Merge pull request #30 from ipa-nhg/ros2

Refactor to support the new models and the ros2model code generator

README.md

@@ -2,11 +2,6 @@
 
 [![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
 
-[![MELODIC build status](https://github.com/ipa320/ros-model-extractors/actions/workflows/build_melodic.yml/badge.svg)](https://github.com/ipa320/ros-model-extractors/actions/workflows/build_melodic.yml)
-[![NOETIC ros-model-extractors](https://github.com/ipa320/ros-model-extractors/actions/workflows/build_noetic.yml/badge.svg)](https://github.com/ipa320/ros-model-extractors/actions/workflows/build_noetic.yml)
-[![FOXY build status](https://github.com/ipa320/ros-model-extractors/actions/workflows/build_foxy.yml/badge.svg)](https://github.com/ipa320/ros-model-extractors/actions/workflows/build_foxy.yml)
-
-
 Technical Maintainer: [**ipa-nhg**](https://github.com/ipa-nhg/) (**Nadia Hammoudeh Garcia**, **Fraunhofer IPA**) - **[email protected]**
 
 This repository contains the HAROS framework plugin to automatically generate models according to the DSLs defined for RosModel.
@@ -17,6 +12,7 @@ This package also contains a set of ROS containers where you can easily do the a
 
 As related work you can read the following paper: [Bootstrapping MDE development from ROS manual code: Part 2—Model generation and leveraging models at runtime](https://link.springer.com/article/10.1007/s10270-021-00873-2?wt_mc=Internal.Event.1.SEM.ArticleAuthorOnlineFirst&utm_source=ArticleAuthorOnlineFirst&utm_medium=email&utm_content=AA_en_06082018&ArticleAuthorOnlineFirst_20210420) 
 
+:bangbang: The updated version of the development is only being supported for ROS2, the RO1 implementation (old version) is available under [ros1 branch](https://github.com/ipa320/ros-model-extractors/tree/ros1)
 
 ### HowTo Use the docker container to run the ros-model plugin for HAROS
 
@@ -26,7 +22,7 @@ Build the HAROS docker image, for your desired ROS distro version:
 
 ```
 cd path-to-ros-model-extractors-repo
-[sudo] docker build --tag=haros_ROSDISTRO -f ROSDISTRO/Dockerfile .
+[sudo] docker build --tag=haros_ROSDISTRO -f docker/ROSDISTRO/Dockerfile .
 ```
 
