Visualstates-ros2 in development branch

CMakeLists.txt

@@ -1,10 +1,23 @@
-cmake_minimum_required(VERSION 2.8)
-project(visualstates)
+cmake_minimum_required(VERSION 3.5)
+project(visualstatesros2)
 
-find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-catkin_python_setup()
-catkin_package(INCLUDE_DIRS include)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wunused-parameter)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(Qt5 REQUIRED Widgets)
+
+#include_directories(include/visualstates_INCLUDE_DIRS)
 
 SET(SOURCE_CPP_RUNTIME
 	src/visualstates/codegen/cpp/state.cpp
@@ -13,23 +26,50 @@ SET(SOURCE_CPP_RUNTIME
     src/visualstates/codegen/cpp/runtimegui.cpp
 )
 
-include_directories(
-    ${catkin_INCLUDE_DIRS}
-    include
-)
+SET(HEADERS include/visualstates/conditionaltransition.h
+            include/visualstates/runtimegui.h
+            include/visualstates/state.h
+            include/visualstates/temporaltransition.h
+            include/visualstates/test.h 
+            include/visualstates/transition.h
+    )
+include_directories(${rclcpp_INCLUDE_DIRS}   ${std_msgs_INCLUDE_DIRS})
+
+#include_directories(include/visualstates/conditionaltransition.h
+ #                   include/visualstates/runtimegui.h
+  #                  include/visualstates/state.h
+   #                 include/visualstates/temporaltransition.h
+    #                include/visualstates/test.h  
+     #     )
+
 
 ADD_LIBRARY(visualStatesRunTime SHARED ${SOURCE_CPP_RUNTIME})
+
 TARGET_LINK_LIBRARIES(visualStatesRunTime pthread)
-INSTALL(TARGETS visualStatesRunTime LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-catkin_install_python(PROGRAMS scripts/main.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+#check_if_required
+#ament_target_dependencies(visualStatesRunTime "rclcpp" "std_msgs" )
+
+INSTALL(TARGETS visualStatesRunTime LIBRARY DESTINATION lib)
+
+INSTALL(PROGRAMS scripts/main.py DESTINATION bin)
+
+install(
+  DIRECTORY include/visualstates
+  DESTINATION lib/${PROJECT_NAME}
+)
 
 #install runtime headers
 INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/visualstates/
-		DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+		DESTINATION bin)
 
-# install cpp sources for ros node generation
+# install cpp sources for ros2 node generation
 INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/src/visualstates/codegen/cpp/
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/codegen)
+        DESTINATION bin/codegen)
+
+INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/resources DESTINATION bin)
+
+install(FILES ${HEADERS} DESTINATION bin)
+
+ament_package()
 
-INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

include/visualstates/runtimegui.h

@@ -20,12 +20,15 @@
 #ifndef RUNTIMEGUI_H
 #define RUNTIMEGUI_H
 
-#include <ros/ros.h>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
 
 class RunTimeGui {
 protected:
-    ros::NodeHandle nh;
-    ros::Publisher runningStatePublisher;
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr runningStatePublisher;
+    //ros::NodeHandle nh;
+    //ros::Publisher runningStatePublisher;
 
 public:
     RunTimeGui();

include/visualstates/temporaltransition.h

@@ -17,9 +17,6 @@
    Authors : Okan Asik ([email protected])
 
 */
-#ifndef TEMPORALTRANSITION_H
-#define TEMPORALTRANSITION_H
-
 #include "transition.h"
 
 class TemporalTransition : public Transition {
@@ -38,4 +35,3 @@ class TemporalTransition : public Transition {
 };
 
 
-#endif

include/visualstates/test.h

@@ -25,7 +25,7 @@
 #include "conditionaltransition.h"
 #include "interfaces.h"
 
