Deployment support ros2

plugins/de.fraunhofer.ipa.rossystem.deployment/src/de/fraunhofer/ipa/rossystem/deployment/DeploymentArtifactsGenerator.xtend

@@ -11,6 +11,7 @@ import de.fraunhofer.ipa.rossystem.deployment.RosInstallCompiler
 import de.fraunhofer.ipa.rossystem.deployment.DockerComposeCompiler
 import de.fraunhofer.ipa.rossystem.deployment.DockerContainerCompiler
 import de.fraunhofer.ipa.rossystem.deployment.GitActionCompiler
+import de.fraunhofer.ipa.rossystem.deployment.DeploymentHelpers
 import rossystem.RosSystem;
 import java.util.HashMap
 import java.util.Map
@@ -44,12 +45,12 @@ class DeploymentArtifactsGenerator extends AbstractGenerator {
 	RosInstallCompiler rosintall_compiler = new RosInstallCompiler()
 	DockerComposeCompiler dockercompose_compiler = new DockerComposeCompiler()
 	GitActionCompiler gitaction_compiler = new GitActionCompiler()
-
+
+	DeploymentHelpers generator_helper = new DeploymentHelpers()
 
 	String ros_distro
+	String system_folder_prefix
 	Integer ros_version
-	String system_prefix
-	String stack_prefix
 	Map<String, List<String>> device_map = new HashMap<String, List<String>>
 
 	def get_ros_distro(String distro) {
@@ -85,26 +86,26 @@ class DeploymentArtifactsGenerator extends AbstractGenerator {
 	        	}
 		]
 		for (system : resource.allContents.toIterable.filter(RosSystem)){
-			system_prefix = create_system_prefix(system)
+			system_folder_prefix = create_system_prefix(system)
 			if (system.componentStack.size==0){
-				fsa.generateFile(system_prefix +"/Dockerfile",docker_compiler.compile_toDockerContainer(system, null, ros_distro, ros_version))
- 				fsa.generateFile(system_prefix +"/extra_layer/" + system.getName().toLowerCase + ".rosinstall",rosintall_compiler.compile_toRosInstall(system,null))
-				fsa.generateFile(system_prefix +"/extra_layer/Dockerfile",docker_compiler.compile_toDockerImageExtraLayer(system, null,ros_distro, ros_version))
+				fsa.generateFile(system_folder_prefix +"/Dockerfile",docker_compiler.compile_toDockerContainer(system, null, ros_distro, ros_version))
+ 				fsa.generateFile(system_folder_prefix +"/extra_layer/" + system.getName().toLowerCase + ".rosinstall",rosintall_compiler.compile_toRosInstall(system,null))
+				fsa.generateFile(system_folder_prefix +"/extra_layer/Dockerfile",docker_compiler.compile_toDockerImageExtraLayer(system, null,ros_distro, ros_version))
 			} else {
 				for (stack : system.componentStack){
-					stack_prefix = String.join("/", system_prefix, system.name.toLowerCase+'_'+stack.name.toLowerCase)
-					fsa.generateFile(String.join("/", stack_prefix, "Dockerfile"),docker_compiler.compile_toDockerContainer(system, stack, ros_distro, ros_version))
-			 		fsa.generateFile(String.join("/", stack_prefix, "extra_layer", stack.name.toLowerCase+".rosinstall"),rosintall_compiler.compile_toRosInstall(system,stack))
-			 		fsa.generateFile(String.join("/", stack_prefix, "extra_layer", "Dockerfile"),docker_compiler.compile_toDockerImageExtraLayer(system,stack, ros_distro, ros_version))
+					val stack_folder_prefix = String.join("/", system_folder_prefix, system.name.toLowerCase+'_'+stack.name.toLowerCase)
+					fsa.generateFile(String.join("/", stack_folder_prefix, "Dockerfile"),docker_compiler.compile_toDockerContainer(system, stack, ros_distro, ros_version))
+			 		fsa.generateFile(String.join("/", stack_folder_prefix, "extra_layer", stack.name.toLowerCase+".rosinstall"),rosintall_compiler.compile_toRosInstall(system,stack))
+			 		fsa.generateFile(String.join("/", stack_folder_prefix, "extra_layer", "Dockerfile"),docker_compiler.compile_toDockerImageExtraLayer(system,stack, ros_distro, ros_version))
 				}
 			}
 
