio al suo relativo system
message.system.addMessage(message)
return message
def getServiceFromJSON(aadl_namespace, aadl_type, json_source,
associated_class):
file_path = os.path.join(asn_default_path, json_source)
try:
parsed = json.load(open(file_path))
except json.JSONDecodeError:
log.error("Unable to load JSON file {}".format(file_path))
return None
service = Service(aadl_namespace, aadl_type)
requests_json = parsed['Request']['properties']
responses_json = parsed['Response']['properties']
for key, value in requests_json.items():
var = Variable()
var.setName(key)
var.setType(getROSMsgtypeFromJSON(value['type'], associated_class))
var.setIsParameter()
service.addRequest(var)
for key, value in responses_json.items():
var = Variable()
var.setName(key)
# TODO string format + nested messages
var.setType(getROSMsgtypeFromJSON(value['type'], associated_class))
var.setIsParameter()
service.addResponse(var)
# Aggiungo il messaggio al suo relativo system
service.system.addService(service)
return service
def getVariableFromJSON(self, pv_name, pv_schema, pv_value):
if pv_schema.get("type", "empty") != "object":
# p is the name of the variable, list_of_params[p]["type"] is the type
tmp_param = Variable(self)
tmp_param.setName(pv_name)
if pv_schema.get("$ref", "empty") == "#/complex":
tmp_param.setType(manageComplexType(pv_value["type"], pv_value["include"], self.associated_class))
else:
tmp_param.setType(getROSDatatypeFromJSON(pv_schema["type"], self.associated_class))
if isinstance(tmp_param.type, String) and pv_value:
tmp_param.setDefaultValue("\"{}\"".format(pv_value))
elif isinstance(tmp_param.type, Bool) and pv_value:
tmp_param.setDefaultValue(pv_value.lower())
elif pv_value:
tmp_param.setDefaultValue(pv_value)
return tmp_param
else:
tmp_struct = Struct(self.associated_class, "{}_t".format(pv_name))
tmp_struct.createInstanceWithName(pv_name)
for key, value in pv_schema["properties"].items():
tmp_struct.addVariable(self.getVariableFromJSON(key, value, pv_value[key]))
return tmp_struct
def populateData(self):
main_thread = self.associated_class.getMainThread()
if main_thread == None:
return False, "Unable to get the Main Thread"
#########################
# TRANSFORMATION FRAME #
########################
# Controllo l'uso del Transformation Frame
self.thread_uses_tf = self.setUsesTransformationFrame()
###############
# Output Port #
###############
# Essendo birezeizonale posso trovare la connessione sia come source che come dest
conn_by_source = True
process_input_port = tfs.getConnectionPortInfoBySource(
self.process, self.type, self.input_port_name)
if process_input_port is None:
conn_by_source = False
process_output_port = tfs.getConnectionPortInfoByDest(
self.process, self.type, self.input_port_name)
if process_input_port is None:
return (
False,
"Unable to find the right binding between process requires subprogram access port and "
"thread input port")
if conn_by_source:
(source_parent_name,
source_name) = tfs.getDestFromPortInfo(process_input_port)
else:
(source_parent_name,
source_name) = tfs.getSourceFromPortInfo(process_output_port)
if source_parent_name is None or source_name is None:
return False, "Unable to find the process provides subprogram access port name"
self.process_port = tfs.getFeatureByName(self.process,
name=source_name)
if self.process_port is None:
return False, "Unable to find the process provides subprogram access port feature"
# Dopo aver trovato la porta del process, controllo il nome di default del
# services associato
(topic_namespace, self.default_service_name) = tfs.getDefaultTopicName(
self.process_port)
if self.default_service_name == None:
self.default_service_name = "service_name_default"
log.warning(
"Default Service Name not found, set as {} as default.".format(
self.default_service_name))
##################################
### ASN.1 Request and Response ###
##################################
(aadl_namespace,
aadl_type) = tfs.getPortDatatypeByPort(self.process_port)
if aadl_namespace == None or aadl_type == None:
return (False, "Unable to identify process port type")
# Controllo se c'è un file ASN.1 associato alla porta. Se c'è allora il tipo di servizio
# è custom e lo dovrò generare, mentre se non c'è allora è un servizio standard ROS
port_data_info = tfs.getPortDataInfo(self.process_port)
if port_data_info == None:
return (False, "Unable to get the port data info for process port")
self.asn_description = tfs.getSourceText(port_data_info)
if self.asn_description == None:
# @TODO: Standard Service
log.warning("STANDARD SERVICE")
# return (False, "Unable to find property Source_Text for the services caller with ASN.1 description")
else:
# Creo il servizio custom e lo associo al nodo che lo ha generato
self.service = sfs.getServiceFromJSON(aadl_namespace, aadl_type,
self.asn_description,
self.associated_class)
if self.service == None:
return (False, "Error in ASN.1 parsing")
# Genero ed aggiungo la libreria del services al nodo
service_library = Library(self.associated_class)
