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Merged
dhled merged 2 commits into from
Sep 13, 2019
Merged

Ros model syntax #6

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1b2b9e4
Fix the ROS model syntax issues
erogleva Sep 12, 2019
b962fcc
Correct name of the folder where the results are saved
erogleva Sep 12, 2019
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4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -9,7 +9,7 @@ This create a snapshot in a yaml format then finish.
rosrun ros_graph_parser yaml_snaphot -f *file_name.yaml*

Parameter:
* *file_name.yaml*: the name of the file. It will be saved in the resource folder of the ros_graph_parser package (ensure that you have the permission).
* *file_name.yaml*: the name of the file. It will be saved in the "result" folder of the ros_graph_parser package (ensure that you have the permission).

### ROS Node
This is meant to be runned continually. This node provides a service to be used to acquire a YAML dumped format scan of the ROS Graph
Expand All @@ -27,4 +27,4 @@ rosrun ros_graph_parser java_snapshot *ros_model_file* *ros_system_file* *syste
* *system_name*: name of the system (check ros_model syntax)
* *package_name*" name of the package (check ros_model syntax)

All the files will be saved in the resources folder of the ros_graph_parser.
All the files will be saved in the "result" folder of the ros_graph_parser.
30 changes: 15 additions & 15 deletions result/model.ros
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Expand Up @@ -10,20 +10,8 @@ PackageSet { package {
}},
Artifact /gazebo {
node Node { name /gazebo

publisher {
Publisher { name '/iiwa/PositionJointInterface_trajectory_controller/state' message 'control_msgs.JointTrajectoryControllerState'},
Publisher { name '/gazebo/model_states' message 'gazebo_msgs.ModelStates'},
Publisher { name '/gazebo/parameter_updates' message 'dynamic_reconfigure.Config'},
Publisher { name '/iiwa/joint_states' message 'sensor_msgs.JointState'},
Publisher { name '/iiwa/state/CartesianWrench' message 'geometry_msgs.WrenchStamped'},
Publisher { name '/gazebo/link_states' message 'gazebo_msgs.LinkStates'},
Publisher { name '/gazebo/parameter_descriptions' message 'dynamic_reconfigure.ConfigDescription'}}
subscriber {
Subscriber { name '/iiwa/PositionJointInterface_trajectory_controller/command' message 'trajectory_msgs.JointTrajectory'},
Subscriber { name '/gazebo/set_model_state' message 'gazebo_msgs.ModelState'},
Subscriber { name '/gazebo/set_link_state' message 'gazebo_msgs.LinkState'}}
serviceserver {

