Fix Array parameters

ipa320 · Feb 7, 2024 · 4b9f44a · 4b9f44a
1 parent 6a92417
commit 4b9f44a
Show file tree

Hide file tree

Showing 79 changed files with 6,309 additions and 6,433 deletions.
diff --git a/docu/ParametersAPI.md b/docu/ParametersAPI.md
@@ -0,0 +1,85 @@
+## Parameters API
+
+The types of parameters supported by the ROS tooling are the following:
+
+* Boolean (true or false)
+* Integer 
+* Double
+* String
+* Base64
+* List 
+* Array
+* Struct
+
+and their description is allowed at ROS and ROSSystem model level. 
+
+For the complete definition of parameters the user has to open the ROS model editor, where the language format is the following:
+```
+**parameters:**
+ ParameterName:
+ **type:** ParameterType
+ **value:** ParameterValue
+```
+
+For example (for a .ros2 file):
+
+```
+test_parameters:
+ artifacts: 
+ test_parameters:
+ node: params_example 
+ parameters:
+ string_test:
+ type: String
+ bool_test:
+ type: Boolean
+ array_test:
+ type: Array [String]
+ base64_test:
+ type: Base64
+ double_test:
+ type: Double
+ integer_test:
+ type: Integer
+ list_test:
+ type: List [Integer,Integer,String]
+ array_test:
+ type: Array [String]
+ struct_test:
+ type: Struct [hello Integer, what String]
+```
+
+These parameters can be re-set at Rossystem level (that means for ROS developers, the case of the set of a new parameter value within a node include on a ROS launch file). For the tooling the format is the following:
+
+```
+- ParameterName : ParameterReferenceInRos2File
+ **value:** ParameterValue
+```
+
+Continuing the previous example, the parameters redefinition looks:
+
+```
+test:
+ nodes:
+ params_node:
+ from: "test_parameters.params_example"
+ parameters:
+ - test_s : "test_parameters::string_test"
+ value: "hello"
+ - test_b : "test_parameters::bool_test"
+ value: true
+ - test_d : "test_parameters::double_test"
+ value: 1.1
+ - test_i : "test_parameters::integer_test"
+ value: 1
+ - test_l: "test_parameters::list_test"
+ value: [1,1,"hello"]
+ - test_a: "test_parameters::array_test"
+ value: ["hello", "hola", "hallo"]
+ - test_st: "test_parameters::struct_test"
+ value: [
+ hello: 1 
+ what: "test"]
+```
+The model definition of parameters is also consider for the autogeneration of launch files and the component interfaces. Complementarily, and because of the complexity of the format, the .ros, the .componentinterface and the .rossystem language validators contain rules to check that the value given to the parameter has the correct type and also help messages that together with the auto-complete function (Ctrl+Space) facilitate to the user the creation of parameters.
+
diff --git a/docu/RosModelDescription.md b/docu/RosModelDescription.md
@@ -140,6 +140,17 @@ The only remarkable difference with the ROS 1 model is that the quality of servi
 - profile: default_qos / sensor_qos / services_qos/ parameter_qos
 - reliability: best_effort / reliable
 
+The type of supported parameters are:
+- Boolean 
+- Double
+- String
+- Integer
+- Base64
+- List [Type, Type]
+- Array [Type]
+- Struct [Name Type, Name Type]
+
+For more details please check the following [examples](ParametersAPI.md).
 