-#include <jderobot/motors.h>
+#include </opt/jderobot/include/jderobot/motors.h>
 
 class State0 : public State {
 public:

package.xml

@@ -1,19 +1,33 @@
 <?xml version="1.0" ?>
-<package>
-  <name>visualstates</name>
-  <version>0.2.2</version>
+  <package format="2">
+  <name>visualstatesros2</name>
+  <version>1.0.0</version>
   <description>The VisualStates is reactive hierarchical visual robot planning tool.</description>
   <maintainer email="[email protected]">Okan Aşık</maintainer>
   <license>GPLv3</license>
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+
+  <build_depend>rclcpp</build_depend>
+  <build_depend>rclpy</build_depend>
   <build_depend>std_msgs</build_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>python-rospkg</run_depend>
-  <run_depend>python-qt5-bindings</run_depend>
-  <run_depend>python-qt5-bindings-qsci</run_depend>
-  <export/>
+  <build_depend>rosidl_default_generators</build_depend>
+
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>python-ros2pkg</exec_depend>
+
+  <exec_depend>python-qt5-bindings</exec_depend>
+  <exec_depend>python-qt5-bindings-qsci</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>

scripts/main.py

@@ -23,7 +23,7 @@
 from PyQt5.QtWidgets import QApplication
 from PyQt5.QtGui import QIcon
 from visualstates.gui.visualstates import VisualStates
-from visualstates.configs.rospackage import getPackagePath
+from visualstates.configs.ros2package import getPackagePath
 
 if __name__ == '__main__':
     app = QApplication(sys.argv)

setup.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 
 from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
+from ament_pkg.python_setup import generate_distutils_setup
 
 d = generate_distutils_setup(
    scripts=['scripts/main.py'],

src/visualstates/codegen/cpp/runtimegui.cpp

@@ -17,20 +17,28 @@
    Authors : Okan Asik ([email protected])
 
 */
-#include <visualstates/runtimegui.h>
+
+#include "../../../../include/visualstates/runtimegui.h"
 #include <sstream>
-#include <std_msgs/String.h>
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
 
 RunTimeGui::RunTimeGui() {
-    runningStatePublisher = nh.advertise<std_msgs::String>("/runtime_gui", 100);
+    rclcpp::Node::SharedPtr node;
+    runningStatePublisher = node->create_publisher<std_msgs::msg::String>("/runtime_gui", 100);
+
+    //runningStatePublisher = node->advertise<std_msgs::msg::String>("/runtime_gui", 100);
 }
 
 void RunTimeGui::emitRunningStateById(int id) {
-    std_msgs::String runningStateMsg;
+    //std_msgs::msg::String runningStateMsg;
+    auto runningStateMsg = std::make_shared<std_msgs::msg::String>();
     std::stringstream ss;
     ss << id;
-    runningStateMsg.data = ss.str();
-    runningStatePublisher.publish(runningStateMsg);
+    runningStateMsg->data = ss.str();
+    runningStatePublisher->publish(runningStateMsg);
 }
 
 void RunTimeGui::emitLoadFromRoot() {

src/visualstates/codegen/cpp/state.cpp

@@ -17,7 +17,7 @@
    Authors : Okan Asik ([email protected])
 
 */
-#include <visualstates/state.h>
+#include "../../../../include/visualstates/state.h"
 #include <unistd.h>
 #include <sys/time.h>
 #include <iostream>
@@ -45,14 +45,6 @@ void State::init() {
         gui->emitRunningStateById(id);
     }
 
-    // re-set the initial state as the current state
-    for (unsigned int i = 0; i < states.size(); i++) {
-        if (states.at(i)->initial) {
-            currentState = states.at(i);
-            break;
-        }
-    }
-
     if (currentState != NULL) {
         currentState->init();
     }

src/visualstates/codegen/cpp/temporaltransition.cpp

@@ -17,7 +17,7 @@
    Authors : Okan Asik ([email protected])
 
 */
-#include <visualstates/temporaltransition.h>
+#include "../../../../include/visualstates/temporaltransition.h"
 #include <sys/time.h>
 
 TemporalTransition::TemporalTransition(int id, int destinationId, int elapsedTime):

src/visualstates/codegen/cpp/test.cpp

@@ -17,9 +17,9 @@
    Authors : Okan Asik ([email protected])
 
 */
-#include <visualstates/test.h>
+#include "../../../../include/visualstates/test.h"
 #include <iostream>
-#include <easyiceconfig/EasyIce.h>
+//#include <easyiceconfig/EasyIce.h>
 #include <string>
 #include <visualstates/runtimegui.h>
 

src/visualstates/codegen/cpp/transition.cpp

@@ -17,7 +17,7 @@
    Authors : Okan Asik ([email protected])
 
