def generateInterfaceMethods(self, proxyStr, projectName):
proxyStr.append('void Interfaces::connectProxies(int argc, char* argv[]) {\n')
proxyStr.append('\tConfig::Properties props = Config::load(argc, argv);\n')
proxyStr.append('\tjdrc = new Comm::Communicator(props);\n\n')
for cfg in self.config.getInterfaces():
proxyStr.append('\t' + cfg['name'] + ' = Comm::get' + cfg['interface'] + 'Client(jdrc, "'+projectName+'.' + cfg['name'] + '");\n')
proxyStr.append('\tif (' + cfg['name'] + ' == NULL) {\n')
proxyStr.append('\t\tthrow "invalid proxy ' + cfg['name'] + '";\n')
proxyStr.append('\t}\n')
proxyStr.append('\tstd::cout << "' + cfg['name'] + ' is connected" << std::endl;\n\n')
# set inital values of variables
for state in self.getAllStates():
types, varNames, initialValues = CPPParser.parseVariables(state.getVariables())
for i in range(len(types)):
if initialValues[i] is not None:
proxyStr.append('\t' + varNames[i] + ' = ' + initialValues[i] + ';\n')
proxyStr.append('}\n\n')
proxyStr.append('void Interfaces::destroyProxies() {\n')
proxyStr.append('\tif (jdrc != 0) {\n')
proxyStr.append('\t}\n}\n\n')
for state in self.getAllStates():
returnTypes, funcNames, codes = CPPParser.parseFunctions(state.getFunctions())
for i in range(len(returnTypes)):
proxyStr.append(returnTypes[i] + ' Interfaces::' + funcNames[i] + '\n')
proxyStr.append(codes[i])
proxyStr.append('\n\n')
def generateInterfaceClass(self, classStr):
classStr.append('class Interfaces {\n')
classStr.append('public:\n')
classStr.append('\tComm::Communicator* jdrc;\n')
for cfg in self.config.getInterfaces():
classStr.append('\tComm::' + cfg['interface'] + 'Client* ' + cfg['name'] + ';\n')
classStr.append('\n')
classStr.append('\tvirtual void connectProxies(int argc, char* argv[]);\n')
classStr.append('\tvirtual void destroyProxies();\n')
for state in self.getAllStates():
# define variables
types, varNames, initialValues = CPPParser.parseVariables(state.getVariables())
for i in range(len(types)):
classStr.append('\t' + types[i] + ' ' + varNames[i] + ';\n')
classStr.append('\n')
returnTypes, funcNames, codes = CPPParser.parseFunctions(state.getFunctions())
for i in range(len(returnTypes)):
classStr.append('\t' + returnTypes[i] + ' ' + funcNames[i] + ';\n')
classStr.append('};\n\n')
def generateInterfaceClass(self, classStr, functions, variables):
classStr.append('class Interfaces {\n')
classStr.append('public:\n')
classStr.append('\tComm::Communicator* jdrc;\n')
for cfg in self.config.getInterfaces():
classStr.append('\tComm::' + cfg['interface'] + 'Client* ' +
cfg['name'] + ';\n')
classStr.append('\n')
classStr.append(
'\tvirtual void connectProxies(int argc, char* argv[]);\n')
classStr.append('\tvirtual void destroyProxies();\n')
# define variables
types, varNames, initialValues = CPPParser.parseVariables(variables)
for i in range(len(types)):
classStr.append('\t' + types[i] + ' ' + varNames[i] + ';\n')
classStr.append('\n')
returnTypes, funcNames, codes = CPPParser.parseFunctions(functions)
for i in range(len(returnTypes)):
classStr.append('\t' + returnTypes[i] + ' ' + funcNames[i] + ';\n')
classStr.append('};\n\n')
def generateInterfaceMethods(self, proxyStr, projectName):
proxyStr.append(
'void Interfaces::connectProxies(int argc, char* argv[]) {\n')
proxyStr.append(
'\tConfig::Properties props = Config::load(argc, argv);\n')
proxyStr.append('\tjdrc = new Comm::Communicator(props);\n\n')
for cfg in self.config.getInterfaces():
proxyStr.append('\t' + cfg['name'] + ' = Comm::get' +
cfg['interface'] + 'Client(jdrc, "' + projectName +
'.' + cfg['name'] + '");\n')
proxyStr.append('\tif (' + cfg['name'] + ' == NULL) {\n')
proxyStr.append('\t\tthrow "invalid proxy ' + cfg['name'] + '";\n')
proxyStr.append('\t}\n')
proxyStr.append('\tstd::cout << "' + cfg['name'] +
' is connected" << std::endl;\n\n')
