diff --git a/CHANGELOG.md b/CHANGELOG.md --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,10 @@ # Revision history for ogma-cli +## [1.0.7] - 2023-01-21 +* Version bump 1.0.7 (#69). +* Replace tabs in cabal file (#69). +* Introduce new ROS2 backend (#56). + ## [1.0.6] - 2022-11-21 * Version bump 1.0.6 (#64). diff --git a/ogma-cli.cabal b/ogma-cli.cabal --- a/ogma-cli.cabal +++ b/ogma-cli.cabal @@ -32,7 +32,7 @@ build-type: Simple name: ogma-cli -version: 1.0.6 +version: 1.0.7 homepage: http://nasa.gov license: OtherLicense license-file: LICENSE.pdf @@ -66,6 +66,11 @@ applications to make external data in structs available to a Copilot monitor. . + - Generating + + applications that use Copilot for monitoring data + received from different topics. + . The main invocation with @--help@ lists sub-commands available. . >$ ogma --help @@ -85,6 +90,7 @@ > Specification > fret-reqs-db Generate a Copilot file from a FRET Requirements > Database + > ros Generate a ROS2 monitoring application . For further information, see: . @@ -96,6 +102,8 @@ . - . . + - . + . - , Perez, Dedden and Goodloe. 2020. . - , Dutle et al. 2020. @@ -111,13 +119,14 @@ CLI.CommandCStructs2MsgHandlers CLI.CommandFretComponentSpec2Copilot CLI.CommandFretReqsDB2Copilot + CLI.CommandROSApp CLI.CommandTop CLI.Result build-depends: base >= 4.11.0.0 && < 5 , optparse-applicative - , ogma-core >= 1.0.0 && < 1.1 + , ogma-core >= 1.0.7 && < 1.1 hs-source-dirs: src diff --git a/src/CLI/CommandROSApp.hs b/src/CLI/CommandROSApp.hs new file mode 100644 --- /dev/null +++ b/src/CLI/CommandROSApp.hs @@ -0,0 +1,148 @@ +-- Copyright 2022 United States Government as represented by the Administrator +-- of the National Aeronautics and Space Administration. All Rights Reserved. +-- +-- Disclaimers +-- +-- No Warranty: THE SUBJECT SOFTWARE IS PROVIDED "AS IS" WITHOUT ANY WARRANTY +-- OF ANY KIND, EITHER EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT +-- LIMITED TO, ANY WARRANTY THAT THE SUBJECT SOFTWARE WILL CONFORM TO +-- SPECIFICATIONS, ANY IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A +-- PARTICULAR PURPOSE, OR FREEDOM FROM INFRINGEMENT, ANY WARRANTY THAT THE +-- SUBJECT SOFTWARE WILL BE ERROR FREE, OR ANY WARRANTY THAT DOCUMENTATION, IF +-- PROVIDED, WILL CONFORM TO THE SUBJECT SOFTWARE. THIS AGREEMENT DOES NOT, IN +-- ANY MANNER, CONSTITUTE AN ENDORSEMENT BY GOVERNMENT AGENCY OR ANY PRIOR +-- RECIPIENT OF ANY RESULTS, RESULTING DESIGNS, HARDWARE, SOFTWARE PRODUCTS OR +-- ANY OTHER APPLICATIONS RESULTING FROM USE OF THE SUBJECT SOFTWARE. FURTHER, +-- GOVERNMENT AGENCY DISCLAIMS ALL WARRANTIES AND LIABILITIES REGARDING +-- THIRD-PARTY SOFTWARE, IF PRESENT IN THE ORIGINAL SOFTWARE, AND DISTRIBUTES +-- IT "AS IS." +-- +-- Waiver and Indemnity: RECIPIENT AGREES TO WAIVE ANY AND ALL CLAIMS AGAINST +-- THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS +-- ANY PRIOR RECIPIENT. IF RECIPIENT'S USE OF THE SUBJECT SOFTWARE RESULTS IN +-- ANY LIABILITIES, DEMANDS, DAMAGES, EXPENSES OR LOSSES ARISING FROM SUCH USE, +-- INCLUDING ANY DAMAGES FROM PRODUCTS BASED ON, OR RESULTING FROM, RECIPIENT'S +-- USE OF THE SUBJECT SOFTWARE, RECIPIENT SHALL INDEMNIFY AND HOLD HARMLESS THE +-- UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY +-- PRIOR RECIPIENT, TO THE EXTENT PERMITTED BY LAW. RECIPIENT'S SOLE REMEDY +-- FOR ANY SUCH MATTER SHALL BE THE IMMEDIATE, UNILATERAL TERMINATION OF THIS +-- AGREEMENT. +-- +-- | CLI interface to the ROSApp subcommand. +module CLI.CommandROSApp + ( + -- * Direct command access + command + , CommandOpts + , ErrorCode + + -- * CLI + , commandDesc + , commandOptsParser + ) + where + +-- External imports +import Options.Applicative ( Parser, help, long, metavar, optional, showDefault, + strOption, value ) + +-- External imports: command results +import Command.Result ( Result ) + +-- External imports: actions or commands supported +import Command.ROSApp ( ErrorCode, rosApp ) + +-- * Command + +-- | Options needed to generate the ROS application. +data CommandOpts = CommandOpts + { rosAppTarget :: String + , rosAppFRETFile :: Maybe String + , rosAppVarNames :: Maybe String + , rosAppVarDB :: Maybe String + , rosAppHandlers :: Maybe String + } + +-- | Create (ROS) applications +-- that subscribe to obtain necessary