service_library.setPath("{}/{}.h".format(self.service.namespace,
self.service.name))
self.associated_class.addLibrary(service_library)
##########################
### SERVICE SERVER VAR ###
##########################
var_service_server = Variable(self.associated_class)
var_service_server.setName("service_server_{}".format(self.name))
var_service_server.setType(ROS_ServiceServer(self.associated_class))
self.associated_class.addInternalVariable(var_service_server)
###############################
### SERVICE SERVER CALLBACK ###
###############################
self.server_callback = Method(self.associated_class)
self.server_callback.method_name = "{}_service_callback".format(
self.name)
self.server_callback.return_type = Bool(self.associated_class)
self.server_callback.namespace = self.associated_class.class_name
# REQUEST Parameter
input_param_req = Variable(self.associated_class)
input_param_req.setName("&req")
input_param_req.setType(
ROS_ServiceServer_Request(
self.associated_class, "{}::{}".format(self.service.namespace,
self.service.name)))
input_param_req.setIsParameter()
# RESPONSE Parameter
input_param_res = Variable(self.associated_class)
input_param_res.setName("&res")
input_param_res.setType(
ROS_ServiceServer_Response(
self.associated_class, "{}::{}".format(self.service.namespace,
self.service.name)))
input_param_res.setIsParameter()
self.server_callback.addInputParameter(input_param_req)
self.server_callback.addInputParameter(input_param_res)
###############
# SOURCE TEXT #
###############
function = tfs.getSubcomponentByInfo(self.thread,
name=self.function_name,
namespace="ros",
category="subprogram")
if function is None:
return False, "Unable to find the function subprogram"
self.source_text_function = self.createSourceTextFileFromSourceText(
tfs.getSourceText(function), tfs.getSourceName(function))
if self.source_text_function is None:
return False, "Unable to find property Source_Text or Source_Name"
self.source_text_function.setTF(self.thread_uses_tf)
# Aggiungo la chiamata alla funzione custom
if self.source_text_function != None:
self.source_text_function.addServiceReqAndRes(
input_param_req, input_param_res)
self.source_text_function.addLibrary(service_library)
self.source_text_function.setFunctionType(
Bool(self.associated_class))
code = "return {};".format(
self.source_text_function.generateInlineCode())
self.server_callback.addMiddleCode(code)
self.associated_class.addPrivateMethod(self.server_callback)
main_thread.prepare.addMiddleCode(
"{} = handle.advertiseService(\"{}\", {}, this);".format(
var_service_server.name, self.default_service_name,
self.server_callback.getThreadPointer()))
return (True, "")
def populateData(self):
# Ottengo tutti i dati relativi al main thread
(prepare, tearDown, errorHandler) = tfs.getMainThreadFunctions(self.thread)
self.prepare = Prepare(self.associated_class)
self.prepare.source_text_function = self.createSourceTextFileFromSourceText(tfs.getSourceText(prepare),
"custom_prepare")
self.tearDown = TearDown(self.associated_class)
self.tearDown.source_text_function = self.createSourceTextFileFromSourceText(tfs.getSourceText(tearDown),
"custom_teardown")
# Aggiungo la chiamata alla funzione custome
if self.tearDown.source_text_function:
code = "{};".format(self.tearDown.source_text_function.generateInlineCode())
self.tearDown.addMiddleCode(code)
self.errorHandling = ErrorHandling(self.associated_class)
self.errorHandling.source_text_function = self.createSourceTextFileFromSourceText(
tfs.getSourceText(errorHandler),
"custom_errorHandling")
# Aggiungo la chiamata alla funzione custome
if self.errorHandling.source_text_function:
code = "{};".format(self.errorHandling.source_text_function.generateInlineCode())
self.errorHandling.addBottomCode(code)
self.associated_class.addPrivateMethod(self.prepare)
self.associated_class.addPrivateMethod(self.tearDown)
self.associated_class.addPrivateMethod(self.errorHandling)
# Ottengo lo stato (parameters, variables) in ASN.1 del nodo
# (parameters, variables) = self.getStateASN()
(parameters, variables) = self.getStateJSON()
# Se ho almeno parametri o variabili, allora genero
# anche la node configuration, altrimenti no
if len(parameters) > 0 or len(variables) > 0:
type_internal_state = Type()
type_internal_state.setTypeName("InternalState")
internal_state_is = Variable(self.associated_class)
internal_state_is.setName("is")
internal_state_is.setType(type_internal_state)
self.associated_class.addInternalVariable(internal_state_is)
node_conf = NodeConfiguration(self.associated_class)
self.associated_class.setNodeConfiguration(node_conf)
if len(variables) > 0:
vars_struct = VariablesStruct(self.associated_class)
for v in variables:
vars_struct.addVariable(v)
self.associated_class.node_configuration.addStruct(vars_struct)
self.associated_class.node_configuration.has_variables = True
# Se ho dei parametri, allora genero la struct
if len(parameters) > 0:
