Add ROS 2 code generator plugin

plugins/de.fraunhofer.ipa.ros.feature/feature.xml

@@ -197,4 +197,11 @@ POSSIBILITY OF SUCH DAMAGE.
          version="3.0.0.qualifier"
          unpack="false"/>
 
+   <plugin
+         id="de.fraunhofer.ipa.roscode.generator"
+         download-size="0"
+         install-size="0"
+         version="3.0.0.qualifier"
+         unpack="false"/>
+
 </feature>

plugins/de.fraunhofer.ipa.ros.parent/pom.xml

@@ -30,9 +30,9 @@
         <module>../de.fraunhofer.ipa.ros2.xtext.ui</module>
         <module>../de.fraunhofer.ipa.ros.edit</module>
         <module>../de.fraunhofer.ipa.ros.editor</module>
+        <module>../de.fraunhofer.ipa.roscode.generator</module>
         <!--module>../de.fraunhofer.ipa.rossystem.model.combination</module-->
         <!--module>../de.fraunhofer.ipa.ros.model.spec.check</module-->
-        <!--module>../de.fraunhofer.ipa.roscode.generator</module-->
         <!--module>../de.fraunhofer.ipa.ros.observer.generator</module-->
         <!--module>../de.fraunhofer.ipa.ros.xtext.tests</module-->
 

plugins/de.fraunhofer.ipa.roscode.generator/.classpath

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+	<classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="src" path="xtend-gen"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>

plugins/de.fraunhofer.ipa.roscode.generator/.project

@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>de.fraunhofer.ipa.roscode.generator</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.xtext.ui.shared.xtextBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.pde.ManifestBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.pde.SchemaBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.xtext.ui.shared.xtextNature</nature>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>org.eclipse.pde.PluginNature</nature>
+	</natures>
+</projectDescription>

plugins/de.fraunhofer.ipa.roscode.generator/.settings/org.eclipse.core.resources.prefs

@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+encoding/<project>=UTF-8

plugins/de.fraunhofer.ipa.roscode.generator/.settings/org.eclipse.jdt.core.prefs

@@ -0,0 +1,7 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
+org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
+org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
+org.eclipse.jdt.core.compiler.source=19

plugins/de.fraunhofer.ipa.roscode.generator/META-INF/MANIFEST.MF

@@ -0,0 +1,24 @@
+Manifest-Version: 1.0
+Bundle-ManifestVersion: 2
+Bundle-Name: %pluginName
+Bundle-SymbolicName: de.fraunhofer.ipa.roscode.generator;singleton:=true
+Bundle-Version: 3.0.0.qualifier
+Bundle-Vendor: %providerName
+Export-Package: de.fraunhofer.ipa.roscode.generator
+Bundle-RequiredExecutionEnvironment: JavaSE-19
+Import-Package: javax.inject;version="1.0.0",
+ org.eclipse.ui.handlers,
+ org.eclipse.xtext.ui.resource
+Bundle-ActivationPolicy: lazy
+Bundle-Activator: de.fraunhofer.ipa.roscode.generator.Activator
+Require-Bundle: org.eclipse.xtext.builder,
+ org.eclipse.xtext.ui,
+ de.fraunhofer.ipa.ros2.xtext;bundle-version="3.0.0",
+ de.fraunhofer.ipa.ros2.xtext.ide;bundle-version="3.0.0",
+ de.fraunhofer.ipa.ros2.xtext.ui;bundle-version="3.0.0",
+ de.fraunhofer.ipa.ros.xtext;bundle-version="3.0.0",
+ de.fraunhofer.ipa.ros.xtext.ide;bundle-version="3.0.0",
+ de.fraunhofer.ipa.ros.xtext.ui;bundle-version="3.0.0",
+ de.fraunhofer.ipa.ros;bundle-version="3.0.0",
+ de.fraunhofer.ipa.ros.edit;bundle-version="3.0.0",
+ de.fraunhofer.ipa.ros.editor;bundle-version="3.0.0"

plugins/de.fraunhofer.ipa.roscode.generator/build.properties

@@ -0,0 +1,17 @@
+source.. = src/,\
+           xtend-gen/
+bin.includes = .,\
+               META-INF/,\
+               plugin.xml
+bin.excludes = **/*.mwe2,\
+               **/*.xtend
+additional.bundles = org.eclipse.xtext.xbase,\
+                     org.eclipse.xtext.common.types,\
+                     org.eclipse.xtext.xtext.generator,\
+                     org.eclipse.emf.codegen.ecore,\
+                     org.eclipse.emf.mwe.utils,\
+                     org.eclipse.emf.mwe2.lib,\
+                     org.objectweb.asm,\
+                     org.apache.commons.logging,\
+                     org.apache.log4j,\
+                     com.ibm.icu