-			fsa.generateFile(String.join("/", system_prefix, "docker-compose.yml"),dockercompose_compiler.compile_toDockerCompose(system, ros_distro, ros_version, device_map))
+			fsa.generateFile(String.join("/", system_folder_prefix, "docker-compose.yml"),dockercompose_compiler.compile_toDockerCompose(system, ros_distro, ros_version, device_map))
 		}
 
 		// git action workflow
  		for (system : resource.allContents.toIterable.filter(RosSystem)){
-			fsa.generateFile(String.join("/", system_prefix, system.getName().toLowerCase + "_workflow.yml") ,gitaction_compiler.compile_toGitAction(system, ros_version))
+			fsa.generateFile(String.join("/", system_folder_prefix, generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro) + "_workflow.yml") ,gitaction_compiler.compile_toGitAction(system, ros_version, ros_distro))
 			}
 		}
 

plugins/de.fraunhofer.ipa.rossystem.deployment/src/de/fraunhofer/ipa/rossystem/deployment/DeploymentHelpers.xtend

@@ -0,0 +1,61 @@
+package de.fraunhofer.ipa.rossystem.deployment
+
+import componentInterface.ComponentInterface
+import de.fraunhofer.ipa.rossystem.generator.GeneratorHelpers
+import java.util.ArrayList
+import java.util.HashSet
+import java.util.List
+import java.util.Set
+import ros.Dependency
+import ros.PackageDependency
+import ros.impl.PackageImpl
+import rossystem.ComponentStack
+import rossystem.RosSystem
+
+class DeploymentHelpers extends GeneratorHelpers {
+	List<ComponentInterface> ComponentsList
+	PackageImpl component_package
+	Set<String> Repos
+
+ 	def get_uniqe_name(String prefix, String ros_distro) {
+	 	return prefix + "_" + ros_distro
+	 }	
+
+	def get_folder_name(String prefix, String ros_distro) {
+	 	if(ros_distro=="foxy") {
+	 		return prefix + "_ros2"
+	 	}
+	 	else{
+	 		return prefix
+	 	}
+	 }
+
+	 def Set<String> listOfRepos(Object subsystem) {
+		new ArrayList()
+		ComponentsList = new ArrayList<ComponentInterface>();
+		if (subsystem.class.toString.contains("RosSystemImpl")){
+			ComponentsList = (subsystem as RosSystem).rosComponent
+		} else if (subsystem.class.toString.contains("ComponentStackImpl")) {
+			ComponentsList = (subsystem as ComponentStack).rosComponent
+		}
+
+		Repos = new HashSet<String>();
+		for (ComponentInterface component: ComponentsList){
+			component_package = null;
+			component_package = get_pkg(component);
+			if (component_package !== null){
+				if (component_package.fromGitRepo !== null){
+					Repos.add(component_package.fromGitRepo);
+				}
+				if (!component_package.dependency.empty){
+					for (Dependency depend: component_package.dependency){
+						if ((depend as PackageDependency).package !== null){
+							if ((depend as PackageDependency).package.fromGitRepo !== null){
+								Repos.add((depend as PackageDependency).package.fromGitRepo);					
+					}
+				}
+			}
+		}}}
+		return Repos;
+	}
+}

plugins/de.fraunhofer.ipa.rossystem.deployment/src/de/fraunhofer/ipa/rossystem/deployment/DockerComposeCompiler.xtend

@@ -1,13 +1,13 @@
 package de.fraunhofer.ipa.rossystem.deployment
 
 import rossystem.RosSystem
-import de.fraunhofer.ipa.rossystem.generator.GeneratorHelpers
+import de.fraunhofer.ipa.rossystem.deployment.DeploymentHelpers
 import java.util.Map
 import java.util.List
 
 class DockerComposeCompiler {
 
- GeneratorHelpers generator_helper = new GeneratorHelpers()
+ DeploymentHelpers generator_helper = new DeploymentHelpers()
 
 def create_devices(List<String> ports)'''
 «IF ports.size() > 0»
@@ -31,8 +31,8 @@ services:
       - ros
 
