Merge pull request #1 from convince-project/dev

Update with HL-SCXML and topics

Author: SofiaFaraci

code/CMakeLists.txt CMakeLists.txtcode/CMakeLists.txt renamed to CMakeLists.txt

@@ -27,6 +27,7 @@ target_sources( ${PROJECT_NAME} PRIVATE
   ${CMAKE_CURRENT_SOURCE_DIR}/src/Data.cpp 
   ${CMAKE_CURRENT_SOURCE_DIR}/src/strManipulation.cpp 
   ${CMAKE_CURRENT_SOURCE_DIR}/src/Replacer.cpp 
+  ${CMAKE_CURRENT_SOURCE_DIR}/src/Translator.cpp 
   ${CMAKE_CURRENT_SOURCE_DIR}/src/ExtractFromXML.cpp 
   ${CMAKE_CURRENT_SOURCE_DIR}/src/ExtractFromElement.cpp 
   )

README.md

@@ -2,7 +2,7 @@
 
 > Please access the documentation via [convince-project.github.io/model2code](https://convince-project.github.io/model2code/)
 
-MODEL2CODE is a tool that generates CPP code from a SCXML model.
+MODEL2CODE is a tool that generates a ROS package with C++ code from a ROS-flavoured SCXML model.
 
 ## Installation
 
@@ -12,37 +12,45 @@ MODEL2CODE has been tested on Ubuntu 22.04 with Python 3.10.12.
 
 MODEL2CODE requires the following dependencies:
 
-* [TinyXML2](https://github.com/leethomason/tinyxml2/) (Tested with v10.0.0)
+* [TinyXML2](https://github.com/leethomason/tinyxml2/) (Tested with v10.0.0) for XML file handling.
 
 To install see [TinyXML2 Installation](https://github.com/leethomason/tinyxml2/tree/master?tab=readme-ov-file#building-tinyxml-2---using-vcpkg)
 
 ## Compiling
-To compile the code run the following commands
+To compile the code run the following commands:
 ```
 git clone https://github.com/convince-project/model2code.git
-cd model2code/code
+cd model2code
 mkdir build
 cd build
 cmake ../code
 make install
 ```
 
 ## Execution
-To run the `model2code` tool you need three different files:
-- An SCXML file with your state machine
-- An XML file with the definition of your model
-- An XML file with the definition of your interfaces
-- A directory containing the templates of the files to generate
+To run the `model2code` tool, you will need the following:
+- An SCXML file with the state machine of the model;
+- An XML file defining the model of your project;
+- An XML file defining the interfaces of your project;
+- A directory containing templates for the files to be generated.
 
 To run the `model2code` tool use the following command
 ```
-model2code --input_filename "input_filename.scxml" --model_filename "model_filename.scxml" --interface_filename "interface_filename.scxml" --output_path "path/to/output/directory" --template_path "path/to/template_skill/directory"
+model2code --input_filename "input_model.scxml" --model_filename "project_model_definition.xml" --interface_filename "interface_definition.xml" --output_path "path/to/output/directory" --template_path "path/to/template_skill/directory"
 ```
-replace `input_filename.scxml`, `model_filename.scxml`, `interface_filename.scxml`, `path/to/output/directory` and `path/to/template_skill/directory` with your needs.
-By default the `path/to/output/directory` is set to the location of `input_filename.scxml` and `path/to/template_skill/directory` is set to the 'templates/skills/template_skill' directory of this repository.
+replace `input_model.scxml`, `project_model_definition.scxml`, `interface_definition.scxml`, `path/to/output/directory` and `path/to/template_skill/directory` with your needs.
+
+By default the `path/to/output/directory` is set to the location of `input_model.scxml`, and `path/to/template_skill/directory` is set to the 'templates/skills/template_skill' directory of this repository.
+
+Example XML files with the required structure for defining the project's model and interfaces are available in the `template/specifications` folder.
 