 See the following example for the [arucos_ros](https://github.com/pal-robotics/aruco_ros) driver:
 
@@ -188,4 +199,4 @@ The textual editor contains checker embedded, for example:
 
 It incorporates also the auto-complete function. This is available by pressing **Ctrl** + the space bar:
 
-![alt text](images/RosModelAutocomplete.gif)
+![alt text](images/RosModelAutocomplete.gif)
diff --git a/...ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/BasicsParser.java b/...ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/BasicsParser.java
@@ -73,7 +73,7 @@ private static void init(ImmutableMap.Builder<AbstractElement, String> builder,
  builder.put(grammarAccess.getParameterAnyTypeAccess().getGroup(), "rule__ParameterAnyType__Group__0");
  builder.put(grammarAccess.getParameterAnyTypeAccess().getGroup_2(), "rule__ParameterAnyType__Group_2__0");
  builder.put(grammarAccess.getParameterArrayTypeAccess().getGroup(), "rule__ParameterArrayType__Group__0");
- builder.put(grammarAccess.getParameterArrayTypeAccess().getGroup_3(), "rule__ParameterArrayType__Group_3__0");
+ builder.put(grammarAccess.getParameterArrayTypeAccess().getGroup_4(), "rule__ParameterArrayType__Group_4__0");
  builder.put(grammarAccess.getParameterListAccess().getGroup(), "rule__ParameterList__Group__0");
  builder.put(grammarAccess.getParameterListAccess().getGroup_3(), "rule__ParameterList__Group_3__0");
  builder.put(grammarAccess.getParameterAnyAccess().getGroup(), "rule__ParameterAny__Group__0");
@@ -137,7 +137,7 @@ private static void init(ImmutableMap.Builder<AbstractElement, String> builder,
  builder.put(grammarAccess.getParameterBase64TypeAccess().getDefaultAssignment_2_1(), "rule__ParameterBase64Type__DefaultAssignment_2_1");
  builder.put(grammarAccess.getParameterAnyTypeAccess().getDefaultAssignment_2_1(), "rule__ParameterAnyType__DefaultAssignment_2_1");
  builder.put(grammarAccess.getParameterArrayTypeAccess().getTypeAssignment_2(), "rule__ParameterArrayType__TypeAssignment_2");
- builder.put(grammarAccess.getParameterArrayTypeAccess().getDefaultAssignment_3_1(), "rule__ParameterArrayType__DefaultAssignment_3_1");
+ builder.put(grammarAccess.getParameterArrayTypeAccess().getDefaultAssignment_4_1(), "rule__ParameterArrayType__DefaultAssignment_4_1");
  builder.put(grammarAccess.getParameterListAccess().getValueAssignment_2(), "rule__ParameterList__ValueAssignment_2");
  builder.put(grammarAccess.getParameterListAccess().getValueAssignment_3_1(), "rule__ParameterList__ValueAssignment_3_1");
  builder.put(grammarAccess.getParameterAnyAccess().getValueAssignment_2_1(), "rule__ParameterAny__ValueAssignment_2_1");

diff --git a/...er.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/RosParser.java b/...er.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/RosParser.java
@@ -117,7 +117,7 @@ private static void init(ImmutableMap.Builder<AbstractElement, String> builder,
  builder.put(grammarAccess.getParameterAnyTypeAccess().getGroup(), "rule__ParameterAnyType__Group__0");
  builder.put(grammarAccess.getParameterAnyTypeAccess().getGroup_2(), "rule__ParameterAnyType__Group_2__0");
  builder.put(grammarAccess.getParameterArrayTypeAccess().getGroup(), "rule__ParameterArrayType__Group__0");
- builder.put(grammarAccess.getParameterArrayTypeAccess().getGroup_3(), "rule__ParameterArrayType__Group_3__0");
+ builder.put(grammarAccess.getParameterArrayTypeAccess().getGroup_4(), "rule__ParameterArrayType__Group_4__0");
  builder.put(grammarAccess.getParameterListAccess().getGroup(), "rule__ParameterList__Group__0");
  builder.put(grammarAccess.getParameterListAccess().getGroup_3(), "rule__ParameterList__Group_3__0");
  builder.put(grammarAccess.getParameterAnyAccess().getGroup(), "rule__ParameterAny__Group__0");
@@ -229,7 +229,7 @@ private static void init(ImmutableMap.Builder<AbstractElement, String> builder,
  builder.put(grammarAccess.getParameterBase64TypeAccess().getDefaultAssignment_2_1(), "rule__ParameterBase64Type__DefaultAssignment_2_1");
  builder.put(grammarAccess.getParameterAnyTypeAccess().getDefaultAssignment_2_1(), "rule__ParameterAnyType__DefaultAssignment_2_1");
  builder.put(grammarAccess.getParameterArrayTypeAccess().getTypeAssignment_2(), "rule__ParameterArrayType__TypeAssignment_2");
- builder.put(grammarAccess.getParameterArrayTypeAccess().getDefaultAssignment_3_1(), "rule__ParameterArrayType__DefaultAssignment_3_1");
+ builder.put(grammarAccess.getParameterArrayTypeAccess().getDefaultAssignment_4_1(), "rule__ParameterArrayType__DefaultAssignment_4_1");
  builder.put(grammarAccess.getParameterListAccess().getValueAssignment_2(), "rule__ParameterList__ValueAssignment_2");
  builder.put(grammarAccess.getParameterListAccess().getValueAssignment_3_1(), "rule__ParameterList__ValueAssignment_3_1");
  builder.put(grammarAccess.getParameterAnyAccess().getValueAssignment_2_1(), "rule__ParameterAny__ValueAssignment_2_1");