 «IF system.getComponentStack().isEmpty()»
-«"  "»«system.name.toLowerCase»:
-    image: "«system.name.toLowerCase»:latest"
+«"  "»«generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»:
+    image: "«generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»:latest"
     depends_on:
       - ros-master
     environment:
@@ -44,8 +44,8 @@ services:
     command: stdbuf -o L roslaunch «system.name.toLowerCase» «system.name.toLowerCase».launch --wait
 «ELSE»
 «FOR stack:system.componentStack»
-«"  "»«system.name.toLowerCase»_«stack.name.toLowerCase»:
-    image: "«system.name.toLowerCase»_«stack.name.toLowerCase»:latest"
+«"  "»«generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»_«stack.name.toLowerCase»:
+    image: "«generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»_«stack.name.toLowerCase»:latest"
     depends_on:
       - ros-master
     environment:
@@ -59,8 +59,22 @@ services:
 «ENDFOR»
 «ENDIF»
 «ELSE»
-Todo: complete docker compose file for ros2
-«ENDIF»
+version: "3.3"
+services:
+«IF system.getComponentStack().isEmpty()»
+«"  "»«generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»:
+    image: "«generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»:latest"
+    «create_devices(device_map.get(system.name))»
+    command: stdbuf -o L ros2 launch «system.name.toLowerCase» «system.name.toLowerCase».launch.py
+«ELSE»
+«FOR stack:system.componentStack»
+«"  "»«generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»_«stack.name.toLowerCase»:
+    image: "«generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»_«stack.name.toLowerCase»:latest"
+    «create_devices(device_map.get(stack.name))»
+    command: stdbuf -o L ros2 launch «system.name.toLowerCase»_«stack.name.toLowerCase» «stack.name.toLowerCase».launch.py
 
+«ENDFOR»
+«ENDIF»
+«ENDIF»
 '''
 }

plugins/de.fraunhofer.ipa.rossystem.deployment/src/de/fraunhofer/ipa/rossystem/deployment/DockerContainerCompiler.xtend

@@ -2,38 +2,39 @@ package de.fraunhofer.ipa.rossystem.deployment
 
 import rossystem.RosSystem
 import rossystem.ComponentStack
-import de.fraunhofer.ipa.rossystem.generator.GeneratorHelpers
+import de.fraunhofer.ipa.rossystem.deployment.DeploymentHelpers
 
 class DockerContainerCompiler {
-	GeneratorHelpers generator_helper = new GeneratorHelpers() 
+	DeploymentHelpers generator_helper = new DeploymentHelpers() 
 
 	def dockerfile_header(Integer ros_version) '''
 # syntax=docker/dockerfile:experimental
 ARG SUFFIX=
 ARG BUILDER_SUFFIX=:ros«ros_version»
-ARG PREFIX=	
+ARG PREFIX=
 	'''
     def compile_toDockerContainer(RosSystem system, ComponentStack stack, String ros_distro, Integer ros_version) '''«generator_helper.init_pkg()»
 «dockerfile_header(ros_version)»
 «IF stack===null»
     «IF generator_helper.listOfRepos(system).isEmpty()»
 FROM ros:«ros_distro»-ros-core as base
     «ELSE»
-FROM ${PREFIX}extra_layer_«system.name.toLowerCase»${SUFFIX} as base
+FROM ${PREFIX}extra_layer_«generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»${SUFFIX} as base
     «ENDIF»
 «ELSE»
     «IF generator_helper.listOfRepos(stack).isEmpty()»
 FROM ros:«ros_distro»-ros-core as base
     «ELSE»
-FROM ${PREFIX}extra_layer_«stack.name.toLowerCase»${SUFFIX} as base
+FROM ${PREFIX}extra_layer_«generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»_«stack.name.toLowerCase»${SUFFIX} as base
     «ENDIF»
 «ENDIF»
 FROM ${PREFIX}builder${BUILDER_SUFFIX} as builder
 
 FROM base as build
-COPY . /root/ws/src/«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF»/
+COPY . /root/ws/src/«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF»«IF ros_version===2»_ros2«ENDIF»/
 RUN --mount=type=bind,from=builder,target=/builder \
     apt-get update -qq && \
+    «IF ros_version===2»/builder/workspace.bash builder_setup && \«ENDIF»
     /builder/workspace.bash build_workspace /root/ws && \
     rm -rf /var/lib/apt/lists/*
 
@@ -63,7 +64,11 @@ RUN --mount=type=bind,from=builder,target=/builder --mount=type=bind,target=/roo
 COPY --from=install /opt/ros/$ROS_DISTRO /opt/ros/$ROS_DISTRO
 
