Merge branch 'release-1.9.0'. Refs #284.

Author: ivanperez-keera

ogma-cli/CHANGELOG.md

@@ -1,5 +1,11 @@
 # Revision history for ogma-cli
 
+## [1.9.0] - 2025-08-06
+
+* Version bump 1.9.0 (#284).
+* Extend ROS command with flags to control testing package (#280).
+* Bump upper version constraint on optparse-applicative (#279).
+
 ## [1.8.0] - 2025-07-13
 
 * Version bump 1.8.0 (#275).

ogma-cli/ogma-cli.cabal

@@ -32,7 +32,7 @@ cabal-version:       2.0
 build-type:          Simple
 
 name:                ogma-cli
-version:             1.8.0
+version:             1.9.0
 homepage:            https://github.com/nasa/ogma
 bug-reports:         https://github.com/nasa/ogma/issues
 license:             OtherLicense
@@ -152,11 +152,11 @@ executable ogma
   build-depends:
       base                 >= 4.11.0.0 && < 5
     , aeson                >= 2.0.0.0  && < 2.3
-    , optparse-applicative >= 0.14     && < 0.19
+    , optparse-applicative >= 0.14     && < 0.20
     , microstache          >= 1.0      && < 1.1
     , text                 >= 1.2.3.1  && < 2.2
 
-    , ogma-core            >= 1.8.0 && < 1.9
+    , ogma-core            >= 1.9.0 && < 1.10
 
   hs-source-dirs:
     src

ogma-cli/src/CLI/CommandROSApp.hs

@@ -43,7 +43,7 @@ module CLI.CommandROSApp
   where
 
 -- External imports
-import Options.Applicative ( Parser, help, long, metavar, optional, short,
+import Options.Applicative ( Parser, help, long, metavar, many, optional, short,
                              showDefault, strOption, value )
 
 -- External imports: command results
@@ -68,6 +68,8 @@ data CommandOpts = CommandOpts
   , rosAppPropFormat   :: String
   , rosAppPropVia      :: Maybe String
   , rosAppTemplateVars :: Maybe String
+  , rosAppTestingApps  :: [String]
+  , rosAppTestingVars  :: [String]
   }
 
 -- | Create <https://www.ros.org/ Robot Operating System> (ROS) applications
@@ -90,8 +92,17 @@ command c = Command.ROSApp.command options
                 , Command.ROSApp.commandPropFormat  = rosAppPropFormat c
                 , Command.ROSApp.commandPropVia     = rosAppPropVia c
                 , Command.ROSApp.commandExtraVars   = rosAppTemplateVars c
+                , Command.ROSApp.commandTestingApps = appNames
+                , Command.ROSApp.commandTestingVars = rosAppTestingVars c
                 }
 
+    -- Turn the qualified app names into tuples of package and node name.
+    appNames = map splitAppName $ rosAppTestingApps c
+
+    splitAppName name = Command.ROSApp.Node package (drop 1 nodeT)
+      where
+        (package, nodeT) = break (== ':') name
+
 -- * CLI
 
 -- | ROS command description
@@ -181,6 +192,19 @@ commandOptsParser = CommandOpts
             <> help strROSAppTemplateVarsArgDesc
             )
         )
+  <*> many (strOption
+              (  long "testing-app"
+              <> metavar "package:node"
+              <> help strROSAppROSNodesTestingListArgDesc
+              )
+           )
+  <*> many (strOption
+              (  long "testing-vars"
+              <> metavar "variable_name"
+              <> showDefault
+              <> help strROSAppHandlerListArgDesc
+              )
+           )
 
 -- | Argument target directory to ROS app generation command
 strROSAppDirArgDesc :: String
@@ -232,3 +256,13 @@ strROSAppPropViaDesc =
 strROSAppTemplateVarsArgDesc :: String
 strROSAppTemplateVarsArgDesc =
   "JSON file containing additional variables to expand in template"
+
+-- | Argument packages to tested list to ROS app generation command
+strROSAppROSNodesTestingListArgDesc :: String
+strROSAppROSNodesTestingListArgDesc =
+  "Turn on ROS2 package node during testing"
+
+-- | Argument variables to be tested list to ROS app generation command
+strROSAppVarsTestingListArgDesc :: String
+strROSAppVarsTestingListArgDesc =
+  "Limit random input generation to these variables"

ogma-core/CHANGELOG.md

@@ -1,5 +1,10 @@
 # Revision history for ogma-core
 
+## [1.9.0] - 2025-08-06
+
+* Version bump 1.9.0 (#284).
+* Extend ROS backend to generate testing package (#280).
+
 ## [1.8.0] - 2025-07-13
 
 * Version bump 1.8.0 (#275).

