Merge branch 'release-1.4.0'. Refs #145.

.github/workflows/repo-ghc-8.6-cabal-2.4-ros.yml

@@ -0,0 +1,54 @@
+name: ros-ghc-8.6-cabal-2.4
+
+# Trigger the workflow on push or pull request
+on:
+  - pull_request
+  - push
+
+jobs:
+  cabal:
+    name: ${{ matrix.os }} / ghc ${{ matrix.ghc }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest]
+        cabal: ["2.4"]
+        ghc:
+          - "8.6"
+
+    steps:
+
+    - uses: haskell-actions/setup@main
+      id: setup-haskell-cabal
+      name: Setup Haskell
+      with:
+        ghc-version: ${{ matrix.ghc }}
+        cabal-version: ${{ matrix.cabal }}
+
+    - name: Prepare environment
+      run: |
+        echo "$HOME/.ghcup/bin" >> $GITHUB_PATH
+        echo "$HOME/.cabal/bin" >> $GITHUB_PATH
+
+    - uses: actions/checkout@v4
+
+    - name: Create sandbox
+      run: |
+        echo "$PWD/.cabal-sandbox/bin" >> $GITHUB_PATH
+        cabal v1-sandbox init
+
+    - name: Install dependencies
+      run: |
+        cabal v1-install alex happy
+
+    - name: Install ogma
+      run: |
+        cabal v1-install copilot ogma-**/ --constraint="copilot >= 3.19.1"
+
+    - name: Generate ROS app
+      run: |
+        ogma ros --app-target-dir demo --variable-db ogma-cli/examples/ros-copilot/vars-db --variable-file ogma-cli/examples/ros-copilot/variables --handlers-file ogma-cli/examples/ros-copilot/handlers
+        cabal v1-exec -- runhaskell ogma-cli/examples/ros-copilot/ROS.hs
+        find demo/
+        cd demo/
+        docker build .

.github/workflows/repo-ghc-8.6-cabal-2.4.yml

@@ -0,0 +1,63 @@
+name: install-hackage-ghc-8.6-cabal-2.4
+
+# Trigger the workflow on push or pull request
+on:
+  - pull_request
+  - push
+
+jobs:
+  cabal:
+    name: ${{ matrix.os }} / ghc ${{ matrix.ghc }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest]
+        cabal: ["2.4"]
+        ghc:
+          - "8.6"
+
+    steps:
+
+    - uses: haskell-actions/setup@main
+      id: setup-haskell-cabal
+      name: Setup Haskell
+      with:
+        ghc-version: ${{ matrix.ghc }}
+        cabal-version: ${{ matrix.cabal }}
+
+    - name: Prepare environment
+      run: |
+        echo "$HOME/.ghcup/bin" >> $GITHUB_PATH
+        echo "$HOME/.cabal/bin" >> $GITHUB_PATH
+
+    - uses: actions/checkout@v4
+
+    - name: Create sandbox
+      run: |
+        echo "$PWD/.cabal-sandbox/bin" >> $GITHUB_PATH
+        cabal v1-sandbox init
+
+    - name: Install dependencies
+      run: |
+        cabal v1-install alex happy
+
+    - name: Install ogma
+      run: |
+        # Some tests need the ogma executable to be in the path, which won't
+        # happen until installation completes successfully (which only happens
+        # after tests if running tests is enabled). We therefore need to run
+        # the installation twice: once without --run-tests, and again with
+        # --run-tests.
+        #
+        # We still --enable-tests in the first compilation to make sure that
+        # the dependencies do not change and cabal does not change the
+        # installation plan (which would mean we'd be running the tests with a
+        # version of ogma compiled with different dependencies).
+        cabal v1-install ogma-**/ --enable-tests
+
+    - name: Test all packages
+      run: |
+        # We want to document the build process, and get detailed information
+        # if there is a problem (or if all goes well). We therefore execute the
+        # installation with -j1.
+        cabal v1-install ogma-**/ --enable-tests --run-tests -j1

ogma-cli/CHANGELOG.md

@@ -1,5 +1,13 @@
 # Revision history for ogma-cli
 
+## [1.4.0] - 2024-05-21
+
+* Version bump 1.4.0 (#145).
+* Introduce CI test job (#139).
+* Introduce test job for ROS package generation (#136).
+* Add a float and a double input variable to ROS example (#138).
+* Document format of variable DB (#143).
+
 ## [1.3.0] - 2024-03-21
 
 * Version bump 1.3.0 (#133).

ogma-cli/README.md

@@ -214,13 +214,51 @@ $ ogma ros --handlers filename --variable-file variables --variable-db ros-varia
 
