def __init__(self, _associated_class):
super().__init__(_associated_class)
self.namespace = self.associated_class.class_name
self.method_name = "errorHandling"
self.return_type = Void(self.associated_class)
# @TODO: Codice provvisorio
self.addTopCode("ROSNode::errorHandling();")
def __init__(self, _associated_class):
super().__init__(_associated_class)
self.namespace = self.associated_class.class_name
self.method_name = "tearDown"
self.return_type = Void(self.associated_class)
self.addTopCode("ROS_INFO(\"Node is shutting down\");")
self.addBottomCode("return;")
def createSourceTextFileFromSourceText(self, source_text, source_name, function_type=Void()):
if source_text is None or source_name is None:
return None
source_text_file = self.associated_class.getSourceFile(source_text)
if source_text_file is None:
source_text_file = SourceTextFile(self.associated_class, source_text)
self.associated_class.addSourceFile(source_text_file)
# Se ho già la funzione presente nel file, non la devo ri-creare
if source_text_file.hasFunctionFromName(source_name):
source_text_function = source_text_file.getFunctionFromName(source_name)
else:
source_text_function = SourceTextFunction(self.associated_class, source_text_file, source_name)
source_text_function.setFunctionType(function_type)
source_text_file.addFunction(source_text_function)
return source_text_function
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, "")
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, ""