params_struct = ParametersStruct(self.associated_class)
self.prepare.addTopCode("Parameters p;")
for p in parameters:
params_struct.addVariable(p)
self.createHandlerForParameter(p)
self.prepare.addMiddleCode("is.initialize(&p);")
self.associated_class.node_configuration.addStruct(params_struct)
self.associated_class.node_configuration.has_parameters = True
else:
self.prepare.addMiddleCode("is.initialize();")
# Aggiungo la chiamata alla funzione custome
if self.prepare.source_text_function:
self.prepare.source_text_function.setFunctionType(Bool(self.associated_class))
code = "return {};".format(self.prepare.source_text_function.generateInlineCode())
self.prepare.addBottomCode(code)
else:
# Return alla fine del metodo main
self.prepare.addBottomCode("return true;")
return True, ""
def __init__(self, _associated_class):
super().__init__(_associated_class)
self.namespace = None
self.method_name = "main"
self.return_type = Int(self.associated_class)
# int argc
input_argc = Variable(self.associated_class)
input_argc.setIsParameter()
input_argc.setName("argc")
input_argc.setType(Int(self.associated_class))
# char **argv
input_argv = Variable(self.associated_class)
input_argv.setIsParameter()
input_argv.setName("argv")
input_argv.setType(PointerToCharPointer(self.associated_class))
self.addInputParameter(input_argc)
self.addInputParameter(input_argv)
self.addTopCode(
"ros::init(argc, argv, \"{}\", ros::init_options::NoSigintHandler);"
.format(self.associated_class.node_name))
self.addTopCode("signal(SIGINT, nodeSigintHandler);")
self.addBottomCode("return 0;")
def populateData(self):
main_thread = self.associated_class.getMainThread()
if main_thread is None:
return False, "Unable to get the Main Thread"
# Ottengo le informazioni necessarie per i thread di tipo Timer:
# - Source Text
# - Period
thread_function = tfs.getSubprogram(self.thread)
if thread_function is None:
return False, "Unable to find the right Subprogram"
# TRANSFORMATION FRAME
# Controllo l'uso del Transformation Frame
self.thread_uses_tf = self.setUsesTransformationFrame()
# Source Text
self.source_text_function = self.createSourceTextFileFromSourceText(
tfs.getSourceText(thread_function),
tfs.getSourceName(thread_function))
if self.source_text_function is None:
return False, "Unable to find property Source_Text or Source_Name"
self.source_text_function.setTF(self.thread_uses_tf)
# FREQUENCY
(period, period_unit) = tfs.getPeriod(self.thread)
if period is None or period_unit is None:
return False, "Unable to find property Period with relative value and unit"
# Conversione in secondi della frequenza a partire da qualunque unità di misura
try:
period_quantity = ureg("{} {}".format(period, period_unit))
period_quantity.ito(ureg.second)
self.frequency_in_hz = 1.0 / period_quantity.magnitude
self.period_in_seconds = period_quantity.magnitude
except ValueError:
return False, "Unable to convert Period in seconds"
# TIMER
var_timer = Variable(self.associated_class)
var_timer.setName("timer_{}".format(self.name))
var_timer.setType(ROS_Timer(self.associated_class))
self.associated_class.addInternalVariable(var_timer)
######################
### TIMER CALLBACK ###
######################
self.timerCallback = Method(self.associated_class)
self.timerCallback.method_name = "{}_callback".format(self.name)
self.timerCallback.return_type = Void(self.associated_class)
self.timerCallback.namespace = self.associated_class.class_name
input_par = Variable(self.associated_class)
input_par.setIsParameter()
input_par.setType(ROS_TimerEvent(self.associated_class))
input_par.setName("")
self.timerCallback.addInputParameter(input_par)
# Aggiungo la chiamata alla funzione custom
if self.source_text_function:
code = "{};".format(self.source_text_function.generateInlineCode())
self.timerCallback.addMiddleCode(code)
self.associated_class.addPrivateMethod(self.timerCallback)
main_thread.prepare.addMiddleCode(
"{} = handle.createTimer(ros::Duration({}), {}, this);".format(
var_timer.name, self.period_in_seconds,
self.timerCallback.getThreadPointer()))
return True, ""
def populateSubscriberData(self):
##################
### Input Port ###
##################
# Ottengo la connesione che mappa la porta di input del thread subscriber
# con quella che entra nel process
process_input_port = tfs.getConnectionPortInfoByDest(
self.process, self.type, self.input_port_name)
if process_input_port == None:
return (
False,
"Unable to find the right binding between process input port and thread input port"
)
(source_parent_name,
source_name) = tfs.getSourceFromPortInfo(process_input_port)
if source_parent_name == None or source_name == None:
return (False, "Unable to find the process input port name")
self.sub_process_port = tfs.getFeatureByName(self.process,
name=source_name)
if self.sub_process_port == None:
return (False,
"Unable to find the process input port name feature")
##################
### INPUT TYPE ###
##################
(aadl_namespace,
