RosOrocosCppTransform.java

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package org.best_of_robotics.transform.ros.to.cplusplus.handler;

import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;

import org.best_of_robotics.transform.service.ITransformService;
import org.best_of_robotics.transform.service.access.TransformAccessActivator;
import org.best_of_robotics.transform.service.parameter.IEglTransformParameter;
import org.best_of_robotics.transform.service.parameter.IEtlTransformParameter;
import org.best_of_robotics.transform.service.parameter.TransformParameterFactory;
import org.best_of_robotics.transform.ros.to.cplusplus.Activator;
import org.best_of_robotics.transform.ros.to.cplusplus.EGLTransformer;
import org.best_of_robotics.transform.ros.to.cplusplus.EtlTransformer;
import org.eclipse.core.commands.AbstractHandler;
import org.eclipse.core.commands.ExecutionEvent;
import org.eclipse.core.commands.ExecutionException;
import org.eclipse.core.resources.IFile;
import org.eclipse.jface.dialogs.MessageDialog;
import org.eclipse.ui.IEditorInput;
import org.eclipse.ui.IEditorPart;
import org.eclipse.ui.IFileEditorInput;
import org.eclipse.ui.PlatformUI;

public class RosOrocosCppTransform extends AbstractHandler {
        
        public RosOrocosCppTransform() {                
        }

        @Override
        public Object execute(ExecutionEvent event) throws ExecutionException {
                IFile sourcefile = null;
                IEditorPart editor = PlatformUI.getWorkbench().getActiveWorkbenchWindow().getActivePage().getActiveEditor();
                if (editor != null) {
            IEditorInput input = editor.getEditorInput();
            if (input instanceof IFileEditorInput) {
                sourcefile = ((IFileEditorInput)input).getFile();
                System.out.println("File from editor: " + sourcefile.getLocation().toOSString());
                if(sourcefile.getFileExtension().compareTo("ros_package") != 0 && sourcefile.getFileExtension().compareTo("ros_package_diagram")!=0)
                {
                        sourcefile = null;
                        MessageDialog
                                        .openError(
                                                        PlatformUI.getWorkbench()
                                                                        .getActiveWorkbenchWindow().getShell(),
                                                        "Error on Editor Selection 2",
                                                        "Please select the editor from which you want to generate code and execute command again.");
                }
                
            }
        }
                
                
                if(sourcefile == null)
                        return null;
                
                //configure new transform parameter
                String cmd = "rospack find bride_templates";
                String template_dir = "";
                Runtime run = Runtime.getRuntime();
                Process pr;
                try {
                        pr = run.exec(cmd);
                        pr.waitFor();
                        BufferedReader buf = new BufferedReader(new InputStreamReader(pr.getInputStream()));
                        template_dir = buf.readLine();
                } catch (IOException e) {
                        // TODO Auto-generated catch block
                        e.printStackTrace();
                } catch (InterruptedException e) {
                        // TODO Auto-generated catch block
                        e.printStackTrace();
                }
                if(template_dir.length() == 0)
                {
                        System.out.println("Couldn't find template package");
                        return null;
                }
                
                System.out.println("Taking transformation: " + template_dir + "/cpp/rtt_ros_package/package.egl");
                
                //First Transfer ROS Model to OROCOS Model
                //configure new transform parameter
                /*IEtlTransformParameter etlTransformParameter = TransformParameterFactory.createEtlTransformParameter();
                etlTransformParameter.setTransformName("ROS To OROCOS");
                etlTransformParameter.setEtlTransformPath("file://" + template_dir + "/cpp/rtt_ros_package/ros_to_orocos.etl");
                etlTransformParameter.setPluginID(Activator.PLUGIN_ID);
                etlTransformParameter.setSourceMetaModelURI("http://ros/1.0");
                etlTransformParameter.setSourceModelFilePath(sourcefile.getLocation().removeFileExtension().toOSString() + ".ros_package");
                etlTransformParameter.setSourceName("Source");
                etlTransformParameter.setSourceReadOnLoad(true);
                etlTransformParameter.setSourceStoreOnDisposal(false);
                etlTransformParameter.setTargetMetaModelURI("org.best_of_robotics.model.rtt");
                
                String targetModelFilePath = sourcefile.getLocation().removeFileExtension().toOSString() + "gen.rtt";
                
                etlTransformParameter.setTargetModelFilePath(targetModelFilePath);
                etlTransformParameter.setTargetName("Target");
                etlTransformParameter.setTargetReadOnLoad(false);
                etlTransformParameter.setTargetStoreOnDisposal(true);
                
                //do transform
                EtlTransformer transformer = new EtlTransformer(etlTransformParameter);
                transformer.transform();*/
                
                IEglTransformParameter eglTransformParameter = TransformParameterFactory.createEglTransformParameter();
                eglTransformParameter.setTransformName("ROS Pacakge to cpp implementation");
                eglTransformParameter.setEglTransform("file://" + template_dir + "/cpp/rtt_ros_package/package.egl");
                eglTransformParameter.setPluginID(Activator.PLUGIN_ID);
                eglTransformParameter.setSourceMetaModelURI("http://ros/1.0");
                eglTransformParameter.setSourceModelFilePath(sourcefile.getLocation().removeFileExtension().toOSString() + ".ros_package");
                eglTransformParameter.setSourceName("Source");
                eglTransformParameter.setSourceReadOnLoad(true);
                eglTransformParameter.setSourceStoreOnDisposal(false);
                
                eglTransformParameter.setOutputRoot("file:" + sourcefile.getProject().getLocation().toOSString());
                
                //do transform
                EGLTransformer transformer = new EGLTransformer(eglTransformParameter);
                transformer.transform();
                
                return null;
        }

}