ogma-core/ogma-core.cabal

@@ -32,7 +32,7 @@ cabal-version:       2.0
 build-type:          Simple
 
 name:                ogma-core
-version:             1.8.0
+version:             1.9.0
 homepage:            https://github.com/nasa/ogma
 bug-reports:         https://github.com/nasa/ogma/issues
 license:             OtherLicense
@@ -69,11 +69,15 @@ data-files:          templates/copilot-cfs/CMakeLists.txt
                      templates/copilot-cfs/fsw/src/copilot_cfs.h
                      templates/copilot-cfs/fsw/src/copilot_cfs_events.h
                      templates/ros/Dockerfile
+                     templates/ros/screenrc
                      templates/ros/copilot/CMakeLists.txt
                      templates/ros/copilot/src/copilot_logger.cpp
                      templates/ros/copilot/src/copilot_monitor.cpp
                      templates/ros/copilot/src/Copilot.hs
                      templates/ros/copilot/package.xml
+                     templates/ros/test_requirements/CMakeLists.txt
+                     templates/ros/test_requirements/src/test_requirements.cpp
+                     templates/ros/test_requirements/package.xml
                      templates/diagram/Copilot.hs
                      templates/fprime/CMakeLists.txt
                      templates/fprime/Copilot.cpp
@@ -148,16 +152,16 @@ library
     , process                 >= 1.6      && < 1.7
     , text                    >= 1.2.3.1  && < 2.2
 
-    , ogma-extra              >= 1.8.0 && < 1.9
-    , ogma-language-c         >= 1.8.0 && < 1.9
-    , ogma-language-copilot   >= 1.8.0 && < 1.9
-    , ogma-language-csv       >= 1.8.0 && < 1.9
-    , ogma-language-jsonspec  >= 1.8.0 && < 1.9
-    , ogma-language-lustre    >= 1.8.0 && < 1.9
-    , ogma-language-smv       >= 1.8.0 && < 1.9
-    , ogma-language-xlsx      >= 1.8.0 && < 1.9
-    , ogma-language-xmlspec   >= 1.8.0 && < 1.9
-    , ogma-spec               >= 1.8.0 && < 1.9
+    , ogma-extra              >= 1.9.0 && < 1.10
+    , ogma-language-c         >= 1.9.0 && < 1.10
+    , ogma-language-copilot   >= 1.9.0 && < 1.10
+    , ogma-language-csv       >= 1.9.0 && < 1.10
+    , ogma-language-jsonspec  >= 1.9.0 && < 1.10
+    , ogma-language-lustre    >= 1.9.0 && < 1.10
+    , ogma-language-smv       >= 1.9.0 && < 1.10
+    , ogma-language-xlsx      >= 1.9.0 && < 1.10
+    , ogma-language-xmlspec   >= 1.9.0 && < 1.10
+    , ogma-spec               >= 1.9.0 && < 1.10
 
   hs-source-dirs:
     src

ogma-core/src/Command/ROSApp.hs

@@ -44,6 +44,7 @@
 module Command.ROSApp
     ( command
     , CommandOptions(..)
+    , Node(Node)
     , ErrorCode
     )
   where
@@ -119,10 +120,18 @@ command' options (ExprPair exprT) = do
                      (map (\x -> (x, Nothing)))
                      rs
 
-    let appData   = AppData variables monitors' copilotM
+    let appData =
+          AppData variables monitors' copilotM testingAdditionalApps testingVars
+
         variables = mapMaybe (variableMap varDB) varNames
         monitors' = mapMaybe (monitorMap varDB) monitors
 
+        testingVars
+          | null testingLimitedVars
+          = variables
+          | otherwise
+          = filter (\x -> varDeclName x `elem` testingLimitedVars) variables
+
     return appData
 
   where
@@ -145,6 +154,9 @@ command' options (ExprPair exprT) = do
     processSpec spec' expr' fp' =
       Command.Standalone.commandLogic expr' fp' "copilot" [] exprT spec'
 
+    testingAdditionalApps = commandTestingApps options
+    testingLimitedVars    = commandTestingVars options
+
 -- ** Argument processing
 
 -- | Options used to customize the conversion of specifications to ROS
@@ -174,6 +186,10 @@ data CommandOptions = CommandOptions
   , commandExtraVars   :: Maybe FilePath -- ^ File containing additional
                                          -- variables to make available to the
                                          -- template.
+  , commandTestingApps :: [Node]         -- ^ Additional applications to turn
+                                         -- on during testing.
+  , commandTestingVars :: [String]       -- ^ Limited list of variables to use
+                                         -- for testing.
   }
 