aadl_type) = tfs.getPortDatatypeByPort(self.sub_process_port)
if aadl_namespace == None or aadl_type == None:
return (False, "Unable to identify process port type")
# Controllo se c'è un file ASN.1 associato alla porta. Se c'è allora il tipo di messaggio
# è custom e lo dovrò generare, mentre se non c'è allora è un messaggio standard ROS
port_data_info = tfs.getPortDataInfo(self.sub_process_port)
if port_data_info == None:
return (False, "Unable to get the port data info for process port")
port_data_source_asn = tfs.getSourceText(port_data_info)
if port_data_source_asn == None:
# Se è None allora non c'è alcun file ASN.1 associato e quindi è un messaggio standard ROS
raw_output_type = dt.getROSDatatypeFromAADL(
aadl_namespace, aadl_type, self.associated_class)
if raw_output_type == None:
return (False,
"Datatype {} NOT supported".format(raw_output_type))
else:
self.input_type = raw_output_type
else:
self.custom_message = mfs.getMessageFromJSON(
aadl_namespace, aadl_type, port_data_source_asn,
self.associated_class)
self.input_type = Type(self.associated_class)
self.input_type.setTypeName(self.custom_message.name)
self.input_type.setNamespace(self.custom_message.namespace)
self.input_type.setConst(_const=True)
self.input_type.setAfterTypeName("::ConstPtr&")
# Associo la librerie del messaggio al tipo di output, sia custom che standard
input_type_library = Library()
input_type_library.setPath("{}/{}.h".format(self.input_type.namespace,
self.input_type.type_name))
self.input_type.setLibrary(input_type_library)
########################
### SUBSCRIBER TOPIC ###
########################
(status, desc) = self.getDefaultTopicName(self.input_port_name,
input=True)
if status == False:
return (status, desc)
##################
### QUEUE SIZE ###
##################
queue_size_default_value = 1
self.queue_size = tfs.getSubscriberQueueSize(
self.thread, port_name=self.input_port_name)
if self.queue_size == None:
self.queue_size = queue_size_default_value
log.info("Queue size set to default value: {}".format(
self.queue_size))
######################
### SUBSCRIBER VAR ###
######################
var_subscriber_pub = Variable(self.associated_class)
var_subscriber_pub.setName("sub_{}".format(self.name))
var_subscriber_pub.setType(ROS_Subscriber(self.associated_class))
self.associated_class.addInternalVariable(var_subscriber_pub)
###########################
### SUBSCRIBER CALLBACK ###
###########################
self.sub_callback = Method(self.associated_class)
self.sub_callback.method_name = "{}_callback".format(self.name)
self.sub_callback.return_type = Void(self.associated_class)
self.sub_callback.namespace = self.associated_class.class_name
self.sub_input_var = Variable(self.associated_class)
self.sub_input_var.setType(self.input_type)
self.sub_input_var.setName("msg")
self.sub_input_var.setIsParameter()
self.sub_callback.addInputParameter(self.sub_input_var)
self.associated_class.addPrivateMethod(self.sub_callback)
self.main_thread.prepare.addMiddleCode(
"{} = handle.subscribe(\"{}\", {}, {}, this);".format(
var_subscriber_pub.name, self.topic, self.queue_size,
self.sub_callback.getThreadPointer()))
return (True, "")
class SubscriberPublisher(AADLThread):
def __init__(self, _system_root, _process, _thread, _associated_class):
super().__init__(_system_root, _process, _thread, _associated_class)
log.info("SubscriberPublisher thread {}".format(self.name))
# Parametri del SubscriberPubslisher
self.main_thread = None
self.input_port_name = "msg_in"
self.output_port_name = "msg_out"
# Parametri comuni
self.source_text_function = None
# Parametri della parte Subcriber
self.sub_process_port = None
self.sub_asn1_source_file = None
self.sub_topic = None
self.sub_queue_size = None
self.sub_callback = None
self.input_type = None
self.sub_custom_msg = None
self.sub_input_var = None
# Parametri della parte Publisher
self.pub_process_port = None
self.pub_topic = None
self.pub_asn1_source_file = None
self.output_type = None
self.pub_custom_msg = None
self.var_publisher_pub = None
def populateSubscriberData(self):
##################
### Input Port ###
##################
# Ottengo la connesione che mappa la porta di input del thread subscriber
# con quella che entra nel process
process_input_port = tfs.getConnectionPortInfoByDest(
self.process, self.type, self.input_port_name)
if process_input_port == None:
return (
False,
"Unable to find the right binding between process input port and thread input port"
)
(source_parent_name,
source_name) = tfs.getSourceFromPortInfo(process_input_port)
if source_parent_name == None or source_name == None:
return (False, "Unable to find the process input port name")
self.sub_process_port = tfs.getFeatureByName(self.process,
name=source_name)
if self.sub_process_port == None:
return (False,
"Unable to find the process input port name feature")
##################
### INPUT TYPE ###
##################
(aadl_namespace,
aadl_type) = tfs.getPortDatatypeByPort(self.sub_process_port)