diff --git a/...ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/internal/InternalBasicsParser.g b/...ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/internal/InternalBasicsParser.g
@@ -49,13 +49,13 @@ import de.fraunhofer.ipa.ros.services.BasicsGrammarAccess;
  tokenNameToValue.put("Node", "'node'");
  tokenNameToValue.put("Time", "'time'");
  tokenNameToValue.put("Type", "'type'");
+ tokenNameToValue.put("Array", "'Array'");
  tokenNameToValue.put("Int16", "'int16'");
  tokenNameToValue.put("Int32", "'int32'");
  tokenNameToValue.put("Int64", "'int64'");
  tokenNameToValue.put("Type_1", "'type:'");
  tokenNameToValue.put("Uint8", "'uint8'");
  tokenNameToValue.put("Value", "'value'");
- tokenNameToValue.put("Array", "'Array:'");
  tokenNameToValue.put("Base64", "'Base64'");
  tokenNameToValue.put("Double", "'Double'");
  tokenNameToValue.put("Header", "'Header'");
@@ -4083,9 +4083,9 @@ rule__ParameterArrayType__Group__0__Impl
  }
 :
 (
- { before(grammarAccess.getParameterArrayTypeAccess().getBEGINTerminalRuleCall_0()); }
- RULE_BEGIN
- { after(grammarAccess.getParameterArrayTypeAccess().getBEGINTerminalRuleCall_0()); }
+ { before(grammarAccess.getParameterArrayTypeAccess().getArrayKeyword_0()); }
+ Array
+ { after(grammarAccess.getParameterArrayTypeAccess().getArrayKeyword_0()); }
 )
 ;
 finally {
@@ -4110,9 +4110,9 @@ rule__ParameterArrayType__Group__1__Impl
  }
 :
 (
- { before(grammarAccess.getParameterArrayTypeAccess().getArrayKeyword_1()); }
- Array
- { after(grammarAccess.getParameterArrayTypeAccess().getArrayKeyword_1()); }
+ { before(grammarAccess.getParameterArrayTypeAccess().getLeftSquareBracketKeyword_1()); }
+ LeftSquareBracket
+ { after(grammarAccess.getParameterArrayTypeAccess().getLeftSquareBracketKeyword_1()); }
 )
 ;
 finally {
@@ -4164,9 +4164,9 @@ rule__ParameterArrayType__Group__3__Impl
  }
 :
 (
- { before(grammarAccess.getParameterArrayTypeAccess().getGroup_3()); }
- (rule__ParameterArrayType__Group_3__0)?
- { after(grammarAccess.getParameterArrayTypeAccess().getGroup_3()); }
+ { before(grammarAccess.getParameterArrayTypeAccess().getRightSquareBracketKeyword_3()); }
+ RightSquareBracket
+ { after(grammarAccess.getParameterArrayTypeAccess().getRightSquareBracketKeyword_3()); }
 )
 ;
 finally {
@@ -4190,63 +4190,63 @@ rule__ParameterArrayType__Group__4__Impl
  }
 :
 (
- { before(grammarAccess.getParameterArrayTypeAccess().getENDTerminalRuleCall_4()); }
- RULE_END
- { after(grammarAccess.getParameterArrayTypeAccess().getENDTerminalRuleCall_4()); }
+ { before(grammarAccess.getParameterArrayTypeAccess().getGroup_4()); }
+ (rule__ParameterArrayType__Group_4__0)?
+ { after(grammarAccess.getParameterArrayTypeAccess().getGroup_4()); }
 )
 ;
 finally {
  restoreStackSize(stackSize);
 }
 
