/*
* <launch>
* <node name="sample_device" pkg="sample_device" type="sample_device.py" respawn="true" respawn_delay="4" >
* <param name="telnet_host" value="192.168.1.116"/>
* <param name="telnet_port" value="2001"/>
*
* <param name="rate" value="10"/>
* <param name="read_timeout" value="4"/>
* </node>
* </launch>
*/
private LaunchFileDocument GenerateLaunchFile(Configuration device)
{
var launchFile = new LaunchFileDocument();
var node = new NodeElement
{
Name = device.Name,
Pkg = "sample_device",
Type = "sample_device.py",
Output = "screen"
};
node.SetRespawnSettings(device.Respawn, device.RespawnDelay);
node.AddParam("telnet_host", value: device.Host);
node.AddParam("telnet_port", value: XmlConvert.ToString(device.Port));
node.AddParam("rate", value: XmlConvert.ToString(device.Rate));
node.AddParam("read_timeout", value: XmlConvert.ToString(device.ReadTimeout));
launchFile.AddNode(node);
return(launchFile);
}
protected override void GenerateInternal(IRosvitaRuntime runtime, IConfiguration configuration, IGeneratorContext context, IGeneratorMessageCollection messages)
{
var project = runtime.Project.Current;
if (project == null)
{
throw new XamlaException("Project must not be null.", XamlaError.ArgumentNull);
}
// find matching components for this generator
var deviceConfigurations = configuration.Where(x => x.ConfigurationType == Configuration.ConfigurationType)
.OfType <IStandardComponent>()
.Select(x => (Configuration)x.GetConfiguration())
.Where(x => x.Enabled)
.ToList();
foreach (var device in deviceConfigurations)
{
LaunchFileDocument launchFile = GenerateLaunchFile(device);
string launchFilename = $"sample_device_{device.Name}.launch";
string launchTempFilePath = Path.Combine(context.TempOutputDirecotry, launchFilename);
string launchFilePath = Path.Combine(context.FinalOutputDirecotry, launchFilename);
launchFile.Save(launchTempFilePath);
context.LaunchFilesToInclude.Add(launchFilePath);
if (device.EnableSystemMonitoring)
{
context.SysMonElements.Add(new SystemMonitorNode {
Name = device.Name, Timeout = Math.Max(2.0, 2.0 / device.Rate), Type = SystemMonitorNodeType.Heartbeat
});
}
messages.AddInfo(this, $"Launch file'{project.MakeRelative(launchFilePath)}' written.");
}
}