Add the parameters to the README code generator for ROS2 systems

ipa320 · Feb 29, 2024 · b2cbe8d · b2cbe8d
1 parent c8760bd
commit b2cbe8d
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Showing 3 changed files with 60 additions and 49 deletions.
diff --git a/...ofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend b/...ofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend
@@ -22,6 +22,14 @@ import system.RosNode
 import ros.impl.AmentPackageImpl
 import system.impl.RosNodeImpl
 import system.SubSystem
+import ros.ParameterValue
+import ros.impl.ParameterSequenceImpl
+import ros.impl.ParameterStructMemberImpl
+import ros.impl.ParameterStructImpl
+import ros.impl.ParameterStringImpl
+import ros.impl.ParameterIntegerImpl
+import ros.impl.ParameterDoubleImpl
+import ros.impl.ParameterBooleanImpl
 
 class GeneratorHelpers {
 
@@ -110,6 +118,55 @@ class GeneratorHelpers {
 	   return PkgsList;
 	}
 
+    def String compile_struct_str(ParameterValue value, String name) {
+        var param_str = "";
+        var elem_count = (value as ParameterSequenceImpl).eContents.length;
+
+        for (elem : ((value as ParameterSequenceImpl).eContents)) {
+            var member = ((elem as ParameterStructImpl).eContents.get(0) as ParameterStructMemberImpl);
+            val param_val = get_param_value(member.getValue(), name + "/" + member.getName());
+            if (param_val.startsWith("{")) {
+                param_str += param_val;
+            } else {
+                param_str += "{ \"" + name + "/" + member.getName() + "\" : " + param_val;
+            }
+            elem_count--;
+            if (elem_count > 0){
+                param_str +=" },\n"
+            }
+        }
+        return param_str;
+    }
+
+    def String get_param_value(ParameterValue value, String name) {
+        var param_val = "";
+        if (value instanceof ParameterStringImpl) {
+            param_val = (value as ParameterStringImpl).getValue();
+        } else if (value instanceof ParameterIntegerImpl) {
+            param_val = (value as ParameterIntegerImpl).getValue().toString;
+        } else if (value instanceof ParameterDoubleImpl) {
+            param_val = (value as ParameterDoubleImpl).getValue().toString;
+        } else if (value instanceof ParameterBooleanImpl) {
+            param_val = (value as ParameterBooleanImpl).isValue().toString;
+        } else if (value instanceof ParameterSequenceImpl) {
+            var elem_count = (value as ParameterSequenceImpl).eContents.length;
+            if ((value as ParameterSequenceImpl).eContents.get(0) instanceof ParameterStructImpl) {
+                param_val = compile_struct_str(value, name);
+            } else {
+                param_val += "[";
+                for (elem : (value as ParameterSequenceImpl).eContents) {
+                    param_val += get_param_value(elem as ParameterValue, name);
+                    elem_count--;
+                    if (elem_count > 0){
+                        param_val +=", "
+                    }
+                }
+                param_val += "]";
+            }
+        }
+        return param_val;
+     }
+
 	def compile_pkg(RosNode component)
 '''«IF !(component.from===null)»«component.from.getPackage_node.name»«ENDIF»'''
 

diff --git a/...a.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend b/...a.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend
@@ -268,52 +268,5 @@ def generate_launch_description():
 //        return param_str;
 //    }
 //
-    def String compile_struct_str(ParameterValue value, String name) {
-        var param_str = "";
-        var elem_count = (value as ParameterSequenceImpl).eContents.length;
 
-        for (elem : ((value as ParameterSequenceImpl).eContents)) {
-            var member = ((elem as ParameterStructImpl).eContents.get(0) as ParameterStructMemberImpl);
-            val param_val = get_param_value(member.getValue(), name + "/" + member.getName());
-            if (param_val.startsWith("{")) {
-                param_str += param_val;
-            } else {
-                param_str += "{ \"" + name + "/" + member.getName() + "\" : " + param_val;
-            }
-            elem_count--;
-            if (elem_count > 0){
-                param_str +=" },\n"
-            }
-        }
-        return param_str;
-    }
-
-    def String get_param_value(ParameterValue value, String name) {
-        var param_val = "";
-        if (value instanceof ParameterStringImpl) {
-            param_val = (value as ParameterStringImpl).getValue();
-        } else if (value instanceof ParameterIntegerImpl) {
-            param_val = (value as ParameterIntegerImpl).getValue().toString;
-        } else if (value instanceof ParameterDoubleImpl) {
-            param_val = (value as ParameterDoubleImpl).getValue().toString;
-        } else if (value instanceof ParameterBooleanImpl) {
-            param_val = (value as ParameterBooleanImpl).isValue().toString;
-        } else if (value instanceof ParameterSequenceImpl) {
-            var elem_count = (value as ParameterSequenceImpl).eContents.length;
-            if ((value as ParameterSequenceImpl).eContents.get(0) instanceof ParameterStructImpl) {
-                param_val = compile_struct_str(value, name);
-            } else {
-                param_val += "[";
-                for (elem : (value as ParameterSequenceImpl).eContents) {
-                    param_val += get_param_value(elem as ParameterValue, name);
-                    elem_count--;
-                    if (elem_count > 0){
-                        param_val +=", "
-                    }
-                }
-                param_val += "]";
-            }
-        }
-        return param_val;
-     }
 }
diff --git a/...nhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/READMECompiler.xtend b/...nhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/READMECompiler.xtend
@@ -85,7 +85,7 @@ source install/setup.bash
 To execute the launch file, the following command can be called:
 
 ```
-ros2 launch «system.name» «system.name».launch.py
+ros2 launch «system.name» «system.name».launch.py «FOR param:system.parameter»«param.name»:=«get_param_value(param.value,param.name)» «ENDFOR»
 ```
 
 The generated launch files requires the xterm package, it can be installed by:
@@ -98,7 +98,7 @@ sudo apt install xterm
 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)»
+ros2 launch «system.fromFile.split("/",2).get(0)» «system.fromFile.substring(system.fromFile.lastIndexOf('/') + 1)» «FOR param:system.parameter»«param.name»:=«get_param_value(param.value,param.name)» «ENDFOR»
 ```
 «ENDIF»
 
@@ -142,6 +142,7 @@ ros2 launch «system.fromFile.split("/",2).get(0)» «system.fromFile.substring(
              return "- ActionClient: "+ port.name+" ["+(port.reference as RosActionClientReferenceImpl).basicGetFrom.action.fullname+"]"
          }
      }
+
     }