 */
-#include <visualstates/transition.h>
+#include "../../../../include/visualstates/transition.h"
 
 Transition::Transition(int id, int destinationId) {
     this->id = id;

src/visualstates/codegen/python/runtimegui.py

@@ -25,7 +25,7 @@
 from visualstates.gui.tree.treemodel import TreeModel
 from visualstates.core.state import State
 from visualstates.core.transition import Transition
-from visualstates.configs.rospackage import getPackagePath
+from visualstates.configs.ros2package import getPackagePath
 
 
 class RunTimeGui(QMainWindow):

src/visualstates/codegen/python/state.py

@@ -49,11 +49,7 @@ def init(self):
         if self.gui is not None:
             self.gui.emitRunningStateById(self.id)
 
-        # reset the currentState as the initial state
-        for state in self.states:
-            if state.initial:
-                self.currentState = state
-                break
+        # also init children
         if self.currentState is not None:
             self.currentState.init()
 

src/visualstates/configs/rosconfig.py → src/visualstates/configs/ros2config.py

@@ -18,9 +18,9 @@
 
   '''
 
-from visualstates.generators.pythonrosgenerator import PythonRosGenerator
+from visualstates.generators.pythonros2generator import PythonRos2Generator
 
-class RosConfig(object):
+class Ros2Config(object):
 
     PUBLISH = 'Publish'
     SUBSCRIBE = 'Subscribe'
@@ -30,7 +30,7 @@ def __init__(self):
         self.buildDependencies = []
         self.runDependencies = []
 
-    def updateROSConfig(self, newConfig):
+    def updateROS2Config(self, newConfig):
         self.updateTopics(newConfig.topics)
         self.updateBuildDependencies(newConfig.buildDependencies)
         self.updateRunDependencies(newConfig.runDependencies)
@@ -48,9 +48,9 @@ def isTopicByName(self, topicName):
     def addTopic(self, id, topic):
         newTopic = {}
         newTopic['id'] = id
-        if topic['opType'] == RosConfig.PUBLISH:
+        if topic['opType'] == Ros2Config.PUBLISH:
             newTopic['methodname'] = topic['methodname']
-        elif topic['opType'] == RosConfig.SUBSCRIBE:
+        elif topic['opType'] == Ros2Config.SUBSCRIBE:
             newTopic['variablename'] = topic['variablename']
         newTopic['name'] = topic['name']
         newTopic['type'] = topic['type']
@@ -115,11 +115,11 @@ def createNode(self, doc):
         for t in self.topics:
             tElement = doc.createElement('topic')
             tElement.setAttribute('id', str(t['id']))
-            if t['opType'] == RosConfig.PUBLISH:
+            if t['opType'] == Ros2Config.PUBLISH:
                 methodElement = doc.createElement('methodname')
                 methodElement.appendChild(doc.createTextNode(t['methodname']))
                 tElement.appendChild(methodElement)
-            elif t['opType'] == RosConfig.SUBSCRIBE:
+            elif t['opType'] == Ros2Config.SUBSCRIBE:
                 varElement = doc.createElement('variablename')
                 varElement.appendChild(doc.createTextNode(t['variablename']))
                 tElement.appendChild(varElement)
@@ -162,13 +162,13 @@ def loadNode(self, node):
             topic['name'] = t.getElementsByTagName('name')[0].childNodes[0].nodeValue
             topic['type'] = t.getElementsByTagName('type')[0].childNodes[0].nodeValue
             topic['opType'] = t.getElementsByTagName('opType')[0].childNodes[0].nodeValue
-            if topic['opType'] == RosConfig.PUBLISH:
+            if topic['opType'] == Ros2Config.PUBLISH:
                 methodnames = t.getElementsByTagName('methodname')
                 if len(methodnames) > 0:
                     topic['methodname'] = methodnames[0].childNodes[0].nodeValue
                 else:
                     topic['methodname'] = self.getVarName(topic['name'])
-            elif topic['opType'] == RosConfig.SUBSCRIBE:
+            elif topic['opType'] == Ros2Config.SUBSCRIBE:
                 varnames = t.getElementsByTagName('variablename')
                 if len(varnames) > 0:
                     topic['variablename'] = varnames[0].childNodes[0].nodeValue