 
-rule__ParameterArrayType__Group_3__0
+rule__ParameterArrayType__Group_4__0
  @init {
  int stackSize = keepStackSize();
  }
 :
- rule__ParameterArrayType__Group_3__0__Impl
- rule__ParameterArrayType__Group_3__1
+ rule__ParameterArrayType__Group_4__0__Impl
+ rule__ParameterArrayType__Group_4__1
 ;
 finally {
  restoreStackSize(stackSize);
 }
 
-rule__ParameterArrayType__Group_3__0__Impl
+rule__ParameterArrayType__Group_4__0__Impl
  @init {
  int stackSize = keepStackSize();
  }
 :
 (
- { before(grammarAccess.getParameterArrayTypeAccess().getDefaultKeyword_3_0()); }
+ { before(grammarAccess.getParameterArrayTypeAccess().getDefaultKeyword_4_0()); }
  Default
- { after(grammarAccess.getParameterArrayTypeAccess().getDefaultKeyword_3_0()); }
+ { after(grammarAccess.getParameterArrayTypeAccess().getDefaultKeyword_4_0()); }
 )
 ;
 finally {
  restoreStackSize(stackSize);
 }
 
-rule__ParameterArrayType__Group_3__1
+rule__ParameterArrayType__Group_4__1
  @init {
  int stackSize = keepStackSize();
  }
 :
- rule__ParameterArrayType__Group_3__1__Impl
+ rule__ParameterArrayType__Group_4__1__Impl
 ;
 finally {
  restoreStackSize(stackSize);
 }
 
-rule__ParameterArrayType__Group_3__1__Impl
+rule__ParameterArrayType__Group_4__1__Impl
  @init {
  int stackSize = keepStackSize();
  }
 :
 (
- { before(grammarAccess.getParameterArrayTypeAccess().getDefaultAssignment_3_1()); }
- (rule__ParameterArrayType__DefaultAssignment_3_1)
- { after(grammarAccess.getParameterArrayTypeAccess().getDefaultAssignment_3_1()); }
+ { before(grammarAccess.getParameterArrayTypeAccess().getDefaultAssignment_4_1()); }
+ (rule__ParameterArrayType__DefaultAssignment_4_1)
+ { after(grammarAccess.getParameterArrayTypeAccess().getDefaultAssignment_4_1()); }
 )
 ;
 finally {
@@ -6870,15 +6870,15 @@ finally {
  restoreStackSize(stackSize);
 }
 
-rule__ParameterArrayType__DefaultAssignment_3_1
+rule__ParameterArrayType__DefaultAssignment_4_1
  @init {
  int stackSize = keepStackSize();
  }
 :
  (
- { before(grammarAccess.getParameterArrayTypeAccess().getDefaultParameterListParserRuleCall_3_1_0()); }
+ { before(grammarAccess.getParameterArrayTypeAccess().getDefaultParameterListParserRuleCall_4_1_0()); }
  ruleParameterList
- { after(grammarAccess.getParameterArrayTypeAccess().getDefaultParameterListParserRuleCall_3_1_0()); }
+ { after(grammarAccess.getParameterArrayTypeAccess().getDefaultParameterListParserRuleCall_4_1_0()); }
  )
 ;
 finally {