 ## Run examples
 To run an example of MODEL2CODE go to the main directory and run the following commands:
+Example 1:
+```
+model2code --input_filename "tutorials/skills/first_tutorial_skill/src/FirstTutorialSkill.scxml" --model_filename "templates/specifications/full-model.xml" --interface_filename "templates/specifications/interfaces.xml" --output_path "tutorials/skills/first_tutorial_skill"
 ```
-model2code --input_filename "templates/skills/first_template_skill/src/FirstTemplateSkillSM.scxml" --model_filename "templates/specifications/full-model.xml" --interface_filename "templates/specifications/interfaces.xml"
+Example 2:
 ```
+model2code --input_filename "tutorials/skills/second_tutorial_skill/src/SecondTutorialSkill.scxml" --model_filename "templates/specifications/full-model.xml" --interface_filename "templates/specifications/interfaces.xml"
+```

docs/source/index.rst

@@ -1,38 +1,34 @@
 CONVINCE model2code Documentation
 ==================================
-The tool is developed as part of the CONVINCE project and is mainly used to generate skill-level code starting from an SCXML model.
+The model2code tool is developed as part of the CONVINCE project and is used to generate skill-level code from the high-level SCXML model of a skill.
 
-The inputs of the program are: 
+Program inputs: 
 
-- an SCXML model that describes the behavior of the skill,
-- an XML file that describes the full model of the program, which includes the behavior tree, the skills and the components used in the system,
-- an XML file that describes the interfaces used between behavior tree and skills, and between skills and components,
-- a directory containing the templates of the files to generate.
+- An SCXML model that describes the behavior of the skill,
+- An XML file that outlines the full model of the program, including the behavior tree, skills, and components used in the system.
+- An XML file that specifies the interfaces between the behavior tree and skills, as well as between skills and components.
+- A directory containing templates for the files to be generated.
 
-The output of the program is composed of:
+Program outputs:
 
-- a C++ file that contains the code of the skill,
-- a header file that contains the declaration of the skill,
-- a main C++ file that contains the main function of the skill,
-- a package.xml file that contains the information of the ROS package,
-- a CMakeLists.txt file that includes the generated files.
+- A C++ file containing skill code.
+- A header file declaring the skill.
+- A main C++ file that includes the main function of the skill.
+- A package.xml file with information about the ROS package.
+- A CMakeLists.txt file that incorporates the generated files.
 
-The output above is only if the data model is ECMAscript, otherwise, you will need to add the parameter ``--datamodel_mode`` to generate the C++ data model files. 
-In this case, you will get 2 additional files:
 
-- a C++ file that contains the code of the data model,
-- a header file that contains the declaration of the data model. 
+Required parameters:
 
+- ``--input_filename``: The path to the SCXML file that describes the behavior of the skill.
+- ``--model_filename``: The path to the XML file that describes the full model of the program.
+- ``--interface_filename``: The path to the XML file that describes the interfaces used.
 
-The parameters required to run the program are:
+By default, the program generates the code in the same directory as the SCXML file specified by the ``--input_filename`` parameter. However, you can select a different output directory by using the ``--output_path`` parameter.
 
-- ``--input_filename`` : the path to the SCXML file that describes the behavior of the skill,
-- ``--model_filename`` : the path to the XML file that describes the full model of the program,
-- ``--interface_filename`` : the path to the XML file that describes the interfaces used.
+Additionally, the program uses files from the ``templates`` directory by default to generate the code, but you can specify a different directory with the ``--templates_path`` parameter.
 
-By default the program will generate the code in the directory where the SCXML file passed by the parameter ``--input_filename`` is located, but you can specify a different directory by using the parameter ``--output_path``.
-
-The skills generated are based on a behavior tree structure and will have a ROS2 tick service in case they are a condition a ROS2 tick and halt services in case they are an action.
+The generated skills are based on a behavior tree structure. Skills defined as conditions will have a ROS2 tick service, while skills defined as actions will have both tick and halt services.
 