 Call the ros-model extractor plugin, remember you have to also clone the repository to be analysed:
@@ -48,13 +44,8 @@ Additionally, the analysis offers the option to analyze all the nodes of a packa
 ```
 
 Please check the available examples for the supported distros:
-
-- [ROS1 melodic](melodic/README.md)
-- [ROS1 noetic](noetic/README.md)
-- [ROS2 foxy](foxy/README.md)
 - [ROS2 humble](humble/README.md)
 
 ToDo:
- - Extractor of interfaces types (msgs, srvs and actions)
  - Parser for launch files and analysis of the full system 
 

haros_runner.sh → docker/haros_runner.sh

@@ -44,7 +44,7 @@ then
   then
     source install/setup.bash
     rosdep install -y -i -r --from-path src
-    colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+    colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1 --no-warn-unused-cli
     source ${5}/install/setup.bash
     colcon list > /tmp/colcon_list.txt
     path_to_src_code=$(cat /tmp/colcon_list.txt |  grep "^$1" | awk '{ print $2}')
@@ -91,16 +91,14 @@ then
     else
       python /ros_model_extractor.py --clang-version $clang_version --package "$1" --name "$2" --"${3}" --model-path "${4}" --ws "${5}" --repo $model_repo>> ${4}/extractor.log
     fi
-    #cat extractor.log
   elif [[ $PYTHON_VERSION == "3" ]]
   then
     if [ "${2}" = "--all" ]
     then
-      python3 /ros_model_extractor.py --clang-version $clang_version --package "$1" --"${3}" --model-path "${4}" --ws "${5}" --path-to-src "$path_to_src_code" --repo $model_repo -a >> ${4}/extractor.log
+      python3 /ros_code_analysis/ros_model_extractor.py --clang-version $clang_version --package "$1" --"${3}" --model-path "${4}" --ws "${5}" --path-to-src "$path_to_src_code" --repo $model_repo -a >> ${4}/extractor.log
     else
-      python3 /ros_model_extractor.py --clang-version $clang_version --package "$1" --name "$2" --"${3}" --model-path "${4}" --ws "${5}" --path-to-src "$path_to_src_code" --repo $model_repo>> ${4}/extractor.log
+      python3 /ros_code_analysis/ros_model_extractor.py --clang-version $clang_version --package "$1" --name "$2" --"${3}" --model-path "${4}" --ws "${5}" --path-to-src "$path_to_src_code" --repo $model_repo>> ${4}/extractor.log
     fi
-    #cat extractor.log 
   else
     echo "Python version not supported"
     exit
@@ -115,8 +113,14 @@ echo "Extraction finished. See the following report:"
 cat ${4}/extractor.log
 echo "~~~~~~~~~~~"
 
+
+#echo "~~~~~~~~~~~"
+#echo "Compile commands file:"
+#cat ${5}/build/compile_commands.json
+#echo "~~~~~~~~~~~"
+
 echo "###########"
-for generated_model in "${4}"/*.ros
+for generated_model in "${4}"/*.ros2
 do
 echo "~~~~~~~~~~~"
 echo "Print of the model: $generated_model:"
@@ -128,4 +132,4 @@ echo "###########"
 done
 
 ## Clean and finish
-rm -rf ${5}/src/*
+#find ${5}/src -maxdepth 1 -type d ! -iname ros2model -exec rm -rvf {} \;

humble/Dockerfile → docker/humble/Dockerfile

@@ -25,7 +25,7 @@ ENV LD_LIBRARY_PATH $LD_LIBRARY_PATH:/usr/lib/llvm-14/lib
 RUN pip3 install --upgrade pip
 RUN pip3 install -Iv clang==14.0
 RUN pip3 install -e git+https://github.com/timtadh/pyflwor.git#egg=pyflwor
-RUN pip3 install -e git+https://github.com/ipa320/ros_model_parser.git#egg=ros_model_parser
+RUN pip3 install -e git+https://github.com/ipa320/ros2model.git#egg=ros2model
 RUN pip3 install -e git+https://github.com/git-afsantos/bonsai#egg=bonsai-code
 RUN pip3 install -e git+https://github.com/ipa-nhg/haros@FixPythonExtractTopic#egg=haros
 # RUN pip3 install -e git+https://github.com/git-afsantos/haros#egg=haros
@@ -41,6 +41,8 @@ RUN usermod -a -G root extractor
 RUN echo "extractor ALL=(ALL:ALL) NOPASSWD: ALL" | sudo tee /etc/sudoers.d/extractor
 USER extractor
 RUN mkdir -p /home/extractor/ws/src
+#RUN git clone https://github.com/ipa320/ros2model.git /home/extractor/ws/src/ros2model
+RUN git clone https://github.com/ipa-nhg/ros2model.git -b PythonInstallTemplatesFolder /home/extractor/ws/src/ros2model
 
 RUN mkdir -p /home/extractor/results
 RUN chown extractor:extractor /home/extractor/results
@@ -55,7 +57,7 @@ RUN if [ $enable_ssh ] ; then mkdir -p /home/extractor/.ssh/ && \
     touch /home/extractor/.ssh/config && \
     chmod 600 /home/extractor/.ssh/config ; fi
 
-COPY --chown=extractor:root ssh_config/ /keys/
+COPY --chown=extractor:root docker/ssh_config/ /keys/
 RUN if [ $enable_ssh ] ; then  cat /keys/ssh_key.pub >> /home/extractor/.ssh/authorized_keys ; fi
 RUN if [ $enable_ssh ] ; then  cat /keys/config >> /home/extractor/.ssh/config ; fi
 ####
@@ -64,19 +66,20 @@ USER extractor
 ENV CMAKE_CXX_COMPILER /usr/lib/llvm-14/bin/clang++
 RUN source /opt/ros/$ROS_DISTRO/setup.bash;\
  cd /home/extractor/ws;\
- colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ;\
+ colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1 --no-warn-unused-cli ;\
  source /home/extractor/ws/install/setup.bash; \
  haros init
 
 ENV PYTHON_VERSION 3
 RUN echo 'source /home/extractor/ws/install/setup.bash' >> /home/extractor/.bashrc 
 
 #RUN echo "test"
-COPY ${path_to_scripts}messages_generator_runner.sh /
-COPY ${path_to_scripts}generate_messages_model_helper.sh /
-COPY ${path_to_scripts}haros_runner.sh /
-COPY ${path_to_scripts}ros_model_extractor.py /
-COPY ${path_to_scripts}test.sh /
+#COPY ${path_to_scripts}messages_generator_runner.sh /
+#COPY ${path_to_scripts}generate_messages_model_helper.sh /
+COPY docker/haros_runner.sh /
+COPY ros_code_analysis /
+
+COPY helper_scripts/test.sh /
 
 EXPOSE 4005
 #CMD sudo chown -R extractor:extractor /home/extractor/results

humble/README.md → docker/humble/README.md

@@ -5,7 +5,7 @@ Install docker https://docs.docker.com/install/linux/docker-ce/ubuntu/
 Build the HAROS docker image, for your desired ROS distro version:
 ```
 cd path-to-ros-model-extractors-repo
-[sudo] docker build --tag=haros_humble -f humble/Dockerfile .
+[sudo] docker build --tag=haros_humble -f docker/humble/Dockerfile .
 ```
 
 Call the ros-model extractor plugin, remember you have to also clone the repository to be analysed:
@@ -21,7 +21,8 @@ For example:
 
 [sudo] docker run -it haros_humble:latest /haros_runner.sh turtlesim turtlesim_node node . /home/extractor/ws "https://github.com/ros/ros_tutorials -b humble"
 
-[sudo] docker run -it haros_humble:latest /haros_runner.sh test_pkg test_node node . /home/extractor/ws "https://github.com/ipa-nhg/test_ros2_code_extractor -b ros2Parameters"
+[sudo] docker run -it haros_humble:latest /haros_runner.sh cpp_basic --all node . /home/extractor/ws "https://github.com/ipa-nhg/cpp_basic_ros2"
+
 