plugins/de.fraunhofer.ipa.roscode.generator/plugin.xml

@@ -0,0 +1,144 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<?eclipse version="3.4"?>
+<plugin>
+<!--	<extension
+        point="org.eclipse.ui.handlers">
+        <handler
+              class="de.fraunhofer.ipa.roscode.generator.RosCodeGeneratorExecutableExtensionFactory:de.fraunhofer.ipa.roscode.generator.GenerationHandler"
+              commandId="de.fraunhofer.ipa.roscode.generator.command">
+     	</handler>
+    </extension>
+ 
+    <extension
+         point="org.eclipse.ui.commands">
+      <command
+            id="de.fraunhofer.ipa.roscode.generator.command"
+            name="Generate ROS code">
+      </command>
+   </extension>
+   <extension
+         point="org.eclipse.ui.menus">
+      <menuContribution
+             allPopups="false"
+             locationURI="popup:org.eclipse.ui.popup.any?after=additions">
+      <command
+               commandId="de.fraunhofer.ipa.roscode.generator.command"
+               >
+             <visibleWhen
+                   checkEnabled="false">
+                <and>
+                   <with
+                         variable="selection">
+                      <count
+                            value="1">
+                      </count>
+                   </with>
+                   <iterate
+                         ifEmpty="false">
+                           <test
+                                 property="org.eclipse.core.resources.extension"
+                                 value="ros">
+                           </test>
+                   </iterate>
+                </and>
+             </visibleWhen>
+         </command>
+      </menuContribution>
+   </extension>-->
+
+
+    <!-- ROS2 cpp code generator for nodes -->
+
+	<extension
+        point="org.eclipse.ui.handlers">
+        <handler
+              class="de.fraunhofer.ipa.roscode.generator.RosCodeGeneratorExecutableExtensionFactory:de.fraunhofer.ipa.roscode.generator.GenerationRos2CppHandler"
+              commandId="de.fraunhofer.ipa.ros2cppcode.generator.command">
+     	</handler>
+    </extension>
+
+    <extension
+         point="org.eclipse.ui.commands">
+      <command
+            id="de.fraunhofer.ipa.ros2cppcode.generator.command"
+            name="Generate ROS 2 Cpp code">
+      </command>
+   </extension>
+   <extension
+         point="org.eclipse.ui.menus">
+      <menuContribution
+             allPopups="false"
+             locationURI="popup:org.eclipse.ui.popup.any?after=additions">
+      <command
+               commandId="de.fraunhofer.ipa.ros2cppcode.generator.command"
+               >
+             <visibleWhen
+                   checkEnabled="false">
+                <and>
+                   <with
+                         variable="selection">
+                      <count
+                            value="1">
+                      </count>
+                   </with>
+                   <iterate
+                         ifEmpty="false">
+                           <test
+                                 property="org.eclipse.core.resources.extension"
+                                 value="ros2">
+                           </test>
+                   </iterate>
+                </and>
+             </visibleWhen>
+         </command>
+      </menuContribution>
+   </extension>
+
+
+       <!-- ROS2 python code generator for nodes -->
+    <extension
+        point="org.eclipse.ui.handlers">
+        <handler
+              class="de.fraunhofer.ipa.roscode.generator.RosCodeGeneratorExecutableExtensionFactory:de.fraunhofer.ipa.roscode.generator.GenerationRos2PythonHandler"
+              commandId="de.fraunhofer.ipa.ros2pythoncode.generator.command">
+        </handler>
+    </extension>
+
+    <extension
+         point="org.eclipse.ui.commands">
+      <command
+            id="de.fraunhofer.ipa.ros2pythoncode.generator.command"
+            name="Generate ROS 2 Python code">
+      </command>
+   </extension>
+   <extension
+         point="org.eclipse.ui.menus">
+      <menuContribution
+             allPopups="false"
+             locationURI="popup:org.eclipse.ui.popup.any?after=additions">
+      <command
+               commandId="de.fraunhofer.ipa.ros2pythoncode.generator.command"
+               >
+             <visibleWhen
+                   checkEnabled="false">
+                <and>
+                   <with
+                         variable="selection">
+                      <count
+                            value="1">
+                      </count>
+                   </with>
+                   <iterate
+                         ifEmpty="false">
+                           <test
+                                 property="org.eclipse.core.resources.extension"
+                                 value="ros2">
+                           </test>
+                   </iterate>
+                </and>
+             </visibleWhen>
+         </command>
+      </menuContribution>
+   </extension>
+
+</plugin>