 The application generated by Ogma contains the following files:
 ```
-ros_demo/CMakeLists.txt
-ros_demo/src/copilot_monitor.cpp
-ros_demo/src/copilot_logger.cpp
-ros_demo/src/.keep
-ros_demo/package.xml
+ros_demo/copilot/CMakeLists.txt
+ros_demo/copilot/src/copilot_monitor.cpp
+ros_demo/copilot/src/copilot_logger.cpp
+ros_demo/copilot/src/.keep
+ros_demo/copilot/package.xml
+ros_demo/Dockerfile
 ```
 
+The Dockerfile can be used to compile the application inside the base image for
+the Space ROS distribution. To build the image, first place the core
+implementation of the monitors in C inside the directory
+`ros_demo/copilot/src/` (see 'Current limitations' for details). After, you can
+compile the image with:
+```
+docker build .
+```
+
+### Format of the Variables DB File
+
+The argument variable DB passed to the ROS backend should contain a list of
+variables, together with their types and the corresponding ROS topic in which
+those variables are passed. Each line in that file has the format:
+
+```
+("<NAME>","<TYPE>","<TOPIC_NAME>","<RESERVED_FOR_FUTURE_USE>")
+```
+
+For example, an input variable called "temperature" of type 64-bit signed
+integer coming in a ROS topic called "/battery/temperature" should have a
+matching entry in the variable DB file like the following:
+
+```
+("temperature","int64_t","/battery/temperature","ignore")
+```
+
+There should never be two lines in the same file with the same variable name.
+Variables in the DB that are not not used in any of the properties being
+monitored and/or are not listed in the variable file passed as argument to the
+ROS command will be ignored.
+
+For a more concrete example, see the files in `ogma-cli/examples/ros-copilot/`
+and the last step of the script
+`.github/workflows/repo-ghc-8.6-cabal-2.4-ros.yml`, which generates a ROS
+monitor with multiple variables and compiles the resulting code.
+
 ### Current limitations
 
 The user must place the code generated by Copilot monitors in two files,

ogma-cli/examples/ros-copilot/ROS.hs

@@ -0,0 +1,28 @@
+import Copilot.Compile.C99
+import Copilot.Language
+import Language.Copilot    (reify)
+import Prelude             hiding (not, (&&), (>=))
+
+inputSignal :: Stream Int64
+inputSignal = extern "input_signal" Nothing
+
+inputSignalFloat :: Stream Float
+inputSignalFloat = extern "input_signal_float" Nothing
+
+inputSignalDouble :: Stream Double
+inputSignalDouble = extern "input_signal_double" Nothing
+
+propTestCopilot :: Stream Bool
+propTestCopilot = inputSignal >= 5
+               && inputSignalFloat >= 5
+               && inputSignalDouble >= 5
+
+spec :: Spec
+spec = do
+  trigger "handlerTestCopilot" (not propTestCopilot) []
+
+main :: IO ()
+main = reify spec >>= compileWith settings "monitor"
+  where
+    settings = mkDefaultCSettings
+                 { cSettingsOutputDirectory = "demo/copilot/src/" }

ogma-cli/examples/ros-copilot/handlers

@@ -0,0 +1 @@
+handlerTestCopilot

ogma-cli/examples/ros-copilot/variables

@@ -0,0 +1,3 @@
+input_signal
+input_signal_float
+input_signal_double

ogma-cli/examples/ros-copilot/vars-db

@@ -0,0 +1,3 @@
+("input_signal","int64_t","/demo/topic","int64_t")
+("input_signal_float","float","/demo/topicf","float")
+("input_signal_double","double","/demo/topicd","double")

ogma-cli/ogma-cli.cabal

@@ -32,7 +32,7 @@ cabal-version:       2.0
 build-type:          Simple
 
 name:                ogma-cli
-version:             1.3.0
+version:             1.4.0
 homepage:            http://nasa.gov
 license:             OtherLicense
 license-file:        LICENSE.pdf
@@ -141,7 +141,7 @@ executable ogma
   build-depends:
       base                 >= 4.11.0.0 && < 5
     , optparse-applicative
-    , ogma-core            >= 1.3.0 && < 1.4
+    , ogma-core            >= 1.4.0 && < 1.5
 
   hs-source-dirs:
     src

ogma-core/CHANGELOG.md

@@ -1,5 +1,11 @@
 # Revision history for ogma-core
 
+## [1.4.0] - 2024-05-21
+
+* Version bump 1.4.0 (#145).
+* Make ros command generate dockerfile (#136).
+* Map float and double to the same types in C++ (#138).
+
 ## [1.3.0] - 2024-03-21
 