 FROM deploy as launch
+«IF ros_version==1»
 «IF stack===null»CMD ["roslaunch", "«system.name»", "«system.name».launch"]«ELSE»CMD ["roslaunch", "«system.name.toLowerCase»_«stack.name.toLowerCase»", "«stack.name.toLowerCase».launch"]«ENDIF»
+«ELSE»
+«IF stack===null»CMD ["ros2", "launch", "«system.name.toLowerCase»", "«system.name.toLowerCase».launch.py"]«ELSE»CMD ["ros2", "launch", "«system.name.toLowerCase»_«stack.name.toLowerCase»", "«stack.name.toLowerCase».launch.py"]«ENDIF»
+«ENDIF»
 '''
 
     def compile_toDockerImageExtraLayer(RosSystem system, ComponentStack stack, String ros_distro, Integer ros_version) '''«generator_helper.init_pkg()»
@@ -76,6 +81,7 @@ FROM base as pre_build
 COPY * /root/ws/src/
 RUN --mount=type=bind,from=builder,target=/builder \
     apt-get update -qq && \
+    «IF ros_version===2»/builder/workspace.bash builder_setup && \«ENDIF»
     /builder/workspace.bash update_list /root/ws && \
     rm -rf /var/lib/apt/lists/*
 
@@ -103,7 +109,7 @@ RUN --mount=type=bind,from=builder,target=/builder \
     /builder/workspace.bash install_depends /root/ws && \
     rm -rf /var/lib/apt/lists/*
 
-FROM pre_build as deploy
+FROM build as deploy
 RUN --mount=type=bind,from=builder,target=/builder \
     --mount=type=bind,target=/root/ws,from=install,source=/root/ws \
     apt-get update -qq && \

plugins/de.fraunhofer.ipa.rossystem.deployment/src/de/fraunhofer/ipa/rossystem/deployment/GitActionCompiler.xtend

@@ -1,11 +1,11 @@
 package de.fraunhofer.ipa.rossystem.deployment
 
 import rossystem.RosSystem
-import de.fraunhofer.ipa.rossystem.generator.GeneratorHelpers
+import de.fraunhofer.ipa.rossystem.deployment.DeploymentHelpers
 
 class GitActionCompiler {
 
-	GeneratorHelpers generator_helper = new GeneratorHelpers()
+	DeploymentHelpers generator_helper = new DeploymentHelpers()
 
