def create_destructor_artifact(self):
destructor_artifact = Artifact(kind="snippet", name="destructor")
destructor_template = Template(
"$comment"
+ "$component::~$component() {\n"
+ "$timer_stop"
+ "$pub_shutdown"
+ "$sub_shutdown"
+ "$server_shutdown"
+ "$client_shutdown"
+ "$bl_start_marker\n"
+ "$preserved_bl"
"$bl_end_marker\n" + "}\n\n"
)
# Resolving the template
dest_comment = "/**\n * @brief Component Shutdown\n"
dest_comment += " * Cleans up all component ports and timers\n"
dest_comment += " */\n"
comment = dest_comment
component_name = self["name"].value
bl_start_marker = " //# Start destructor business logic"
bl_end_marker = " //# End destructor business logic"
if "destructor_business_logic" in self.kwargs.keys():
preserved_bl = self.kwargs["destructor_business_logic"]
else:
preserved_bl = ""
timers = ""
for timer in self.get_children("Timer"):
timers += " {}.stop()\n".format(timer["name"].value)
publishers = ""
for pub in self.get_children("Publisher"):
publishers += " {}.shutdown()\n".format(pub["name"].value)
subscribers = ""
for sub in self.get_children("Subscriber"):
subscribers += " {}.shutdown()\n".format(sub["name"].value)
servers = ""
for server in self.get_children("Server"):
servers += " {}.shutdown()\n".format(server["name"].value)
clients = ""
for client in self.get_children("Client"):
clients += " {}.shutdown()\n".format(client["name"].value)
destructor_artifact.value = destructor_template.substitute(
comment=comment,
component=component_name,
timer_stop=timers,
pub_shutdown=publishers,
sub_shutdown=subscribers,
server_shutdown=servers,
client_shutdown=clients,
bl_start_marker=bl_start_marker,
preserved_bl=preserved_bl,
bl_end_marker=bl_end_marker,
)
self.artifacts.append(destructor_artifact)
def create_server_artifact(self):
server_artifact = Artifact(kind="snippet",
name="server_callback")
service = self['service_reference'].value
service_name = service['name'].value
package_name = service.parent['name'].value
# Template for a server operation
server_template\
= Template('$comment' +\
'$return_type $component::$callback($args) {\n' +\
'$bl_start_marker\n' +\
'$preserved_bl' +\
'$bl_end_marker\n}' +\
'\n\n')
# Resolving the template
server_comment = "/**\n * @brief Server Operation - {}\n"\
.format(self['name'].value)
server_comment += " * @param req Received service request\n"
server_comment += " * @param res Returned service response\n"
server_comment += " * @return Success/Failure of server operation\n"
server_comment += " */\n"
comment = server_comment
return_type = "bool"
component_name = self.parent['name'].value
callback_name = "{}_callback".format(self['name'].value)
service_name = self['service_reference'].value['name'].value
service_parent = self['service_reference'].value.parent['name'].value
callback_args = "const {0}::{1}::Request& req,\n {0}::{1}::Response &res"\
.format(service_parent, service_name)
bl_start_marker = " //# Start {} business logic".format(self['name'].value)
bl_end_marker = " //# End {} business logic".format(self['name'].value)
srv_key = "{}_operation".format(self['name'].value)
if srv_key in self.parent.kwargs.keys():
preserved_bl = self.parent.kwargs[srv_key]
else:
preserved_bl = ""
server_artifact.value = server_template.\
substitute(comment=comment,
return_type=return_type,
component=component_name,
callback=callback_name,
args=callback_args,
bl_start_marker=bl_start_marker,
preserved_bl=preserved_bl,
bl_end_marker=bl_end_marker)
self.artifacts.append(server_artifact)
def create_cpp_artifact(self):
src_dir = os.path.join(self.parent.get_artifact("src").destination, "src")
cpp_dir = os.path.join(src_dir, self.parent["name"].value)
cpp_artifact = Artifact(kind="code", destination=cpp_dir, name=self["name"].value + ".cpp")
cpp_artifact.order = [
"headers",
"initialization",
"timer_callback",
"server_callback",
"subscriber_callback",
"destructor",
"startup",
]
self.artifacts.append(cpp_artifact)
def create_subscriber_artifact(self):
sub_comment = "/**\n * @brief Subscriber Operation - {}\n"\
.format(self['name'].value)
sub_comment += " * @param received_data Received message\n"
sub_comment += " */\n"
subscriber_artifact = Artifact(kind="snippet",
name="subscriber_callback")
# Template for a subscriber operation
subscriber_template\