# set inital values of variables
for state in self.getAllStates():
types, varNames, initialValues = CPPParser.parseVariables(
state.getVariables())
for i in range(len(types)):
if initialValues[i] is not None:
proxyStr.append('\t' + varNames[i] + ' = ' +
initialValues[i] + ';\n')
proxyStr.append('}\n\n')
proxyStr.append('void Interfaces::destroyProxies() {\n')
proxyStr.append('\tif (jdrc != 0) {\n')
proxyStr.append('\t}\n}\n\n')
for state in self.getAllStates():
returnTypes, funcNames, codes = CPPParser.parseFunctions(
state.getFunctions())
for i in range(len(returnTypes)):
proxyStr.append(returnTypes[i] + ' Interfaces::' +
funcNames[i] + '\n')
proxyStr.append(codes[i])
proxyStr.append('\n\n')
def generateRosMethods(self, rosStr, config):
rosStr.append('RosNode::RosNode(int nodeRate):rate(nodeRate) {\n')
for topic in config.getTopics():
varName = topic['name'].replace('/', '_')
if varName[0] == '_':
varName = varName[1:]
type = topic['type']
types = type.split('/')
if topic['opType'] == 'Publish':
if len(types) == 2:
rosStr.append('\t' + varName + 'Pub = nh.advertise<' +
types[0] + '::' + types[1] + '>("' +
topic['name'] + '", 10);\n')
else:
rosStr.append('\t' + varName + 'Pub = nh.advertise<' +
type + '>("' + topic['name'] + '", 10);\n')
elif topic['opType'] == 'Subscribe':
rosStr.append('\t' + varName + 'Sub = nh.subscribe("' +
topic['name'] + '", 10, &RosNode::' + varName +
'Callback, this);\n')
# set inital values of variables
for state in self.getAllStates():
types, varNames, initialValues = CPPParser.parseVariables(
state.getVariables())
for i in range(len(types)):
if initialValues[i] is not None:
rosStr.append('\t' + varNames[i] + ' = ' +
initialValues[i] + ';\n')
rosStr.append('}\n\n')
rosStr.append('void* RosNode::threadRunner(void* owner) {\n')
rosStr.append('\t((RosNode*)owner)->run();\n')
rosStr.append('}\n\n')
rosStr.append('void RosNode::startThread() {\n')
rosStr.append(
'\tpthread_create(&thread, NULL, &RosNode::threadRunner, this);\n')
rosStr.append('}\n\n')
rosStr.append('void RosNode::run() {\n')
rosStr.append('\twhile(nh.ok()) {\n')
rosStr.append('\t\tros::spinOnce();\n')
rosStr.append('\t\trate.sleep();\n')
rosStr.append('\t}\n')
rosStr.append('}\n\n')
rosStr.append('void RosNode::join() {\n')
rosStr.append('\tpthread_join(thread, NULL);\n')
rosStr.append('}\n\n')
for topic in config.getTopics():
varName = topic['name'].replace('/', '_')
if varName[0] == '_':
varName = varName[1:]
if topic['opType'] == 'Subscribe':
type = topic['type']
types = type.split('/')
if len(types) == 2:
rosStr.append('void RosNode::' + varName +
'Callback(const ' + types[0] + '::' +
types[1] + '& ' + varName + ') {\n')
else:
rosStr.append('void RosNode::' + varName +
'Callback(const ' + type + '& ' + varName +
') {\n')
rosStr.append('\tlast' + varName + ' = ' + varName + ';\n')
rosStr.append('}\n\n')
if len(types) == 2:
rosStr.append(types[0] + '::' + types[1] +
'& RosNode::get' + varName + '() {\n')
else:
rosStr.append(type + '& RosNode::get' + varName + '() {\n')
rosStr.append('\treturn last' + varName + ';\n')
rosStr.append('}\n\n')
elif topic['opType'] == 'Publish':
type = topic['type']
types = type.split('/')
if len(types) == 2:
rosStr.append('void RosNode::publish' + varName + '(' +
types[0] + '::' + types[1] + '& ' + varName +
') {\n')
else:
rosStr.append('void RosNode::publish' + varName + '(' +
type + '& ' + varName + ') {\n')
rosStr.append('\t' + varName + 'Pub.publish(' + varName +
');\n')
rosStr.append('}\n\n')
for state in self.getAllStates():
returnTypes, funcNames, codes = CPPParser.parseFunctions(
state.getFunctions())
for i in range(len(returnTypes)):
rosStr.append(returnTypes[i] + ' RosNode::' + funcNames[i] +
'\n')
rosStr.append(codes[i])
rosStr.append('\n\n')
def generateRosNodeClass(self, classStr, config):
classStr.append('class RosNode {\n')