data from topics and call Copilot when +-- new data arrives. +-- +-- This is just an uncurried version of "Command.ROSApp". +command :: CommandOpts -> IO (Result ErrorCode) +command c = + rosApp + (rosAppTarget c) + (rosAppFRETFile c) + (rosAppVarNames c) + (rosAppVarDB c) + (rosAppHandlers c) + +-- * CLI + +-- | ROS command description +commandDesc :: String +commandDesc = "Generate a ROS2 monitoring package" + +-- | Subparser for the @ros@ command, used to generate a Robot Operating System +-- application connected to Copilot monitors. +commandOptsParser :: Parser CommandOpts +commandOptsParser = CommandOpts + <$> strOption + ( long "app-target-dir" + <> metavar "DIR" + <> showDefault + <> value "ros" + <> help strROSAppDirArgDesc + ) + <*> optional + ( strOption + ( long "fret-file-name" + <> metavar "FILENAME" + <> help strROSAppFRETFileNameArgDesc + ) + ) + <*> optional + ( strOption + ( long "variable-file" + <> metavar "FILENAME" + <> help strROSAppVarListArgDesc + ) + ) + <*> optional + ( strOption + ( long "variable-db" + <> metavar "FILENAME" + <> help strROSAppVarDBArgDesc + ) + ) + <*> optional + ( strOption + ( long "handlers-file" + <> metavar "FILENAME" + <> help strROSAppHandlerListArgDesc + ) + ) + +-- | Argument target directory to ROS app generation command +strROSAppDirArgDesc :: String +strROSAppDirArgDesc = "Target directory" + +-- | Argument FRET CS to ROS app generation command +strROSAppFRETFileNameArgDesc :: String +strROSAppFRETFileNameArgDesc = + "File containing FRET Component Specification" + +-- | Argument variable list to ROS app generation command +strROSAppVarListArgDesc :: String +strROSAppVarListArgDesc = + "File containing list of ROS variables to make accessible" + +-- | Argument variable database to ROS app generation command +strROSAppVarDBArgDesc :: String +strROSAppVarDBArgDesc = + "File containing a DB of known ROS variables" + +-- | Argument handler list to ROS app generation command +strROSAppHandlerListArgDesc :: String +strROSAppHandlerListArgDesc = + "File containing list of Copilot handlers used in the specification" diff --git a/src/CLI/CommandTop.hs b/src/CLI/CommandTop.hs --- a/src/CLI/CommandTop.hs +++ b/src/CLI/CommandTop.hs @@ -91,6 +91,7 @@ import qualified CLI.CommandCStructs2MsgHandlers import qualified CLI.CommandFretComponentSpec2Copilot import qualified CLI.CommandFretReqsDB2Copilot +import qualified CLI.CommandROSApp -- * Command @@ -105,6 +106,7 @@ | CommandOptsCStructs2MsgHandlers CLI.CommandCStructs2MsgHandlers.CommandOpts | CommandOptsFretComponentSpec2Copilot CLI.CommandFretComponentSpec2Copilot.CommandOpts | CommandOptsFretReqsDB2Copilot CLI.CommandFretReqsDB2Copilot.CommandOpts + | CommandOptsROSApp CLI.CommandROSApp.CommandOpts -- * CLI @@ -121,6 +123,7 @@ <> subcommandCFSApp <> subcommandFretComponentSpec <> subcommandFretReqs + <> subcommandROSApp ) -- | Modifier for the CStruct to Copilot Struct generation subcommand, linking @@ -175,6 +178,15 @@ <$> CLI.CommandFretReqsDB2Copilot.commandOptsParser) CLI.CommandFretReqsDB2Copilot.commandDesc +-- | Modifier for the ROS app expansion subcommand, linking the subcommand +-- options and description to the command @ros@ at top level. +subcommandROSApp :: Mod CommandFields CommandOpts +subcommandROSApp = + subcommand + "ros" + (CommandOptsROSApp <$> CLI.CommandROSApp.commandOptsParser) + CLI.CommandROSApp.commandDesc + -- * Command dispatcher -- | Command dispatcher that obtains the parameters from the command line and @@ -207,6 +219,8 @@ id <$> CLI.CommandFretComponentSpec2Copilot.command c command (CommandOptsFretReqsDB2Copilot c) = id <$> CLI.CommandFretReqsDB2Copilot.command c +command (CommandOptsROSApp c) = + id <$> CLI.CommandROSApp.command c -- We indicate to HLint that the use of (id <$>) above should not trigger a -- warning. Conceptually, there is a transformation taking place, but no change diff --git a/src/Main.hs b/src/Main.hs --- a/src/Main.hs +++ b/src/Main.hs @@ -50,6 +50,9 @@ -- * Generate NASA core Flight System (cFS) applications for runtime monitoring -- using Copilot. -- +-- * Generate Robot Operating System (ROS) applications for runtime monitoring +-- using Copilot. +-- -- More information can be obtained by calling ogma with the argument @--help@. module Main ( main )