update the python API to support the new models format

resources/cob_light.ros

@@ -1,18 +1,18 @@
-PackageSet { package { 
-  CatkinPackage cob_light { artifact {
+PackageSet {
+  CatkinPackage cob_light {
     Artifact cob_light {
-      node Node { name cob_light
-        serviceserver {
+      Node { name cob_light
+        ServiceServers {
           ServiceServer { name 'set_light' service 'cob_light.SetLightMode'},
           ServiceServer { name 'stop_mode' service 'cob_light.StopLightMode'}}
-        publisher {
+        Publishers {
           Publisher { name '/diagnostics' message 'diagnostic_msgs.DiagnosticArray'},
           Publisher { name 'marker' message 'visualization_msgs.Marker'},
           Publisher { name 'debug' message 'std_msgs.ColorRGBA'},
           Publisher { name 'debugMulti' message 'cob_light.ColorRGBAArray'}}
-        subscriber {
+        Subscribers {
           Subscriber { name '/scan_unified' message 'sensor_msgs.LaserScan'},
           Subscriber { name 'command' message 'cob_light.ColorRGBAArray'}}
-        actionserver {
+        ActionServers {
           ActionServer { name 'set_light' action 'cob_light.SetLightModeAct'}}
-}}}}}}
+}}}}

resources/robotino.rossystem

@@ -35,4 +35,4 @@ RosSystem { Name 'robotino'
                 RosPublisher 'hokuyo/parameter_updates' { RefPublisher 'hokuyo_node.hokuyo_node.hokuyo_node.hokuyo/parameter_updates'}}
             RosSrvClients{
                 RosServiceClient 'hokuyo/set_parameters' { RefClient 'hokuyo_node.hokuyo_node.hokuyo_node.hokuyo/set_parameters'},
-                RosServiceClient 'hokuyo/self_test' { RefClient 'hokuyo_node.hokuyo_node.hokuyo_node.hokuyo/self_test'}}} , ComponentInterface { name joy2 RosPublishers { RosPublisher joy { RefPublisher "joy.joy_node.joy_node.joy" } , RosPublisher diagnostics { RefPublisher "joy.joy_node.joy_node.diagnostics" } } } ) TopicConnections { TopicConnection joint_states { From ( "robotino_base.joint_states" ) To ( "robot_state_publisher.joint_states" ) } } }
+                RosServiceClient 'hokuyo/self_test' { RefClient 'hokuyo_node.hokuyo_node.hokuyo_node.hokuyo/self_test'}}} , ComponentInterface { name joy2 RosPublishers { RosPublisher joy { RefPublisher "joy.joy_node.joy_node.joy" } , RosPublisher diagnostics { RefPublisher "joy.joy_node.joy_node.diagnostics" } } } ) TopicConnections { TopicConnection joint_states { From ( "robotino_base.joint_states" ) To ( "robot_state_publisher.joint_states" ) } } }

scripts/generators/ros_system_model_generator_from_rosparamyaml_example.py

@@ -20,12 +20,15 @@
 
 import rospy
 import yaml
+import os, rospkg
 
 
 def ros_system_model_generator_test():
     ros_system_model = RosSystemModelGenerator()
     ros_system_model.setSystemName("test_system")
-    for key, value in yaml.load(open('../resources/rosparam_example.yaml')).iteritems():
+    rospack = rospkg.RosPack()
+    file_path=rospack.get_path("ros_model_parser")+'/resources/rosparam_example.yaml'
+    for key, value in yaml.load(open(os.path.join(file_path))).iteritems():
         ros_system_model.addParameter(key,value)
     ros_system_model.dump_java_ros_system_model("/tmp/test.rossystem")
 

src/ros_model_generator/rosmodel_generator.py

@@ -57,12 +57,12 @@ def dump_java_ros_model(self, ros_model_file):
       outfile.write(ros_model_str)
 
   def create_ros_model(self):
-    ros_model_str = "PackageSet { package { \n"
+    ros_model_str = "PackageSet {\n"
     ros_model_str += "  CatkinPackage "+self.package_name + " { "
-    ros_model_str += "artifact {\n"
+    ros_model_str += "\n"
     ros_model_str += self.node.dump_java_ros_model()
     ros_model_str = ros_model_str[:-2]
-    ros_model_str += "\n}}}}"
+    ros_model_str += "\n}}"
     return True, ros_model_str
 
 

src/ros_model_parser/rosmodel_parser.py

@@ -66,11 +66,11 @@ def __init__(self, model, isFile=True):
             lambda tokens: float(tokens[0])) | string_value | Keyword("false") | Keyword("true") | listStr | mapStr
 
         _packageSet = Keyword("PackageSet").suppress()
-        _package = Keyword("package").suppress()
+        #_package = Keyword("package").suppress()
         _catkin_pkg = Keyword("CatkinPackage").suppress()
-        _artifact = Keyword("artifact").suppress()
+        #_artifact = Keyword("artifact").suppress()
         _artifacts = Keyword("Artifact").suppress()
-        _node = Keyword("node").suppress()
+        #_node = Keyword("node").suppress()
         _nodes = Keyword("Node").suppress()
         _name = CaselessKeyword("name").suppress()
 
