Add ros2 implementation based on ros2model

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**) - **nadia.hammoudeh.garcia@ipa.fraunhofer.de**
 
 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 
 

docker/haros_runner.sh

@@ -132,4 +132,4 @@ echo "###########"
 done
 
 ## Clean and finish
-#rm -rf ${5}/src/*
+#find ${5}/src -maxdepth 1 -type d ! -iname ros2model -exec rm -rvf {} \;

docker/humble/Dockerfile

@@ -41,8 +41,7 @@ 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 git clone https://github.com/ipa320/ros2model.git /home/extractor/ws/src/ros2model
 
 RUN mkdir -p /home/extractor/results
 RUN chown extractor:extractor /home/extractor/results
@@ -73,7 +72,7 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash;\
 ENV PYTHON_VERSION 3
 RUN echo 'source /home/extractor/ws/install/setup.bash' >> /home/extractor/.bashrc 
 
-RUN echo "test"
+#RUN echo "test"
 #COPY ${path_to_scripts}messages_generator_runner.sh /
 #COPY ${path_to_scripts}generate_messages_model_helper.sh /
 COPY docker/haros_runner.sh /

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:
@@ -21,13 +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 ros2"
+[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"
 
-[sudo] docker run -it haros_humble:latest /haros_runner.sh depthai_ros_driver --all node . /home/extractor/ws "https://github.com/luxonis/depthai-ros/" https://github.com/ros-perception/vision_msgs "https://github.com/ros-perception/image_common/ -b humble"
-
-docker run -it haros_humble:latest /haros_runner.sh nav2_controller --all node . /home/extractor/ws  https://github.com/ros-planning/navigation2 "https://github.com/ros-geographic-info/geographic_info/ -b ros2 "
-
-docker run -it haros_humble:latest /haros_runner.sh examples_rclcpp_minimal_publisher --all node . /home/extractor/ws   https://github.com/ros2/examples/
 
 ```
 

ros_code_analysis/ros_code_analysis/ros1_python_extractor.py

@@ -0,0 +1,81 @@
+#!/usr/bin/env python
+#
+# Copyright 2024 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
+#
+# Nadia Hammoudeh Garcia
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#	http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from bonsai.analysis import CodeQuery, resolve_expression
+from ros_common_extractor import RosCommonExtractor
+import ros2model.core.metamodels.metamodel_ros as RosModelMetamodel
+
+class Ros1PythonExtractor():
+  def extract_primitives(node, parser, analysis):
+    gs = parser.global_scope
+    node.source_tree = parser.global_scope
+    publishers=[]
+    subscribers=[]
+    serviceservers=[]
+    serviceclients=[]
+    actionservers=[]
+    actionclients=[]
+    parameters=[]
+
+    msgs_list = []
+    pkgs_list = []
+    for imp_name in parser.imported_names_list:
+        s = str(imp_name)
+        if "msg" in s or "srv" in s:
+            ss = s.split(".")
+            if len(ss) < 2:
+                continue
+            if ss[-1] == "msg" or ss[-1] == "srv":
+                pkgs_list.append(ss[0])
+            elif ss[1] == "msg" or ss[1] == "srv":
+                msgs_list.append((ss[0], ss[2]))
+            else:
+                log.debug(("Python import with 'msg' or 'srv', "
+                                "but unable to process it: ")
+                                + s)
+    for call in CodeQuery(gs).all_calls.get():
+        if "rospy.Publisher" in str(call):
+            if len(call.arguments) > 1:
+                name = analysis._extract_topic(call, topic_pos=0)
+                msg_type = analysis._extract_message_type(call, '', msgs_list, pkgs_list)
+                pub = RosModelMetamodel.Publisher(name=name,type=msg_type.replace(".msg",""))
+                publishers.append(pub)
+        if "rospy.Subscriber" in str(call):
+            if len(call.arguments) > 1:
+                name = analysis._extract_topic(call, topic_pos=0)
+                msg_type = analysis._extract_message_type(call, '', msgs_list, pkgs_list)
+                sub = RosModelMetamodel.Subscriber(name=name,type=msg_type.replace(".msg",""))
+                subscribers.append(sub)
+        if "rospy.Service" in str(call):
+            if len(call.arguments) > 1:
+                name = analysis._extract_topic(call, topic_pos=0)
+                srv_type = analysis._extract_message_type(call, '', msgs_list)
+                ss = RosModelMetamodel.ServiceServer(name=name,type=srv_type.replace(".srv","").replace("Request",""))
+                serviceservers.append(ss)
+        if "rospy.ServiceProxy" in str(call):
+            if len(call.arguments) > 1:
+                name = analysis._extract_topic(call, topic_pos=0)
+                srv_type = analysis._extract_message_type(call, '', msgs_list)
+                sc = RosModelMetamodel.ServiceClient(name=name,type=srv_type.replace(".srv","").replace("Response",""))
+                serviceclients.append(sc)
+        if "rospy.set_param" in str(call):
+            param_name = analysis._extract_topic(call, topic_pos=0)
+            param_type = default_value = None
+            default_value = resolve_expression(call.arguments[1])
+            param = RosModelMetamodel.Parameter(name=param_name,type=param_type,value=default_value)
+            parameters.append(param)

ros_code_analysis/ros_code_analysis/ros_model_extractor.py

@@ -32,6 +32,7 @@
 from bonsai.analysis import CodeQuery, resolve_expression
 from ros2_cpp_extractor import Ros2CppExtractor
 from ros1_cpp_extractor import Ros1CppExtractor
+from ros1_python_extractor import Ros1PythonExtractor
 
 
 try:
@@ -123,15 +124,18 @@ def extract_node(self, name, node_name, pkg_name, ns, ws, rossystem):
                         actionservers, actionclients, 
                         parameters] = Ros1CppExtractor.extract_primitives(node, parser, analysis)
                       elif (node.language=="python"):
-                        print("ROS1 python")
+                        [publishers, subscribers, 
+                        serviceservers, serviceclients, 
+                        actionservers, actionclients, 
+                        parameters] = Ros1PythonExtractor.extract_primitives(node, parser, analysis)
                     elif os.environ.get("ROS_VERSION") == "2":
                       if (node.language=="cpp"):
                         [publishers, subscribers, 
                         serviceservers, serviceclients, 
                         actionservers, actionclients, 
                         parameters] = Ros2CppExtractor.extract_primitives(node, parser, analysis)
                       elif (node.language=="python"):
-                        print("ROS2 python")
+                        print("ROS2 python...tbd...")
                     RosModel_node=RosModelMetamodel.Node(name=graph_name,
                             publisher=publishers, subscriber=subscribers,
                             serviceserver=serviceservers, serviceclient=serviceclients,
@@ -144,7 +148,6 @@ def extract_node(self, name, node_name, pkg_name, ns, ws, rossystem):
                     RosModel_node=RosModelMetamodel.Node(name=graph_name)
                   RosModel_artifact=RosModelMetamodel.Artifact(name=node_name, node=[RosModel_node])
                   RosModel_package=RosModelMetamodel.Package(name=self.args.package_name, artifact=[RosModel_artifact])
-                  print(RosModel_package)
                   #Model file generator
                   node_generator = ComponentGenerator()
                   node_generator.generate_a_file(