READMECompiler.xtend

package de.fraunhofer.ipa.rossystem.generator

import system.RosInterface
import system.RosNode
import system.System
import system.impl.RosActionClientReferenceImpl
import system.impl.RosActionServerReferenceImpl
import system.impl.RosPublisherReferenceImpl
import system.impl.RosServiceClientReferenceImpl
import system.impl.RosServiceServerReferenceImpl
import system.impl.RosSubscriberReferenceImpl
import com.google.inject.Inject
import ros.Parameter

class READMECompiler {

    @Inject extension GeneratorHelpers

        def compile_toREADME(System system) '''
# «system.name»

This package has be created automatically using the [RosTooling](https://github.com/ipa320/RosTooling).


It holds the launch file to run the following nodes:
«FOR node:getRos2Nodes(system)»
«IF !node.namespace.nullOrEmpty»- «GeneratorHelpers.removeLeadingSlash(node.namespace)»_«(node as RosNode).name»«ELSE»
- «(node as RosNode).name»«ENDIF»
«ENDFOR»
«FOR subsystem:system.subsystems»
«FOR node:getRos2Nodes(subsystem)»
«IF !node.namespace.nullOrEmpty»- «GeneratorHelpers.removeLeadingSlash(node.namespace)»_«(node as RosNode).name»«ELSE»
- «(node as RosNode).name»«ENDIF»
«ENDFOR»
«ENDFOR»

«IF(!IsInterfacesEmpty(system))»The listed nodes offer the following connections:
«FOR node:getRos2Nodes(system)»«FOR port:(node as RosNode).rosinterfaces»
«getPortInfo(port)»
«ENDFOR»«ENDFOR»«FOR subsystem:system.subsystems»«FOR node:getRos2Nodes(subsystem)»«FOR port:(node as RosNode).rosinterfaces»
«getPortInfo(port)»
«ENDFOR»«ENDFOR»«ENDFOR»«ENDIF»

## Installation

### Using release

«IF system.fromFile.nullOrEmpty»
This package can be copied to a valid ROS 2 workspace. To be sure that all the related dependencies are installed and the command **rosdep install** can be used.
Then the workspace must be compiled using the common ROS 2 build command:

```
mkdir -p ros2_ws/src
cd ros2_ws/
cp -r PATHtoTHISPackage/«system.name» src/.
rosdep install --from-path src/ -i -y
colcon build
source install/setup.bash
```

«ELSE»
To launch this system there is already an existing package that contains the launch file.

The package can be easily installed with the following command:

```
sudo apt install ros-ROSDISTRO-«system.fromFile.split("/",2).get(0).replace("_","-")»
```

«ENDIF»

«IF !getAllRepos(system).empty»
### From source code
```
mkdir -p ros2_ws/src
cd ros2_ws/
«FOR repo:getAllRepos(system)»git clone «repo»«ENDFOR»
rosdep install --from-path src/ -i -y
colcon build
source install/setup.bash
```
«ENDIF»

## Usage

«IF system.fromFile.nullOrEmpty»

To execute the launch file, the following command can be called:

```
ros2 launch «system.name» «system.name».launch.py «FOR param:system.parameter»«(param as ros.Parameter).name»:=«get_param_value((param as ros.Parameter).value,(param as ros.Parameter).name)» «ENDFOR»
```

The generated launch files requires the xterm package, it can be installed by:

```
sudo apt install xterm
```

«ELSE»
To launch this system there is already an existing package that contains the launch file. It can be started by:

```
ros2 launch «system.fromFile.split("/",2).get(0)» «system.fromFile.substring(system.fromFile.lastIndexOf('/') + 1)» «FOR param:system.parameter»«(param as ros.Parameter).name»:=«get_param_value((param as ros.Parameter).value,(param as ros.Parameter).name)» «ENDFOR»
```
«ENDIF»


     '''

     def IsInterfacesEmpty(System system){
         for(node: getRos2Nodes(system)){
             if (!(node as RosNode).rosinterfaces.empty){
                return false
             }
         }
         for (subsystem: system.subsystems){
           for(node: getRos2Nodes(subsystem)){
             if (!(node as RosNode).rosinterfaces.empty){
                return false
             }
         }
         }

         return true
     }

     def getPortInfo(RosInterface port ){
         if(port.reference.eClass.toString.contains("RosPublisherReference") && (port.reference as RosPublisherReferenceImpl).basicGetFrom.message !== null){
             return "- Publisher: "+ port.name+" ["+(port.reference as RosPublisherReferenceImpl).basicGetFrom.message.fullname+"]"
         }
         if(port.reference.eClass.toString.contains("RosSubscriberReference") && (port.reference as RosSubscriberReferenceImpl).basicGetFrom.message !== null){
             return "- Subscriber: "+ port.name+" ["+(port.reference as RosSubscriberReferenceImpl).basicGetFrom.message.fullname+"]"
         }
         if(port.reference.eClass.toString.contains("RosServiceServerReference") && (port.reference as RosServiceServerReferenceImpl).basicGetFrom.service !== null){
             return "- ServiceServer: "+ port.name+" ["+(port.reference as RosServiceServerReferenceImpl).basicGetFrom.service.fullname+"]"
         }
         if(port.reference.eClass.toString.contains("RosServiceClientReference") && (port.reference as RosServiceClientReferenceImpl).basicGetFrom.service !== null){
             return "- ServiceClient: "+ port.name+" ["+(port.reference as RosServiceClientReferenceImpl).basicGetFrom.service.fullname+"]"
         }
         if(port.reference.eClass.toString.contains("RosActionServerReference") && (port.reference as RosActionServerReferenceImpl).basicGetFrom.action !== null){
             return "- ActionServer: "+ port.name+" ["+(port.reference as RosActionServerReferenceImpl).basicGetFrom.action.fullname+"]"
         }
         if(port.reference.eClass.toString.contains("RosActionClientReference") && (port.reference as RosActionClientReferenceImpl).basicGetFrom.action !== null){
             return "- ActionClient: "+ port.name+" ["+(port.reference as RosActionClientReferenceImpl).basicGetFrom.action.fullname+"]"
         }
     }

    }