classStr.append('private:\n')
classStr.append('\tros::NodeHandle nh;\n')
classStr.append('\tros::Rate rate;\n')
classStr.append('\tpthread_t thread;\n\n')
for topic in config.getTopics():
varName = topic['name'].replace('/', '_')
if varName[0] == '_':
varName = varName[1:]
if topic['opType'] == 'Publish':
classStr.append('\tros::Publisher ' + varName + 'Pub;\n')
elif topic['opType'] == 'Subscribe':
classStr.append('\tros::Subscriber ' + varName + 'Sub;\n')
type = topic['type']
types = type.split('/')
if len(types) == 2:
classStr.append('\t' + types[0] + '::' + types[1] +
' last' + varName + ';\n')
classStr.append('\t void ' + varName + 'Callback(const ' +
types[0] + '::' + types[1] + '& ' +
varName + ');\n')
else:
classStr.append('\t' + type + ' last' + varName + ';\n')
classStr.append('\t void ' + varName + 'Callback(const ' +
type + '& ' + varName + ');\n')
classStr.append('\n\n')
classStr.append('public:\n')
classStr.append('\tRosNode(int nodeRate);\n')
classStr.append('\tvoid startThread();\n')
classStr.append('\tstatic void* threadRunner(void*);\n')
classStr.append('\tvoid run();\n')
classStr.append('\tvoid join();\n\n')
for topic in config.getTopics():
varName = topic['name'].replace('/', '_')
if varName[0] == '_':
varName = varName[1:]
if topic['opType'] == 'Subscribe':
type = topic['type']
types = type.split('/')
if len(types) == 2:
classStr.append('\t' + types[0] + '::' + types[1] +
'& get' + varName + '();\n')
else:
classStr.append('\t' + type + ' get' + varName + '();\n')
elif topic['opType'] == 'Publish':
type = topic['type']
types = type.split('/')
if len(types) == 2:
classStr.append('\tvoid publish' + varName + '(' +
types[0] + '::' + types[1] + '& ' +
varName + ');\n')
else:
classStr.append('\tvoid publish' + varName + '(' + type +
'& ' + varName + ');\n')
classStr.append('\n')
for state in self.getAllStates():
# define variables
types, varNames, initialValues = CPPParser.parseVariables(
state.getVariables())
for i in range(len(types)):
classStr.append('\t' + types[i] + ' ' + varNames[i] + ';\n')
classStr.append('\n')
returnTypes, funcNames, codes = CPPParser.parseFunctions(
state.getFunctions())
for i in range(len(returnTypes)):
classStr.append('\t' + returnTypes[i] + ' ' + funcNames[i] +
';\n')
classStr.append('};\n\n')
def generateRosMethods(self, rosStr, config):
rosStr.append('RosNode::RosNode(int nodeRate):rate(nodeRate) {\n')
for topic in config.getTopics():
varName = topic['name'].replace('/', '_')
if varName[0] == '_':
varName = varName[1:]
type = topic['type']
types = type.split('/')
if topic['opType'] == 'Publish':
if len(types) == 2:
rosStr.append('\t' + varName + 'Pub = nh.advertise<' + types[0] + '::' + types[1] + '>("' + topic['name'] + '", 10);\n')
else:
rosStr.append('\t' + varName + 'Pub = nh.advertise<' + type + '>("' + topic[
'name'] + '", 10);\n')
elif topic['opType'] == 'Subscribe':
rosStr.append('\t' + varName + 'Sub = nh.subscribe("' + topic['name'] + '", 10, &RosNode::'+varName+'Callback, this);\n')
# set inital values of variables
for state in self.getAllStates():
types, varNames, initialValues = CPPParser.parseVariables(state.getVariables())
for i in range(len(types)):
if initialValues[i] is not None:
rosStr.append('\t' + varNames[i] + ' = ' + initialValues[i] + ';\n')
rosStr.append('}\n\n')
rosStr.append('void* RosNode::threadRunner(void* owner) {\n')
rosStr.append('\t((RosNode*)owner)->run();\n')
rosStr.append('}\n\n')
rosStr.append('void RosNode::startThread() {\n')
rosStr.append('\tpthread_create(&thread, NULL, &RosNode::threadRunner, this);\n')
rosStr.append('}\n\n')
rosStr.append('void RosNode::run() {\n')
rosStr.append('\twhile(nh.ok()) {\n')
rosStr.append('\t\tros::spinOnce();\n')
rosStr.append('\t\trate.sleep();\n')
rosStr.append('\t}\n')
rosStr.append('}\n\n')
rosStr.append('void RosNode::join() {\n')