if aadl_namespace == None or aadl_type == None:
return (False, "Unable to identify process port type")
# Controllo se c'è un file ASN.1 associato alla porta. Se c'è allora il tipo di messaggio
# è custom e lo dovrò generare, mentre se non c'è allora è un messaggio standard ROS
port_data_info = tfs.getPortDataInfo(self.sub_process_port)
if port_data_info == None:
return (False, "Unable to get the port data info for process port")
port_data_source_asn = tfs.getSourceText(port_data_info)
if port_data_source_asn == None:
# Se è None allora non c'è alcun file ASN.1 associato e quindi è un messaggio standard ROS
raw_output_type = dt.getROSDatatypeFromAADL(
aadl_namespace, aadl_type, self.associated_class)
if raw_output_type == None:
return (False,
"Datatype {} NOT supported".format(raw_output_type))
else:
self.input_type = raw_output_type
else:
self.custom_message = mfs.getMessageFromJSON(
aadl_namespace, aadl_type, port_data_source_asn,
self.associated_class)
self.input_type = Type(self.associated_class)
self.input_type.setTypeName(self.custom_message.name)
self.input_type.setNamespace(self.custom_message.namespace)
self.input_type.setConst(_const=True)
self.input_type.setAfterTypeName("::ConstPtr&")
# Associo la librerie del messaggio al tipo di output, sia custom che standard
input_type_library = Library()
input_type_library.setPath("{}/{}.h".format(self.input_type.namespace,
self.input_type.type_name))
self.input_type.setLibrary(input_type_library)
########################
### SUBSCRIBER TOPIC ###
########################
(status, desc) = self.getDefaultTopicName(self.input_port_name,
input=True)
if status == False:
return (status, desc)
##################
### QUEUE SIZE ###
##################
queue_size_default_value = 1
self.queue_size = tfs.getSubscriberQueueSize(
self.thread, port_name=self.input_port_name)
if self.queue_size == None:
self.queue_size = queue_size_default_value
log.info("Queue size set to default value: {}".format(
self.queue_size))
######################
### SUBSCRIBER VAR ###
######################
var_subscriber_pub = Variable(self.associated_class)
var_subscriber_pub.setName("sub_{}".format(self.name))
var_subscriber_pub.setType(ROS_Subscriber(self.associated_class))
self.associated_class.addInternalVariable(var_subscriber_pub)
###########################
### SUBSCRIBER CALLBACK ###
###########################
self.sub_callback = Method(self.associated_class)
self.sub_callback.method_name = "{}_callback".format(self.name)
self.sub_callback.return_type = Void(self.associated_class)
self.sub_callback.namespace = self.associated_class.class_name
self.sub_input_var = Variable(self.associated_class)
self.sub_input_var.setType(self.input_type)
self.sub_input_var.setName("msg")
self.sub_input_var.setIsParameter()
self.sub_callback.addInputParameter(self.sub_input_var)
self.associated_class.addPrivateMethod(self.sub_callback)
self.main_thread.prepare.addMiddleCode(
"{} = handle.subscribe(\"{}\", {}, {}, this);".format(
var_subscriber_pub.name, self.topic, self.queue_size,
self.sub_callback.getThreadPointer()))
return (True, "")
def populatePublisherData(self):
###################
### Output Port ###
###################
# Ottengo la connesione che mappa la porta di input del thread subscriber
# con quella che entra nel process
process_output_port = tfs.getConnectionPortInfoBySource(
self.process, self.type, self.output_port_name)
if process_output_port == None:
return (
False,
"Unable to find the right binding between process input port and thread input port"
)
(dest_parent_name,
dest_name) = tfs.getDestFromPortInfo(process_output_port)
if dest_parent_name == None or dest_name == None:
return (False, "Unable to find the process input port name")
self.pub_process_port = tfs.getFeatureByName(self.process,
name=dest_name)
if self.pub_process_port == None:
return (False,
"Unable to find the process input port name feature")
###################
### OUTPUT TYPE ###
###################
(aadl_namespace,
aadl_type) = tfs.getPortDatatypeByPort(self.pub_process_port)
if aadl_namespace == None or aadl_type == None:
return (False, "Unable to identify process port type")
# Controllo se c'è un file ASN.1 associato alla porta. Se c'è allora il tipo di messaggio
# è custom e lo dovrò generare, mentre se non c'è allora è un messaggio standard ROS
port_data_info = tfs.getPortDataInfo(self.pub_process_port)
if port_data_info == None:
return (False, "Unable to get the port data info for process port")
port_data_source_asn = tfs.getSourceText(port_data_info)
if port_data_source_asn == None:
# Se è None allora non c'è alcun file ASN.1 associato e quindi è un messaggio standard ROS
raw_output_type = dt.getROSDatatypeFromAADL(
aadl_namespace, aadl_type, self.associated_class)
if raw_output_type == None:
return (False,
"Datatype {} NOT supported".format(raw_output_type))
else:
self.output_type = raw_output_type
else:
self.custom_message = mfs.getMessageFromJSON(