 Contents
 ----------

code/include/Data.h include/Data.hcode/include/Data.h renamed to include/Data.h

@@ -68,6 +68,7 @@ struct eventDataStr{
 
 struct fileDataStr{
     std::string inputFileName;
+    std::string inputFileNameGeneration;
     std::string interfaceFileName;
     std::string modelFileName;
     std::string outputPath;
@@ -80,8 +81,11 @@ struct fileDataStr{
     std::string outputDatamodelFileNameCPP;
     std::string outputFileNameH;
     std::string outputFileNameCPP;
+    std::string outputFileTranslatedSM;
     bool debug_mode;
     bool datamodel_mode;   
+    bool translate_mode;   
+    bool generate_mode;   
 };
 
 struct templateFileDataStr{
@@ -103,6 +107,11 @@ struct savedCodeStr{
     std::string interfaceCMake;
     std::string packageCMake;
     std::string interfaceXML;
+    std::string topicSubscriptionC;
+    std::string topicCallbackC;  
+    std::string topicSubscriptionH;
+    std::string topicCallbackH; 
+    std::string topicInterfaceH; 
 };
 
 struct cppCodeStr

code/include/ExtractFromElement.h include/ExtractFromElement.hcode/include/ExtractFromElement.h renamed to include/ExtractFromElement.h

@@ -18,7 +18,7 @@
  * @param fileData file data structure passed by reference from which the event data is extracted
  * @param eventData event data structure passed by reference where the event data is stored
  */
-void getEventData(fileDataStr fileData, eventDataStr& eventData);
+bool getEventData(fileDataStr fileData, eventDataStr& eventData);
 
 /**
  * @brief Get the Event Data from the vector of event elements
@@ -27,7 +27,7 @@ void getEventData(fileDataStr fileData, eventDataStr& eventData);
  * @param elementsTransition vector of transition event elements
  * @param elementsSend vector of send event elements
  */
-void getEventsVecData(fileDataStr fileData, const std::vector<tinyxml2::XMLElement*> elementsTransition, const std::vector<tinyxml2::XMLElement*> elementsSend);
+bool getEventsVecData(fileDataStr fileData, const std::vector<tinyxml2::XMLElement*> elementsTransition, const std::vector<tinyxml2::XMLElement*> elementsSend);
 
 /**
  * @brief function to keep or delete the sections of the code related to the Command Tick event
@@ -95,6 +95,9 @@ void replaceEventCode(std::map <std::string, std::string>& codeMap);
  */
 bool readTemplates(templateFileDataStr& templateFileData, std::map <std::string, std::string>& codeMap);
 
+
+bool createDirectory(const std::string& path);
+
 /**
  * @brief main function to get the code from template files and replace the placeholders with the data from the input file
  * 

code/include/ExtractFromXML.h include/ExtractFromXML.hcode/include/ExtractFromXML.h renamed to include/ExtractFromXML.h

@@ -0,0 +1,44 @@
+// SPDX-FileCopyrightText: 2024 Humanoid Sensing and Perception, Istituto Italiano di Tecnologia
+// SPDX-License-Identifier:  APACHE-2.0
+
+/**
+ * @file Translator.h
+ * @brief This file contains the functions to translate the High-Level CONVINCE XML to the compilable SCXML used for code generation.
+ * @version 0.1
+ * @date 2024-09-18
+ * 
+ */
+#include "Replacer.h"
+#include <fstream>
+
+/**
+ * @brief Deletes a specific attribute of a given XML element
+ * 
+ * @param element element from which to delete the attribute
+ * @param attribute attribute name to be deleted
+ * @return bool
+ */
+bool deleteElementAttribute(tinyxml2::XMLElement* element, const std::string& attribute);
+
+/**
+ * @brief Deletes a specific attribute from all elements in a vector
+ * 
+ * @param elements vector of elements from which to delete the attribute
+ * @param attribute attribute name to be deleted
+ * @return bool Returns true if at least one attribute was successfully deleted, false otherwise
+ */
+bool deleteElementAttributeFromVector(std::vector<tinyxml2::XMLElement*>& elements, const std::string& attribute);
+
+/**
+ * @brief
+ * 
+ * @param 
+ */
+bool readHLXMLFile(tinyxml2::XMLDocument& doc, const std::string fileName);
+
+/**
+ * @brief
+ * 
+ * @param 
+ */
+bool Translator(fileDataStr& fileData);