 -- | Return the variable information needed to generate declarations
@@ -192,7 +208,7 @@ variableMap varDB varName = do
   let typeMsg' = fromMaybe
                    (topicType topicDef)
                    (typeFromType <$> findType varDB varName "ros/message" "C")
-  return $ VarDecl varName typeVar' mid typeMsg'
+  return $ VarDecl varName typeVar' mid typeMsg' (randomBaseType typeVar')
 
 -- | Return the monitor information needed to generate declarations and
 -- publishers for the given monitor info, and variable database.
@@ -212,6 +228,7 @@ data VarDecl = VarDecl
     , varDeclType    :: String
     , varDeclId      :: String
     , varDeclMsgType :: String
+    , varDeclRandom  :: String
     }
   deriving Generic
 
@@ -228,12 +245,40 @@ data Monitor = Monitor
 
 instance ToJSON Monitor
 
+-- | A package-qualified ROS 2 node name.
+data Node = Node
+    { nodePackage :: String
+    , nodeName    :: String
+    }
+  deriving Generic
+
+instance ToJSON Node
+
 -- | Data that may be relevant to generate a ROS application.
 data AppData = AppData
-  { variables :: [VarDecl]
-  , monitors  :: [Monitor]
-  , copilot   :: Maybe Command.Standalone.AppData
+  { variables        :: [VarDecl]
+  , monitors         :: [Monitor]
+  , copilot          :: Maybe Command.Standalone.AppData
+  , testingApps      :: [Node]
+  , testingVariables :: [VarDecl]
   }
   deriving (Generic)
 
 instance ToJSON AppData
+
+-- | Name of the function to be used to generate random values of a given type.
+randomBaseType :: String -- ^ Type to generate random values of.
+               -> String
+randomBaseType ty = case ty of
+  "bool"     -> "randomBool"
+  "uint8_t"  -> "randomInt"
+  "uint16_t" -> "randomInt"
+  "uint32_t" -> "randomInt"
+  "uint64_t" -> "randomInt"
+  "int8_t"   -> "randomInt"
+  "int16_t"  -> "randomInt"
+  "int32_t"  -> "randomInt"
+  "int64_t"  -> "randomInt"
+  "float"    -> "randomFloat"
+  "double"   -> "randomFloat"
+  def        -> def

ogma-core/templates/ros/Dockerfile

@@ -6,11 +6,19 @@ ARG ROS_PATH=/home/${USER}/spaceros/
 
 RUN mkdir -p ${PACKAGE_PATH}/src/
 ADD copilot ${PACKAGE_PATH}/src/copilot
+ADD test_requirements ${PACKAGE_PATH}/src/test_requirements
 USER root
 RUN chown -R ${USER} ${PACKAGE_PATH}
 USER ${USER}
 
 SHELL ["/bin/bash", "-c"]
 WORKDIR ${PACKAGE_PATH}
 RUN source /opt/spaceros/install/setup.bash && \
-    colcon build
+    colcon build --packages-select copilot           --install-base /opt/spaceros/install/ && \
+    colcon build --packages-select test_requirements --install-base /opt/spaceros/install/
+
+ADD screenrc /home/spaceros-user/.screenrc
+USER root
+ADD screenrc /root/.screenrc
+RUN chown -R spaceros-user /home/spaceros-user/.screenrc
+USER spaceros-user

ogma-core/templates/ros/screenrc

@@ -0,0 +1,19 @@
+deflogin off
+startup_message off
+
+chdir /demo
+screen -t "Copilot RV" bash -c 'bash --init-file <(echo "source /home/spaceros-user/spaceros/install/setup.bash; set -x; ros2 run copilot copilot")'
+
+{{#testingApps}}
+split
+focus
+screen -t "{{nodeName}}" bash -c 'bash --init-file <(echo "source /home/spaceros-user/spaceros/install/setup.bash; set -x; ros2 run {{nodePackage}} {{nodeName}}")'
+
+{{/testingApps}}
+split
+focus
+screen -t "Requirements testing" bash -c 'sleep 2; bash --init-file <( echo "source /home/spaceros-user/spaceros/install/setup.bash; set -x; ros2 run test_requirements test_requirements")'
+
+split
+focus
+screen -t "<interactive shell>" bash -c 'bash --init-file <(echo "echo This is an interactive shell. Send data to topics with ros2 topic pub \<type\> \<data\>; source /home/spaceros-user/spaceros/install/setup.bash")'

ogma-core/templates/ros/test_requirements/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.8)
+project(test_requirements)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# Uncomment to enable compiling the requirement tests
+add_executable(test_requirements src/test_requirements.cpp)
+ament_target_dependencies(test_requirements rclcpp std_msgs)
+
+install(TARGETS
+  test_requirements
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ogma-core/templates/ros/test_requirements/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>test_requirements</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>