aadl_namespace, aadl_type, port_data_source_asn,
self.associated_class)
self.output_type = Type(self.associated_class)
self.output_type.setTypeName(self.custom_message.name)
self.output_type.setNamespace(self.custom_message.namespace)
# Associo la librerie del messaggio al tipo di output, sia custom che standard
output_type_library = Library()
output_type_library.setPath("{}/{}.h".format(
self.output_type.namespace, self.output_type.type_name))
self.output_type.setLibrary(output_type_library)
#############
### TOPIC ###
#############
(status, desc) = self.getDefaultTopicName(self.output_port_name,
output=True)
if not status:
return status, desc
#####################
### PUBLISHER VAR ###
#####################
self.var_publisher_pub = Variable(self.associated_class)
self.var_publisher_pub.setName("pub_{}".format(self.name))
self.var_publisher_pub.setType(ROS_Publisher(self.associated_class))
self.associated_class.addInternalVariable(self.var_publisher_pub)
self.main_thread.prepare.addMiddleCode(
"{} = handle.advertise<{}>(\"{}\", 10);".format(
self.var_publisher_pub.name, self.output_type.generateCode(),
self.topic))
return True, ""
def populateData(self):
self.main_thread = self.associated_class.getMainThread()
if self.main_thread is None:
return False, "Unable to get the Main Thread"
thread_function = tfs.getSubprogram(self.thread)
if thread_function is None:
return False, "Unable to find the right Subprogram"
############################
### TRANSFORMATION FRAME ###
############################
# Controllo l'uso del Transformation Frame
self.thread_uses_tf = self.setUsesTransformationFrame()
##################
### SUBSCRIBER ###
##################
(status, desc) = self.populateSubscriberData()
if not status:
return status, desc
#################
### PUBLISHER ###
#################
(status, desc) = self.populatePublisherData()
if not status:
return status, desc
###################
### SOURCE TEXT ###
###################
self.source_text_function = self.createSourceTextFileFromSourceText(
tfs.getSourceText(thread_function),
tfs.getSourceName(thread_function))
# Aggiungo la chiamata alla funzione custome
if self.source_text_function:
self.source_text_function.setFunctionType(self.output_type)
self.source_text_function.addFunctionParameter(self.sub_input_var)
self.source_text_function.setTF(self.thread_uses_tf)
code = "{}.publish({});".format(
self.var_publisher_pub.name,
self.source_text_function.generateInlineCode())
self.sub_callback.addMiddleCode(code)
else:
return False, "Unable to find Source_Text or Source_Name"
return True, ""
def populatePublisherData(self):
###################
### Output Port ###
###################
# Ottengo la connesione che mappa la porta di input del thread subscriber
# con quella che entra nel process
process_output_port = tfs.getConnectionPortInfoBySource(
self.process, self.type, self.output_port_name)
if process_output_port == None:
return (
False,
"Unable to find the right binding between process input port and thread input port"
)
(dest_parent_name,
dest_name) = tfs.getDestFromPortInfo(process_output_port)
if dest_parent_name == None or dest_name == None:
return (False, "Unable to find the process input port name")
self.pub_process_port = tfs.getFeatureByName(self.process,
name=dest_name)
if self.pub_process_port == None:
return (False,
"Unable to find the process input port name feature")
###################
### OUTPUT TYPE ###
###################
(aadl_namespace,
aadl_type) = tfs.getPortDatatypeByPort(self.pub_process_port)
if aadl_namespace == None or aadl_type == None:
return (False, "Unable to identify process port type")
# Controllo se c'è un file ASN.1 associato alla porta. Se c'è allora il tipo di messaggio
# è custom e lo dovrò generare, mentre se non c'è allora è un messaggio standard ROS
port_data_info = tfs.getPortDataInfo(self.pub_process_port)
if port_data_info == None:
return (False, "Unable to get the port data info for process port")
port_data_source_asn = tfs.getSourceText(port_data_info)
if port_data_source_asn == None:
# Se è None allora non c'è alcun file ASN.1 associato e quindi è un messaggio standard ROS
raw_output_type = dt.getROSDatatypeFromAADL(
aadl_namespace, aadl_type, self.associated_class)
if raw_output_type == None:
return (False,
"Datatype {} NOT supported".format(raw_output_type))
else:
self.output_type = raw_output_type
else:
self.custom_message = mfs.getMessageFromJSON(
aadl_namespace, aadl_type, port_data_source_asn,
self.associated_class)
self.output_type = Type(self.associated_class)
self.output_type.setTypeName(self.custom_message.name)
self.output_type.setNamespace(self.custom_message.namespace)
# Associo la librerie del messaggio al tipo di output, sia custom che standard
output_type_library = Library()
output_type_library.setPath("{}/{}.h".format(
self.output_type.namespace, self.output_type.type_name))
self.output_type.setLibrary(output_type_library)
#############
### TOPIC ###
#############