plugins/de.fraunhofer.ipa.roscode.generator/pom.xml

@@ -0,0 +1,31 @@
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <modelVersion>4.0.0</modelVersion>
+    <parent>
+        <groupId>de.fraunhofer.ipa.ros</groupId>
+        <artifactId>de.fraunhofer.ipa.ros.parent</artifactId>
+        <version>3.0.0-SNAPSHOT</version>
+        <relativePath>../de.fraunhofer.ipa.ros.parent/pom.xml</relativePath>
+    </parent>
+    <artifactId>de.fraunhofer.ipa.roscode.generator</artifactId>
+    <packaging>eclipse-plugin</packaging>
+
+    <build>
+		<plugins>
+			<plugin>
+				<groupId>org.eclipse.xtend</groupId>
+				<artifactId>xtend-maven-plugin</artifactId>
+			</plugin>
+			<plugin>
+				<groupId>org.apache.maven.plugins</groupId>
+				<artifactId>maven-clean-plugin</artifactId>
+				<executions>
+					<execution>
+						<id>xtend-gen-clean</id>
+						<phase>clean</phase>
+					</execution>
+				</executions>
+			</plugin>
+		</plugins>
+	</build>
+</project>

plugins/de.fraunhofer.ipa.roscode.generator/src/de/fraunhofer/ipa/roscode/generator/Activator.java

@@ -0,0 +1,7 @@
+package de.fraunhofer.ipa.roscode.generator;
+
+import de.fraunhofer.ipa.ros2.xtext.ui.internal.XtextActivator;
+
+public class Activator extends XtextActivator {
+
+}

plugins/de.fraunhofer.ipa.roscode.generator/src/de/fraunhofer/ipa/roscode/generator/GenerationHandler.java

@@ -0,0 +1,82 @@
+package de.fraunhofer.ipa.roscode.generator;
+
+import java.util.HashMap;
+import java.util.Map;
+
+import org.eclipse.core.commands.AbstractHandler;
+import org.eclipse.core.commands.ExecutionEvent;
+import org.eclipse.core.commands.ExecutionException;
+import org.eclipse.core.commands.IHandler;
+import org.eclipse.core.resources.IFile;
+import org.eclipse.core.resources.IProject;
+import org.eclipse.core.runtime.NullProgressMonitor;
+import org.eclipse.emf.common.util.URI;
+import org.eclipse.emf.ecore.resource.Resource;
+import org.eclipse.emf.ecore.resource.ResourceSet;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.jface.viewers.IStructuredSelection;
+import org.eclipse.ui.handlers.HandlerUtil;
+import org.eclipse.xtext.builder.EclipseResourceFileSystemAccess2;
+import org.eclipse.xtext.generator.GeneratorContext;
+import org.eclipse.xtext.generator.IOutputConfigurationProvider;
+import org.eclipse.xtext.generator.OutputConfiguration;
+import org.eclipse.xtext.resource.IResourceDescriptions;
+import org.eclipse.xtext.ui.resource.IResourceSetProvider;
+
+import com.google.inject.Inject;
+import com.google.inject.Provider;
+
+import de.fraunhofer.ipa.roscode.generator.RosCodeGenerator;;
+
+public class GenerationHandler extends AbstractHandler implements IHandler {
+
+	  @Inject
+	  private Provider<EclipseResourceFileSystemAccess2> fileAccessProvider;
+
+	  @Inject
+	  IResourceDescriptions resourceDescriptions;
+
+	  @Inject
+	  IResourceSetProvider resourceSetProvider;
+
+	static Map<String, OutputConfiguration> getOutputConfigurationsAsMap(IOutputConfigurationProvider provider) {
+		Map<String, OutputConfiguration> outputs = new HashMap<String, OutputConfiguration>();
+		for(OutputConfiguration c: provider.getOutputConfigurations()) {
+			outputs.put(c.getName(), c);
+		}
+		return outputs;
+	}
+
+	  @Override
+	  public Object execute(ExecutionEvent event) throws ExecutionException {
+
+	    ISelection selection = HandlerUtil.getCurrentSelection(event);
+	    if (selection instanceof IStructuredSelection) {
+	      IStructuredSelection structuredSelection = (IStructuredSelection) selection;
+	      Object firstElement = structuredSelection.getFirstElement();
+	      if (firstElement instanceof IFile) {
+	        IFile file = (IFile) firstElement;
+	        IProject project = file.getProject();
+
+	        final EclipseResourceFileSystemAccess2 fsa = fileAccessProvider.get();
+	        fsa.setProject(project);
+	        fsa.setOutputConfigurations(getOutputConfigurationsAsMap(new CustomOutputProvider()));
+            fsa.setMonitor(new NullProgressMonitor()); 
+
+	        URI uri = URI.createPlatformResourceURI(file.getFullPath().toString(), true);
+	        ResourceSet rs = resourceSetProvider.get(project);
+	        Resource r = rs.getResource(uri, true);
+
+	        RosCodeGenerator generator = new RosCodeGenerator();
+			generator.doGenerate(r, fsa, new GeneratorContext());
+
+	      }
+	    }
+	    return null;
+	  }
+
+	  @Override
+	  public boolean isEnabled() {
+	    return true;
+	  }
+	}