 * Version bump 1.3.0 (#133).

ogma-core/ogma-core.cabal

@@ -32,7 +32,7 @@ cabal-version:       2.0
 build-type:          Simple
 
 name:                ogma-core
-version:             1.3.0
+version:             1.4.0
 homepage:            http://nasa.gov
 license:             OtherLicense
 license-file:        LICENSE.pdf
@@ -60,9 +60,10 @@ data-files:          templates/copilot-cfs/CMakeLists.txt
                      templates/copilot-cfs/fsw/src/copilot_cfs_version.h
                      templates/copilot-cfs/fsw/src/copilot_cfs.h
                      templates/copilot-cfs/fsw/src/copilot_cfs_events.h
-                     templates/ros/CMakeLists.txt
-                     templates/ros/src/.keep
-                     templates/ros/package.xml
+                     templates/ros/Dockerfile
+                     templates/ros/copilot/CMakeLists.txt
+                     templates/ros/copilot/src/.keep
+                     templates/ros/copilot/package.xml
                      templates/fprime/CMakeLists.txt
                      templates/fprime/Dockerfile
                      templates/fprime/instance-copilot
@@ -109,13 +110,13 @@ library
     , IfElse
     , mtl
 
-    , ogma-extra              >= 1.3.0 && < 1.4
-    , ogma-language-c         >= 1.3.0 && < 1.4
-    , ogma-language-cocospec  >= 1.3.0 && < 1.4
-    , ogma-language-copilot   >= 1.3.0 && < 1.4
-    , ogma-language-jsonspec  >= 1.3.0 && < 1.4
-    , ogma-language-smv       >= 1.3.0 && < 1.4
-    , ogma-spec               >= 1.3.0 && < 1.4
+    , ogma-extra              >= 1.4.0 && < 1.5
+    , ogma-language-c         >= 1.4.0 && < 1.5
+    , ogma-language-cocospec  >= 1.4.0 && < 1.5
+    , ogma-language-copilot   >= 1.4.0 && < 1.5
+    , ogma-language-jsonspec  >= 1.4.0 && < 1.5
+    , ogma-language-smv       >= 1.4.0 && < 1.5
+    , ogma-spec               >= 1.4.0 && < 1.5
 
   hs-source-dirs:
     src

ogma-core/src/Command/ROSApp.hs

@@ -136,15 +136,15 @@ rosApp' targetDir varNames varDB monitors =
           foldr f ([], [], [], []) varNames
 
     let rosFileName =
-          targetDir </> "src" </> "copilot_monitor.cpp"
+          targetDir </> "copilot" </> "src" </> "copilot_monitor.cpp"
         rosFileContents =
           unlines $
             rosMonitorContents varNames vars ids infos datas monitors
 
     writeFile rosFileName rosFileContents
 
     let rosFileName =
-          targetDir </> "src" </> "copilot_logger.cpp"
+          targetDir </> "copilot" </> "src" </> "copilot_logger.cpp"
         rosFileContents =
           unlines $
             rosLoggerContents varNames vars ids infos datas monitors
@@ -403,8 +403,8 @@ rosMonitorContents varNames variables msgIds msgNames msgDatas monitors =
           "int16_t"  -> "std::int16_t"
           "int32_t"  -> "std::int32_t"
           "int64_t"  -> "std::int64_t"
-          "float"    -> "std::float32"
-          "double"   -> "std::float64"
+          "float"    -> "float"
+          "double"   -> "double"
           def        -> def
 
     msgSubscriptionS     = unlines

ogma-core/templates/ros/Dockerfile

@@ -0,0 +1,16 @@
+FROM osrf/space-ros:latest
+
+ARG USER=spaceros-user
+ARG PACKAGE_PATH=/home/${USER}/monitors
+ARG ROS_PATH=/home/${USER}/spaceros/
+
+RUN mkdir -p ${PACKAGE_PATH}/src/
+ADD copilot ${PACKAGE_PATH}/src/copilot
+USER root
+RUN chown -R ${USER} ${PACKAGE_PATH}
+USER ${USER}
+
+SHELL ["/bin/bash", "-c"]
+WORKDIR ${PACKAGE_PATH}
+RUN source ${ROS_PATH}/install/setup.bash && \
+    colcon build

ogma-extra/CHANGELOG.md

@@ -1,5 +1,9 @@
 # Revision history for ogma-extra
 
+## [1.4.0] - 2024-05-21
+
+* Version bump 1.4.0 (#145).
+
 ## [1.3.0] - 2024-03-21
 
 * Version bump 1.3.0 (#133).