  def default_part(String layer, String context_path, String needed_layer, String tag)'''
 «layer»:
@@ -38,6 +38,10 @@ class GitActionCompiler {
         key: ${{ runner.os }}-buildx-${{ github.sha }}
         restore-keys: |
           ${{ runner.os }}-buildx-
+    -
+      name: Get Branch
+      id: extract_branch
+      run: echo ::set-output name=branch::$(echo ${GITHUB_REF#refs/heads/} | sed 's/[^a-zA-Z0-9-]/_/g')
     -
       name: Docker meta
       id: docker_meta
@@ -47,10 +51,6 @@ class GitActionCompiler {
         tags: |
           «tag»
           type=raw,value=latest
-    -
-      name: Get Branch
-      id: extract_branch
-      run: echo ::set-output name=branch::$(echo ${GITHUB_REF} | cut -d'/' -f3)
     -
       name: Build and Push Docker Image
       uses: docker/build-push-action@v2
@@ -74,48 +74,52 @@ class GitActionCompiler {
  def build_layer()'''
 	«default_part("builder", "./builder", null, "type=raw,value=${{ env.BUILDER_SUFFIX }}")» 
 '''
- def extra_layer(String name, String path)'''
-	«default_part("extra_layer_"+name, String.join("/", ".",path,"extra_layer"), "builder", "type=ref,event=branch")»
+ def extra_layer(String sys_name, String ros_distro)
+'''
+	«default_part("extra_layer_"+ generator_helper.get_uniqe_name(sys_name, ros_distro), String.join("/", ".",generator_helper.get_folder_name(sys_name, ros_distro),"extra_layer"), null, "type=raw,value=${{ steps.extract_branch.outputs.branch }}")»
+'''
+ def extra_layer(String sys_name, String stack_name,String ros_distro)
+'''
+	«default_part(String.join("_", "extra_layer", generator_helper.get_uniqe_name(sys_name, ros_distro), stack_name), String.join("/", ".",generator_helper.get_folder_name(sys_name, ros_distro), String.join("_", sys_name, stack_name),"extra_layer"), null, "type=raw,value=${{ steps.extract_branch.outputs.branch }}")»
 ''' 
- def system_layer(String sys_name, Boolean need_extra)'''
+ def system_layer(String sys_name, Boolean need_extra, String ros_distro)'''
 	«IF need_extra» 
-	«default_part(sys_name, "./"+sys_name, "extra_layer_"+sys_name, "type=ref,event=branch")»
+	«default_part(generator_helper.get_uniqe_name(sys_name, ros_distro), "./"+ generator_helper.get_folder_name(sys_name, ros_distro), "extra_layer_"+ generator_helper.get_uniqe_name(sys_name, ros_distro), "type=raw,value=${{ steps.extract_branch.outputs.branch }}")»
 	«ELSE»
-	«default_part(sys_name, "./"+sys_name, "builder", "type=ref,event=branch")»
+	«default_part(generator_helper.get_uniqe_name(sys_name, ros_distro), "./"+ generator_helper.get_folder_name(sys_name, ros_distro), null, "type=raw,value=${{ steps.extract_branch.outputs.branch }}")»
 	«ENDIF»
 	''' 	
- def stack_layer(String sys_name, String stack_name, Boolean need_extra)'''
+ def stack_layer(String sys_name, String stack_name, String ros_distro, Boolean need_extra)'''
 	«IF need_extra» 
-	«default_part(sys_name+"_"+stack_name, String.join("/", ".",sys_name, sys_name+"_"+stack_name), "extra_layer_"+stack_name, "type=ref,event=branch")»
+	«default_part(generator_helper.get_uniqe_name(sys_name, ros_distro)+"_"+stack_name, String.join("/", ".",generator_helper.get_folder_name(sys_name, ros_distro), sys_name+"_"+stack_name), String.join("_", "extra_layer", generator_helper.get_uniqe_name(sys_name, ros_distro), stack_name), "type=raw,value=${{ steps.extract_branch.outputs.branch }}")»
 	«ELSE»
-	«default_part(sys_name+"_"+stack_name, String.join("/", ".",sys_name, sys_name+"_"+stack_name), "builder", "type=ref,event=branch")»
+	«default_part(generator_helper.get_uniqe_name(sys_name, ros_distro)+"_"+stack_name, String.join("/", ".",generator_helper.get_folder_name(sys_name, ros_distro), sys_name+"_"+stack_name), null, "type=raw,value=${{ steps.extract_branch.outputs.branch }}")»
 	«ENDIF»
 ''' 	
- def compile_toGitAction(RosSystem system, Integer ros_version) '''«generator_helper.init_pkg()»
-name: «system.name.toLowerCase»
+ def compile_toGitAction(RosSystem system, Integer ros_version, String ros_distro) '''«generator_helper.init_pkg()»
+name: «generator_helper.get_uniqe_name(system.name.toLowerCase, ros_distro)»
 on:
   push:
     paths:
-      - '«system.name.toLowerCase»/**'
+      - '«generator_helper.get_folder_name(system.name.toLowerCase, ros_distro)»/**'
 env:
   PREFIX: "${{ secrets.DOCKER_USERNAME }}/"
   SUFFIX: ""
 «««  Todo: get distro from model
   BUILDER_SUFFIX: ros«ros_version»
 jobs:
-  «build_layer()»
   «IF system.getComponentStack().isEmpty()»
   «IF !generator_helper.listOfRepos(system).isEmpty()»
-  «extra_layer(system.name.toLowerCase, system.name.toLowerCase)»
-  «system_layer(system.name.toLowerCase, true)»
+  «extra_layer(system.name.toLowerCase, ros_distro)»
+  «system_layer(system.name.toLowerCase, true, ros_distro)»
 	«ELSE»
-  «system_layer(system.name.toLowerCase, false)»
+  «system_layer(system.name.toLowerCase, false, ros_distro)»
 «ENDIF»
 «ELSE»«FOR stack : system.getComponentStack()»«IF !generator_helper.listOfRepos(stack).isEmpty()»
-  «extra_layer(stack.name.toLowerCase, String.join("/", system.name.toLowerCase, system.name.toLowerCase + "_" + stack.name.toLowerCase))»
-  «stack_layer(system.name.toLowerCase, stack.name.toLowerCase, true)»
+  «extra_layer(system.name.toLowerCase, stack.name.toLowerCase, ros_distro)»
+  «stack_layer(system.name.toLowerCase, stack.name.toLowerCase, ros_distro, true)»
  «ELSE»
-  «stack_layer(system.name.toLowerCase, stack.name.toLowerCase, false)»
+  «stack_layer(system.name.toLowerCase, stack.name.toLowerCase, ros_distro, false)»
 «ENDIF»
  «ENDFOR»
 «ENDIF»