rosStr.append('\tpthread_join(thread, NULL);\n')
rosStr.append('}\n\n')
for topic in config.getTopics():
varName = topic['name'].replace('/', '_')
if varName[0] == '_':
varName = varName[1:]
if topic['opType'] == 'Subscribe':
type = topic['type']
types = type.split('/')
if len(types) == 2:
rosStr.append('void RosNode::' + varName + 'Callback(const ' + types[0] + '::' + types[1] + '& ' + varName + ') {\n')
else:
rosStr.append('void RosNode::' + varName + 'Callback(const ' + type + '& ' + varName + ') {\n')
rosStr.append('\tlast' + varName + ' = ' + varName + ';\n')
rosStr.append('}\n\n')
if len(types) == 2:
rosStr.append(types[0] + '::' + types[1] + '& RosNode::get' + varName + '() {\n')
else:
rosStr.append(type + '& RosNode::get' + varName + '() {\n')
rosStr.append('\treturn last' + varName + ';\n')
rosStr.append('}\n\n')
elif topic['opType'] == 'Publish':
type = topic['type']
types = type.split('/')
if len(types) == 2:
rosStr.append('void RosNode::publish' + varName + '(' + types[0] + '::' + types[
1] + '& ' + varName + ') {\n')
else:
rosStr.append('void RosNode::publish' + varName + '(' + type + '& ' + varName + ') {\n')
rosStr.append('\t' + varName + 'Pub.publish(' + varName + ');\n')
rosStr.append('}\n\n')
for state in self.getAllStates():
returnTypes, funcNames, codes = CPPParser.parseFunctions(state.getFunctions())
for i in range(len(returnTypes)):
rosStr.append(returnTypes[i] + ' RosNode::' + funcNames[i] + '\n')
rosStr.append(codes[i])
rosStr.append('\n\n')
def generateRosNodeClass(self, classStr, config):
classStr.append('class RosNode {\n')
classStr.append('private:\n')
classStr.append('\tros::NodeHandle nh;\n')
classStr.append('\tros::Rate rate;\n')
classStr.append('\tpthread_t thread;\n\n')
for topic in config.getTopics():
varName = topic['name'].replace('/', '_')
if varName[0] == '_':
varName = varName[1:]
if topic['opType'] == 'Publish':
classStr.append('\tros::Publisher ' + varName + 'Pub;\n')
elif topic['opType'] == 'Subscribe':
classStr.append('\tros::Subscriber ' + varName + 'Sub;\n')
type = topic['type']
types = type.split('/')
if len(types) == 2:
classStr.append('\t' + types[0] + '::' + types[1] + ' last' + varName + ';\n')
classStr.append('\t void ' + varName + 'Callback(const ' + types[0] + '::' + types[1] + '& ' + varName + ');\n')
else:
classStr.append('\t' + type + ' last' + varName + ';\n')
classStr.append(
'\t void ' + varName + 'Callback(const ' + type + '& ' + varName + ');\n')
classStr.append('\n\n')
classStr.append('public:\n')
classStr.append('\tRosNode(int nodeRate);\n')
classStr.append('\tvoid startThread();\n')
classStr.append('\tstatic void* threadRunner(void*);\n')
classStr.append('\tvoid run();\n')
classStr.append('\tvoid join();\n\n')
for topic in config.getTopics():
varName = topic['name'].replace('/', '_')
if varName[0] == '_':
varName = varName[1:]
if topic['opType'] == 'Subscribe':
type = topic['type']
types = type.split('/')
if len(types) == 2:
classStr.append('\t' + types[0] + '::' + types[1] + '& get' + varName + '();\n')
else:
classStr.append('\t' + type + ' get' + varName + '();\n')
elif topic['opType'] == 'Publish':
type = topic['type']
types = type.split('/')
if len(types) == 2:
classStr.append('\tvoid publish' + varName + '(' + types[0] + '::' + types[1] + '& ' + varName + ');\n')
else:
classStr.append('\tvoid publish' + varName + '(' + type + '& ' + varName + ');\n')
classStr.append('\n')
for state in self.getAllStates():
# define variables
types, varNames, initialValues = CPPParser.parseVariables(state.getVariables())
for i in range(len(types)):
classStr.append('\t' + types[i] + ' ' + varNames[i] + ';\n')
classStr.append('\n')
returnTypes, funcNames, codes = CPPParser.parseFunctions(state.getFunctions())
for i in range(len(returnTypes)):
classStr.append('\t' + returnTypes[i] + ' ' + funcNames[i] + ';\n')
classStr.append('};\n\n')