= Template('$comment' +\
'$return_type $component::$callback($args) {\n' +\
'$bl_start_marker\n' +\
'$preserved_bl' +\
'$bl_end_marker\n}\n\n')
# Resolving the template
comment = sub_comment
return_type = "void"
component_name = self.parent['name'].value
callback_name = "{}_callback".format(self['name'].value)
message_name = self['message_reference'].value['name'].value
message_parent = self['message_reference'].value.parent['name'].value
callback_args = "const {}::{}::ConstPtr& received_data".format\
(message_parent, message_name)
bl_start_marker = " //# Start {} business logic".format(self['name'].value)
bl_end_marker = " //# End {} business logic".format(self['name'].value)
sub_key = "{}_operation".format(self['name'].value)
if sub_key in self.parent.kwargs.keys():
preserved_bl = self.parent.kwargs[sub_key]
else:
preserved_bl = ""
subscriber_artifact.value = subscriber_template.\
substitute(comment=comment,
return_type=return_type,
component=component_name,
callback=callback_name,
args=callback_args,
bl_start_marker=bl_start_marker,
preserved_bl=preserved_bl,
bl_end_marker=bl_end_marker)
self.artifacts.append(subscriber_artifact)
def create_timer_artifact(self):
timer_comment = "/**\n * @brief Timer Operation - {}\n"\
.format(self['name'].value)
timer_comment += " * @param event Time-triggered event\n"
timer_comment += " */\n"
timer_artifact = Artifact(kind="snippet",
name="timer_callback")
# Template for a timer operation
timer_template\
= Template('$comment' +\
'$return_type $component::$callback($args) {\n' +\
'$bl_start_marker\n' +\
'$preserved_bl'
'$bl_end_marker\n}\n\n')
# Resolving the template
comment = timer_comment
return_type = "void"
component_name = self.parent['name'].value
callback_name = "{}_callback".format(self['name'].value)
callback_args = "const rosmod::TimerEvent& event"
bl_start_marker = " //# Start {} business logic".format(self['name'].value)
bl_end_marker = " //# End {} business logic".format(self['name'].value)
timer_key = "{}_operation".format(self['name'].value)
if timer_key in self.parent.kwargs.keys():
preserved_bl = self.parent.kwargs[timer_key]
else:
preserved_bl = ""
timer_artifact.value\
= timer_template.substitute(comment=comment,
return_type=return_type,
component=component_name,
callback=callback_name,
args=callback_args,
bl_start_marker=bl_start_marker,
preserved_bl=preserved_bl,
bl_end_marker=bl_end_marker)
self.artifacts.append(timer_artifact)
def create_init_artifact(self):
init_artifact = Artifact(kind="snippet", name="initialization")
# Template for a init
init_template = Template(
"$comment"
+ "$return_type $component::init_timer_callback($args) {\n"
+ "$bl_start_marker\n"
+ "$preserved_bl"
+ "$bl_end_marker\n}"
+ "\n\n"
)
# Resolving the template
init_comment = "/**\n * @brief Component Initialization\n"
init_comment += " * @param event Time-triggered event during component startup\n"
init_comment += " * @see startup()\n"
init_comment += " */\n"
comment = init_comment
return_type = "void"
component_name = self["name"].value
callback_args = "const rosmod::TimerEvent& event"
bl_start_marker = " //# Start init_timer business logic"
bl_end_marker = " //# End init_timer business logic"
if "init_timer_business_logic" in self.kwargs.keys():
preserved_bl = self.kwargs["init_timer_business_logic"]
else:
preserved_bl = ""
init_artifact.value = init_template.substitute(
comment=comment,
return_type=return_type,
component=component_name,
args=callback_args,
bl_start_marker=bl_start_marker,
preserved_bl=preserved_bl,
bl_end_marker=bl_end_marker,
)
self.artifacts.append(init_artifact)
def create_hpp_artifact(self):
include_dir = os.path.join(self.parent.get_artifact("include").destination, "include")
hpp_dir = os.path.join(include_dir, self.parent["name"].value)
hpp_artifact = Artifact(kind="code", destination=hpp_dir, name=self["name"].value + ".hpp")
hpp_artifact.order = [
"header_define",
"includes",
"globals",
"class",
"timer_callback_declaration",
"server_callback_declaration",
"subscriber_callback_declaration",
"startup_declaration",
"destructor_declaration",
"timer_declaration",
"publisher_declaration",
"subscriber_declaration",
"server_declaration",
"client_declaration",
"privates",
]
self.artifacts.append(hpp_artifact)