serviceserver {
ServiceServer { name '/gazebo/get_model_properties' service 'gazebo_msgs.GetModelProperties'},
ServiceServer { name '/gazebo/set_model_configuration' service 'gazebo_msgs.SetModelConfiguration'},
ServiceServer { name '/gazebo/set_light_properties' service 'gazebo_msgs.SetLightProperties'},
Expand Down Expand Up @@ -59,6 +47,18 @@ PackageSet { package {
ServiceServer { name '/gazebo/set_link_properties' service 'gazebo_msgs.SetLinkProperties'},
ServiceServer { name '/gazebo/apply_body_wrench' service 'gazebo_msgs.ApplyBodyWrench'},
ServiceServer { name '/gazebo/reset_world' service 'std_srvs.Empty'}}
publisher {
Publisher { name '/iiwa/PositionJointInterface_trajectory_controller/state' message 'control_msgs.JointTrajectoryControllerState'},
Publisher { name '/gazebo/model_states' message 'gazebo_msgs.ModelStates'},
Publisher { name '/gazebo/parameter_updates' message 'dynamic_reconfigure.Config'},
Publisher { name '/iiwa/joint_states' message 'sensor_msgs.JointState'},
Publisher { name '/iiwa/state/CartesianWrench' message 'geometry_msgs.WrenchStamped'},
Publisher { name '/gazebo/link_states' message 'gazebo_msgs.LinkStates'},
Publisher { name '/gazebo/parameter_descriptions' message 'dynamic_reconfigure.ConfigDescription'}}
subscriber {
Subscriber { name '/iiwa/PositionJointInterface_trajectory_controller/command' message 'trajectory_msgs.JointTrajectory'},
Subscriber { name '/gazebo/set_model_state' message 'gazebo_msgs.ModelState'},
Subscriber { name '/gazebo/set_link_state' message 'gazebo_msgs.LinkState'}}
actionserver {
ActionServer { name '/iiwa/PositionJointInterface_trajectory_controller/follow_joint_trajectory/' action 'control_msgs.FollowJointTrajectory'}}}
}}}
}}}}}
56 changes: 0 additions & 56 deletions result/system.system → result/system.rossystem
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Expand Up @@ -2,17 +2,12 @@ RosSystem { Name 'mysystem'
RosComponents (
ComponentInterface { name '/iiwa/robot_state_publisher'
RosSubscribers {
<<<<<<< 9a784935e345e3598d7bc93ea6a347ac6ffc084a
RosSubscriber '/iiwa/joint_states' {RefSubscriber 'mypackage./iiwa/robot_state_publisher./iiwa/robot_state_publisher./iiwa/joint_states'}}
=======
RosSubscribers '/iiwa/joint_states' {RefSubscriber 'mypackage./iiwa/robot_state_publisher./iiwa/robot_state_publisher./iiwa/joint_states'}}
>>>>>>> fixing java syntax
},
ComponentInterface { name '/iiwa/controller_spawner'
},
ComponentInterface { name '/gazebo'
RosPublishers {
<<<<<<< 9a784935e345e3598d7bc93ea6a347ac6ffc084a
RosPublisher '/gazebo/model_states' {RefPublisher 'mypackage./gazebo./gazebo./gazebo/model_states'},
RosPublisher '/iiwa/joint_states' {RefPublisher 'mypackage./gazebo./gazebo./iiwa/joint_states'},
RosPublisher '/iiwa/state/CartesianWrench' {RefPublisher 'mypackage./gazebo./gazebo./iiwa/state/CartesianWrench'},
Expand Down Expand Up @@ -62,56 +57,5 @@ RosSystem { Name 'mysystem'
RosServiceServer '/gazebo/clear_joint_forces' {RefServer 'mypackage./gazebo./gazebo./gazebo/clear_joint_forces'}}
RosActionServers {
RosActionServer '/iiwa/PositionJointInterface_trajectory_controller/follow_joint_trajectory/' {RefServer 'mypackage./gazebo./gazebo./iiwa/PositionJointInterface_trajectory_controller/follow_joint_trajectory/'}}
=======
RosPublishers '/iiwa/PositionJointInterface_trajectory_controller/state' {RefPublisher 'mypackage./gazebo./gazebo./iiwa/PositionJointInterface_trajectory_controller/state'},
RosPublishers '/gazebo/model_states' {RefPublisher 'mypackage./gazebo./gazebo./gazebo/model_states'},
RosPublishers '/gazebo/parameter_updates' {RefPublisher 'mypackage./gazebo./gazebo./gazebo/parameter_updates'},
RosPublishers '/iiwa/joint_states' {RefPublisher 'mypackage./gazebo./gazebo./iiwa/joint_states'},
RosPublishers '/iiwa/state/CartesianWrench' {RefPublisher 'mypackage./gazebo./gazebo./iiwa/state/CartesianWrench'},
RosPublishers '/gazebo/link_states' {RefPublisher 'mypackage./gazebo./gazebo./gazebo/link_states'},
RosPublishers '/gazebo/parameter_descriptions' {RefPublisher 'mypackage./gazebo./gazebo./gazebo/parameter_descriptions'}}
RosSubscribers {
RosSubscribers '/iiwa/PositionJointInterface_trajectory_controller/command' {RefSubscriber 'mypackage./gazebo./gazebo./iiwa/PositionJointInterface_trajectory_controller/command'},
RosSubscribers '/gazebo/set_model_state' {RefSubscriber 'mypackage./gazebo./gazebo./gazebo/set_model_state'},
RosSubscribers '/gazebo/set_link_state' {RefSubscriber 'mypackage./gazebo./gazebo./gazebo/set_link_state'}}
RosSrvServers {
RosSrvServers '/gazebo/get_model_properties' {RefServer 'mypackage./gazebo./gazebo./gazebo/get_model_properties'},