(status, desc) = self.getDefaultTopicName(self.output_port_name,
output=True)
if not status:
return status, desc
#####################
### PUBLISHER VAR ###
#####################
self.var_publisher_pub = Variable(self.associated_class)
self.var_publisher_pub.setName("pub_{}".format(self.name))
self.var_publisher_pub.setType(ROS_Publisher(self.associated_class))
self.associated_class.addInternalVariable(self.var_publisher_pub)
self.main_thread.prepare.addMiddleCode(
"{} = handle.advertise<{}>(\"{}\", 10);".format(
self.var_publisher_pub.name, self.output_type.generateCode(),
self.topic))
return True, ""
def populateData(self):
main_thread = self.associated_class.getMainThread()
if main_thread == None:
return (False, "Unable to get the Main Thread")
###################
### Output Port ###
###################
# Essendo bidirezionale posso trovare la connessione sia come source che come dest
conn_by_source = True
process_output_port = tfs.getConnectionPortInfoBySource(
self.process, self.type, self.output_port_name)
if process_output_port == None:
conn_by_source = False
process_output_port = tfs.getConnectionPortInfoByDest(
self.process, self.type, self.output_port_name)
if process_output_port == None:
return (
False,
"Unable to find the right binding between process requires subprogram access port and "
"thread input port")
if conn_by_source:
(dest_parent_name,
dest_name) = tfs.getDestFromPortInfo(process_output_port)
else:
(dest_parent_name,
dest_name) = tfs.getSourceFromPortInfo(process_output_port)
if dest_parent_name == None or dest_name == None:
return (
False,
"Unable to find the process requires subprogram access port name"
)
self.process_port = tfs.getFeatureByName(self.process, name=dest_name)
if self.process_port == None:
return (
False,
"Unable to find the process requires subprogram access port feature"
)
# Dopo aver trovato la porta del process, controllo il nome di default del
# services associato
(topic_namespace, self.default_service_name) = tfs.getDefaultTopicName(
self.process_port)
if self.default_service_name == None:
self.default_service_name = "service_name_default"
log.warning(
"Default Service Name not found, set as {} as default.".format(
self.default_service_name))
##################################
### ASN.1 Request and Response ###
##################################
(aadl_namespace,
aadl_type) = tfs.getPortDatatypeByPort(self.process_port)
if aadl_namespace is None or aadl_type is None:
return False, "Unable to identify process port type"
# Controllo se c'è un file ASN.1 associato alla porta. Se c'è allora il tipo di servizio
# è custom e lo dovrò generare, mentre se non c'è allora è un servizio standard ROS
port_data_info = tfs.getPortDataInfo(self.process_port)
if port_data_info is None:
return False, "Unable to get the port data info for process port"
self.asn_description = tfs.getSourceText(port_data_info)
if self.asn_description is None:
self.service = Service(aadl_namespace, aadl_type)
else:
# Creo il servizio custom e lo associo al nodo che lo ha generato
self.service = sfs.getServiceFromJSON(self.asn_description,
self.associated_class)
# if self.service == None:
# return (False, "Error in ASN.1 parsing")
# self.associated_class.addService( self.service )
# Genero ed aggiungo la libreria del services al nodo
service_library = Library(self.service.namespace)
service_library.setPath("{}/{}.h".format(self.service.namespace,
self.service.name))
self.associated_class.addLibrary(service_library)
##########################
### SERVICE CLIENT VAR ###
##########################
var_serviceclient = Variable(self.associated_class)
var_serviceclient.setName("service_client_{}".format(self.name))
var_serviceclient.setType(ROS_ServiceClient(self.associated_class))
self.associated_class.addInternalVariable(var_serviceclient)
main_thread.prepare.addMiddleCode(
"{} = handle.serviceClient<{}::{}>(\"{}\");".format(
var_serviceclient.name, self.service.namespace,
self.service.name, self.default_service_name))
return True, ""
def populateData(self):
main_thread = self.associated_class.getMainThread()
if main_thread == None:
return (False, "Unable to get the Main Thread")
# Ottengo le informazioni necessarie per i thread di tipo Publisher:
# - Source Text
# - Period
thread_function = tfs.getSubprogram(self.thread)
if thread_function == None:
return (False, "Unable to find the right Subprogram")
############################
### TRANSFORMATION FRAME ###
############################
# Controllo l'uso del Transformation Frame
self.thread_uses_tf = self.setUsesTransformationFrame()
###################
### Output Port ###
###################
# Ottengo la connesione che mappa la porta di input del thread subscriber
# con quella che entra nel process
process_output_port = tfs.getConnectionPortInfoBySource(self.process, self.type, self.output_port_name)
if process_output_port is None:
return False, "Unable to find the right binding between process input port and thread input port"
