def getDefaultTopicName(self, thread_port_name, input=False, output=False):
if not input and not output:
return False, "No direction specified"
thread_name = tfs.getName(self.thread)
# Ottengo tutte le connesioni di un processo che mappano la porta specificata in process_port_name
# del thread associato a questo processo con una porta qualunque del thread.
connections = tfs.getAllConnectionsPerPort(self.process, thread_name, thread_port_name,
input=input,
output=output)
names = []
# Per ognuna delle connesioni trovate sopra bisogna cercare la porta verso cui (o da cui) è presente
# la connessione e poi cercare la proprietà del topic name su di essa
for c in connections:
process_port_name = None
# Ottengo il nome della porta
if input:
port_info = tfs.getPortInfoByDestPortInfo(c, thread_name, thread_port_name)
(process_name, process_port_name) = tfs.getSourceFromPortInfo(port_info)
elif output:
port_info = tfs.getPortInfoBySourcePortInfo(c, thread_name, thread_port_name)
(process_name, process_port_name) = tfs.getDestFromPortInfo(port_info)
# La porta è una feature, quindi si usa getFeatureByName
process_port = tfs.getFeatureByName(self.process, process_port_name)
(topic_namespace, topic_name) = tfs.getDefaultTopicName(process_port)
if topic_namespace is None or topic_name is None:
return False, "Unable to get topic name"
names.append(topic_name)
# Rimuovo i duplicati
names = list(set(names))
if len(names) < 1:
return False, "No topic name defined"
if len(names) > 1:
return False, "Multiple topic names defined"
self.topic = names[0]
return True, ""
def addPortForTopicFromPortName(self, port_name, connection):
try:
port = self.process.find("./" + XMLTags.tags['TAG_FEATURES'] +
"/" + XMLTags.tags['TAG_FEATURE'] + "/" +
"[" + XMLTags.tags['TAG_NAME'] + "='" +
port_name + "']")
except Exception:
return False
(topic_properties_namespace,
default_topic_name) = tfs.getDefaultTopicName(port)
(topic_properties_namespace,
new_topic_name) = tfs.getTopicName(connection)
if default_topic_name is None or new_topic_name is None:
log.warning("No topic remap for port {} of process {}".format(
port_name, self.name))
return True
# Se ho già controllato quella porta vado oltre
if self.hasPortForTopic(port_name):
if self.topic_ports[port_name] == new_topic_name:
return True
else:
log.error(
"Multiple topics defined for port {} of process {}".format(
port_name, self.name))
return False
r = Remap(default_topic_name, new_topic_name)
self.topic_ports[port_name] = new_topic_name
self.addRemap(r)
return True
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):
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, ""