RosSrvServers '/gazebo/set_model_configuration' {RefServer 'mypackage./gazebo./gazebo./gazebo/set_model_configuration'},
RosSrvServers '/gazebo/set_light_properties' {RefServer 'mypackage./gazebo./gazebo./gazebo/set_light_properties'},
RosSrvServers '/gazebo/get_world_properties' {RefServer 'mypackage./gazebo./gazebo./gazebo/get_world_properties'},
RosSrvServers '/iiwa/controller_manager/list_controllers' {RefServer 'mypackage./gazebo./gazebo./iiwa/controller_manager/list_controllers'},
RosSrvServers '/gazebo/delete_light' {RefServer 'mypackage./gazebo./gazebo./gazebo/delete_light'},
RosSrvServers '/gazebo/clear_joint_forces' {RefServer 'mypackage./gazebo./gazebo./gazebo/clear_joint_forces'},
RosSrvServers '/gazebo/pause_physics' {RefServer 'mypackage./gazebo./gazebo./gazebo/pause_physics'},
RosSrvServers '/iiwa/controller_manager/unload_controller' {RefServer 'mypackage./gazebo./gazebo./iiwa/controller_manager/unload_controller'},
RosSrvServers '/gazebo/spawn_sdf_model' {RefServer 'mypackage./gazebo./gazebo./gazebo/spawn_sdf_model'},
RosSrvServers '/gazebo/get_joint_properties' {RefServer 'mypackage./gazebo./gazebo./gazebo/get_joint_properties'},
RosSrvServers '/gazebo/set_model_state' {RefServer 'mypackage./gazebo./gazebo./gazebo/set_model_state'},
RosSrvServers '/gazebo/unpause_physics' {RefServer 'mypackage./gazebo./gazebo./gazebo/unpause_physics'},
RosSrvServers '/gazebo/delete_model' {RefServer 'mypackage./gazebo./gazebo./gazebo/delete_model'},
RosSrvServers '/gazebo/get_light_properties' {RefServer 'mypackage./gazebo./gazebo./gazebo/get_light_properties'},
RosSrvServers '/gazebo/get_link_properties' {RefServer 'mypackage./gazebo./gazebo./gazebo/get_link_properties'},
RosSrvServers '/gazebo/clear_body_wrenches' {RefServer 'mypackage./gazebo./gazebo./gazebo/clear_body_wrenches'},
RosSrvServers '/gazebo/set_parameters' {RefServer 'mypackage./gazebo./gazebo./gazebo/set_parameters'},
RosSrvServers '/gazebo/set_physics_properties' {RefServer 'mypackage./gazebo./gazebo./gazebo/set_physics_properties'},
RosSrvServers '/gazebo/apply_joint_effort' {RefServer 'mypackage./gazebo./gazebo./gazebo/apply_joint_effort'},
RosSrvServers '/iiwa/controller_manager/reload_controller_libraries' {RefServer 'mypackage./gazebo./gazebo./iiwa/controller_manager/reload_controller_libraries'},
RosSrvServers '/gazebo/get_model_state' {RefServer 'mypackage./gazebo./gazebo./gazebo/get_model_state'},
RosSrvServers '/iiwa/controller_manager/switch_controller' {RefServer 'mypackage./gazebo./gazebo./iiwa/controller_manager/switch_controller'},
RosSrvServers '/gazebo/get_physics_properties' {RefServer 'mypackage./gazebo./gazebo./gazebo/get_physics_properties'},
RosSrvServers '/gazebo/reset_simulation' {RefServer 'mypackage./gazebo./gazebo./gazebo/reset_simulation'},
RosSrvServers '/iiwa/controller_manager/load_controller' {RefServer 'mypackage./gazebo./gazebo./iiwa/controller_manager/load_controller'},
RosSrvServers '/iiwa/PositionJointInterface_trajectory_controller/query_state' {RefServer 'mypackage./gazebo./gazebo./iiwa/PositionJointInterface_trajectory_controller/query_state'},
RosSrvServers '/gazebo/spawn_urdf_model' {RefServer 'mypackage./gazebo./gazebo./gazebo/spawn_urdf_model'},
RosSrvServers '/gazebo/set_link_state' {RefServer 'mypackage./gazebo./gazebo./gazebo/set_link_state'},
RosSrvServers '/gazebo/set_joint_properties' {RefServer 'mypackage./gazebo./gazebo./gazebo/set_joint_properties'},
RosSrvServers '/gazebo/get_link_state' {RefServer 'mypackage./gazebo./gazebo./gazebo/get_link_state'},
RosSrvServers '/iiwa/controller_manager/list_controller_types' {RefServer 'mypackage./gazebo./gazebo./iiwa/controller_manager/list_controller_types'},
RosSrvServers '/gazebo/set_link_properties' {RefServer 'mypackage./gazebo./gazebo./gazebo/set_link_properties'},
RosSrvServers '/gazebo/apply_body_wrench' {RefServer 'mypackage./gazebo./gazebo./gazebo/apply_body_wrench'},
RosSrvServers '/gazebo/reset_world' {RefServer 'mypackage./gazebo./gazebo./gazebo/reset_world'}}
RosActionServers {
RosActionServers '/iiwa/PositionJointInterface_trajectory_controller/follow_joint_trajectory/' {RefServer 'mypackage./gazebo./gazebo./iiwa/PositionJointInterface_trajectory_controller/follow_joint_trajectory/'}}
>>>>>>> fixing java syntax
}
)}
12 changes: 7 additions & 5 deletions src/ros_graph_parser/core_class.py
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Expand Up @@ -78,13 +78,15 @@ def java_format_ros_model(self, indent="", name_type="", interface_type="", name
str_+="}"
return str_