(dest_parent_name, dest_name) = tfs.getDestFromPortInfo(process_output_port)
if dest_parent_name is None or dest_name is None:
return False, "Unable to find the process input port name"
self.process_port = tfs.getFeatureByName(self.process, name=dest_name)
if self.process_port is None:
return False, "Unable to find the process input port name feature"
(aadl_namespace, aadl_type) = tfs.getPortDatatypeByPort(self.process_port)
if aadl_namespace is None or aadl_type is None:
return False, "Unable to identify process port type"
# Controllo se c'è un file ASN.1 associato alla porta. Se c'è allora il tipo di messaggio
# è custom e lo dovrò generare, mentre se non c'è allora è un messaggio standard ROS
port_data_info = tfs.getPortDataInfo(self.process_port)
if port_data_info is None:
return False, "Unable to get the port data info for process port"
port_data_source_asn = tfs.getSourceText(port_data_info)
if port_data_source_asn is None:
# Se è None allora non c'è alcun file ASN.1 associato e quindi è un messaggio standard ROS
raw_output_type = dt.getROSDatatypeFromAADL(aadl_namespace, aadl_type, self.associated_class)
if raw_output_type is None:
return False, "Datatype {} NOT supported".format(raw_output_type)
else:
self.output_type = raw_output_type
else:
self.custom_message = mfs.getMessageFromJSON(aadl_namespace,
aadl_type,
port_data_source_asn,
self.associated_class)
self.output_type = Type(self.associated_class)
self.output_type.setTypeName(self.custom_message.name)
self.output_type.setNamespace(self.custom_message.namespace)
# Associo la librerie del messaggio al tipo di output, sia custom che standard
output_type_library = Library()
output_type_library.setPath("{}/{}.h".format(self.output_type.namespace, self.output_type.type_name))
self.output_type.setLibrary(output_type_library)
###################
### Source Text ###
###################
self.source_text_function = self.createSourceTextFileFromSourceText(tfs.getSourceText(thread_function),
tfs.getSourceName(thread_function))
if self.source_text_function is None:
return False, "Unable to find property Source_Text or Source_Name"
self.source_text_function.setTF(self.thread_uses_tf)
self.source_text_function.setFunctionType(self.output_type)
#################
### FREQUENCY ###
#################
(period, period_unit) = tfs.getPeriod(self.thread)
if period is None or period_unit is None:
return False, "Unable to find property Period with relative value and unit"
# Conversione in secondi della frequenza a partire da qualunque unità di misura
try:
period_quantity = ureg("{} {}".format(period, period_unit))
period_quantity.ito(ureg.second)
self.frequency_in_hz = 1.0 / period_quantity.magnitude
self.period_in_seconds = period_quantity.magnitude
except ValueError:
return False, "Unable to convert Period in seconds"
# param_freq = Variable( self.associated_class )
# param_freq.setName( "frequency_{}".format(self.name) )
# param_freq.setType( Int( self.associated_class ))
# self.associated_class.addParameter( param_freq )
#############
### TOPIC ###
#############
(status, desc) = self.getDefaultTopicName(self.output_port_name, output=True)
if status is False:
return status, desc
#####################
### PUBLISHER VAR ###
#####################
var_publisher_pub = Variable(self.associated_class)
var_publisher_pub.setName("pub_{}".format(self.name))
var_publisher_pub.setType(ROS_Publisher(self.associated_class))
self.associated_class.addInternalVariable(var_publisher_pub)
#######################
### PUBLISHER TIMER ###
#######################
var_timer_pub = Variable(self.associated_class)
var_timer_pub.setName("timer_{}".format(self.name))
var_timer_pub.setType(ROS_Timer(self.associated_class))
self.associated_class.addInternalVariable(var_timer_pub)
##########################
### PUBLISHER CALLBACK ###
##########################
self.publisherCallback = Method(self.associated_class)
self.publisherCallback.method_name = "{}_callback".format(self.name)
self.publisherCallback.return_type = Void(self.associated_class)
self.publisherCallback.namespace = self.associated_class.class_name
input_par = Variable(self.associated_class)
input_par.setIsParameter()
input_par.setType(ROS_TimerEvent(self.associated_class))
input_par.setName("")
self.publisherCallback.addInputParameter(input_par)
# Aggiungo la chiamata alla funzione custome
if self.source_text_function:
code = "{}.publish({});".format(var_publisher_pub.name,
self.source_text_function.generateInlineCode())
self.publisherCallback.addMiddleCode(code)
self.associated_class.addPrivateMethod(self.publisherCallback)
main_thread.prepare.addMiddleCode("{} = handle.advertise < {} > (\"{}\", 10);"
.format(var_publisher_pub.name, self.output_type.generateCode(), self.topic))
main_thread.prepare.addMiddleCode("{} = handle.createTimer(ros::Duration({}), {}, this);"
.format(var_timer_pub.name, self.period_in_seconds,
self.publisherCallback.getThreadPointer()))
return True, ""