 ```
 

noetic/Dockerfile → docker/noetic/Dockerfile

@@ -26,10 +26,11 @@ ENV LD_LIBRARY_PATH $LD_LIBRARY_PATH:/usr/lib/llvm-10/lib
 RUN pip3 install --upgrade pip
 RUN pip3 install -Iv clang==10.0.1
 RUN pip3 install -e git+https://github.com/timtadh/pyflwor.git#egg=pyflwor
-RUN pip3 install -e git+https://github.com/ipa320/ros_model_parser.git#egg=ros_model_parser
+#RUN pip3 install -e git+https://github.com/ipa320/ros_model_parser.git#egg=ros_model_parser
 RUN pip3 install -e git+https://github.com/git-afsantos/bonsai#egg=bonsai-code
 RUN pip3 install -e git+https://github.com/ipa-nhg/haros@FixPythonExtractTopic#egg=haros
 # RUN pip3 install -e git+https://github.com/git-afsantos/haros#egg=haros
+RUN pip3 install -e git+https://github.com/ipa320/ros2model.git#egg=ros2model
 
 RUN apt-get update && apt-get install -y ros-noetic-desktop && apt upgrade -y
 
@@ -56,7 +57,7 @@ RUN if [ $enable_ssh ] ; then mkdir -p /home/extractor/.ssh/ && \
     touch /home/extractor/.ssh/config && \
     chmod 600 /home/extractor/.ssh/config ; fi
 
-COPY --chown=extractor:root ssh_config/ /keys/
+COPY --chown=extractor:root docker/ssh_config/ /keys/
 RUN if [ $enable_ssh ] ; then  cat /keys/ssh_key.pub >> /home/extractor/.ssh/authorized_keys ; fi
 RUN if [ $enable_ssh ] ; then  cat /keys/config >> /home/extractor/.ssh/config ; fi
 ####
@@ -75,11 +76,12 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash;\
 ENV PYTHON_VERSION 3
 RUN echo 'source /home/extractor/ws/devel/setup.bash' >> /home/extractor/.bashrc 
 
-COPY ${path_to_scripts}messages_generator_runner.sh /
-COPY ${path_to_scripts}generate_messages_model_helper.sh /
-COPY ${path_to_scripts}haros_runner.sh /
-COPY ${path_to_scripts}ros_model_extractor.py /
-COPY ${path_to_scripts}test.sh /
+#COPY ${path_to_scripts}messages_generator_runner.sh /
+#COPY ${path_to_scripts}generate_messages_model_helper.sh /
+COPY docker/haros_runner.sh /
+COPY ros_code_analysis /
+
+COPY helper_scripts/test.sh /
 
 EXPOSE 4004
 #CMD sudo chown -R extractor:extractor /home/extractor/results