@@ -79,36 +79,33 @@ def __init__(self, model, isFile=True):
         _topic_type= Keyword("message").suppress()
 
         # Service Server
-        _service_svrs= Keyword("serviceserver").suppress()
+        _service_svrs= Keyword("ServiceServers").suppress()
         _service_svr= Keyword("ServiceServer").suppress()
         service_svr = Group( _service_svr + OCB + _name + name("name") + _srv_type + name("type") + CCB)
         service_svrs = (_service_svrs + OCB + OneOrMore(service_svr + Optional(",").suppress()) + CCB)
 
         # Service Client
-        _service_clis= Keyword("serviceclient").suppress()
+        _service_clis= Keyword("ServiceClients").suppress()
         _service_cli= Keyword("ServiceClient").suppress()
         service_cli = Group( _service_cli + OCB + _name + name("name") + _srv_type + name("type") + CCB)
         service_clis = (_service_clis + OCB + OneOrMore(service_cli + Optional(",").suppress()) + CCB)
 
         # Publisher
-        _pubs= Keyword("publisher").suppress()
+        _pubs= Keyword("Publishers").suppress()
         _pub= Keyword("Publisher").suppress()
         pub = Group( _pub + OCB + _name + name("name") + _topic_type + name("type") + CCB)
         pubs = (_pubs + OCB + OneOrMore(pub + Optional(",").suppress()) + CCB)
 
-		# Subscriber
-        _subs= Keyword("subscriber").suppress()
+        # Subscriber
+        _subs= Keyword("Subscribers").suppress()
         _sub= Keyword("Subscriber").suppress()
         sub = Group( _sub + OCB + _name + name("name") + _topic_type + name("type") + CCB)
         subs = (_subs + OCB + OneOrMore(sub + Optional(",").suppress()) + CCB)
 
         self.rospkg_grammar = _packageSet + \
             OCB + \
-            _package + OCB + \
             _catkin_pkg + name("pkg_name") + OCB + \
-            _artifact + OCB + \
             _artifacts + name("artifact_name") + OCB + \
-            _node + \
             _nodes + OCB + _name + name("node_name") + \
             Optional(service_svrs)("svr_servers") + \
             Optional(pubs)("publishers") + \

src/ros_model_parser/rossystem_parser.py

@@ -39,17 +39,20 @@ def parseActionDict(string, location, tokens):
 
 class RosSystemModelParser(object):
     def __init__(self, model, isFile=True):
-        # OCB = Open Curly Bracket {}
+        # OCB = Open Curly Bracket {
         # CCB = Close Curly Bracket }
         # ORB = Open Round Bracket (
         # CRB = Close Round Bracket )
         # SQ = Single Quotes '
+        # DQ = Double Quotes "
         # OSB = Open Square Bracket [
         # CSB = Close Square Bracket ]
 
-        OCB, CCB, ORB, CRB, SQ, OSB, CSB = map(Suppress, "{}()'[]")
-        name = Optional(SQ) + Word(printables,
-                                   excludeChars="{},'") + Optional(SQ)
+
+        OCB, CCB, ORB, CRB, SQ, DQ, OSB, CSB = map(Suppress, "{}()'\"[]")
+
+        name = Optional(SQ) + Optional(DQ) + Word(printables,
+                                   excludeChars="{},'") + Optional(SQ) + Optional(DQ)
 
         real = Combine(Word(nums) + '.' + Word(nums))
 
@@ -118,6 +121,7 @@ def __init__(self, model, isFile=True):
         _g_parameters = Keyword("Parameters").suppress()
         _g_parameter = Keyword("Parameter").suppress()
         _type = Keyword("type").suppress()
+        _value = Keyword("value").suppress()
 
         listStr << delimitedList(Group(OCB + delimitedList(values) + CCB))
         mapStr << (OSB + delimitedList(Group(OCB + delimitedList((Group(
@@ -127,7 +131,7 @@ def __init__(self, model, isFile=True):
         param_value << _value + (values | listStr)
 
         parameter = Group(_parameter + name("param_name") +
-                          OCB + _ref_parameter + name("param_path") + param_value("param_value") + CCB)
+                          OCB + _ref_parameter + name("param_path") + Optional(param_value("param_value")) + CCB)
         parameters = (_parameters + OCB +
                       OneOrMore(parameter + Optional(",").suppress()) + CCB)
 
@@ -169,7 +173,7 @@ def __init__(self, model, isFile=True):
                              OneOrMore(topic_connection + Optional(",").suppress()) + CCB)
 
         g_parameter = Group(_g_parameter + OCB + _name + name("param_name") +
-                            _type + name("value_type") + param_value("param_value") + CCB)
+                            _type + name("value_type") + Optional(param_value("param_value")) + CCB)
         g_parameters = (_g_parameters + OCB +
                       OneOrMore(g_parameter + Optional(",").suppress()) + CCB)