def java_format_system_model(self, indent="", name_type="", name_type2="", node_name="", pkg_name=""):
def java_format_system_model(self, indent="", name_type="", name_type2="", node_name="", pkg_name="", name_type3=""):
if len(self) == 0:
return ""
if not name_type3:
name_type3 = name_type2
str_ = ("%sRos%s {\n")%(indent, name_type)
for elem in self:
str_ += ("%s Ros%s '%s' {Ref%s '%s.%s.%s.%s'},\n")%(
indent, name_type, elem.resolved, name_type2, pkg_name, node_name, node_name, elem.resolved)
indent, name_type3, elem.resolved, name_type2, pkg_name, node_name, node_name, elem.resolved)
str_ = str_[:-2]
str_+="}\n"
return str_
Expand Down Expand Up @@ -177,9 +179,9 @@ def dump_yaml(self):
def dump_java_ros_model(self):
ros_model_str=" Artifact "+self.name+" {\n"
ros_model_str+=" node Node { name "+ self.name+"\n"
ros_model_str+=self.publishers.java_format_ros_model(" ", "Publisher", "message","publisher")
ros_model_str+=self.subscribers.java_format_ros_model(" ", "Subscriber", "message", "subscriber")
ros_model_str+=self.services.java_format_ros_model(" ", "ServiceServer", "service","serviceserver")
ros_model_str+=self.publishers.java_format_ros_model(" ", "Publisher", "message","publisher")
ros_model_str+=self.subscribers.java_format_ros_model(" ", "Subscriber", "message", "subscriber")
ros_model_str+=self.action_servers.java_format_ros_model(" ", "ActionServer", "action","actionserver")
ros_model_str+=self.action_clients.java_format_ros_model(" ", "ActionClient", "action","actionclient")
ros_model_str+="}},\n"
Expand All @@ -189,7 +191,7 @@ def dump_java_system_model(self, package=""):
system_model_str=" ComponentInterface { name '"+self.name+"'\n"
system_model_str+=self.publishers.java_format_system_model(" ", "Publishers", "Publisher", self.name, package)
system_model_str+=self.subscribers.java_format_system_model(" ", "Subscribers", "Subscriber",self.name, package)
system_model_str+=self.services.java_format_system_model(" ", "SrvServers", "Server", self.name, package)
system_model_str+=self.services.java_format_system_model(" ", "SrvServers", "Server", self.name, package, "ServiceServer")
system_model_str+=self.action_servers.java_format_system_model(" ", "ActionServers", "Server", self.name, package)
system_model_str+=self.action_clients.java_format_system_model(" ", "ActionClients", "Client", self.name, package)
system_model_str+="},\n"
Expand Down
4 changes: 2 additions & 2 deletions src/ros_graph_parser/snapshot.py
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Expand Up @@ -94,8 +94,8 @@ def dump_java_ros_model(snapshot, ros_model_file, pkg_name):
ros_model_str+="artifact {\n"
for node in snapshot:
ros_model_str+=node.dump_java_ros_model()
ros_model_str = ros_model_str[:-3]
ros_model_str+="\n}}}"
ros_model_str = ros_model_str[:-2]
ros_model_str+="\n}}}}"
with open(ros_model_file, 'w') as outfile:
outfile.write(ros_model_str)

Expand Down