diff --git a/CHANGELOG.md b/CHANGELOG.md --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,30 @@ # Revision history for ogma-core +## [1.16.0] - 2026-09-21 + +* Version bump (1.16.0) (#606). +* Replace adhoc function `mergeMaybe` with function from `base` (#516). +* Fix malformed comments (#518). +* Remove unnecessary line breaks (#520). +* Add missing periods to Haddock comments (#524). +* Fix spelling of F Prime (#526). +* Replace explicit recursion with calls to `base:Control.Monad.foldM` (#532). +* Add valid Haddock documentation to all top-level functions (#542). +* Bump upper version constraints on `QuickCheck`, `megaparsec` (#545). +* Make `Dockerfile` base image in default ROS 2 template customizable (#548). +* Allow for inputs to be deeply nested fields in ROS 2 template (#547). +* Adjust ROS 2 `Dockerfile` to run `rosdep init` only when needed (#561). +* Fix incorrect creation of two instances of ROS 2 monitoring node (#564). +* Increase detail in template expansion error messages (#390). +* Use path prefixes to specify path resolution context in project files (#567). +* Update `Dockerfile` in ROS 2 template for Space ROS `jazzy-2026.07.0` (#569). +* Introduce default input format configuration files (#575). +* Address HLint suggestions (#586). +* Remove unused imports (#590). +* Remove unused pragma (#600). +* De-duplicate cFS application data (#602). +* Fix `Command.Common.mergeSpecs` to avoid dropping externs (#551). + ## [1.15.0] - 2026-07-21 * Version bump (1.15.0) (#508). diff --git a/data/formats/default_literal b/data/formats/default_literal new file mode 100644 --- /dev/null +++ b/data/formats/default_literal @@ -0,0 +1,15 @@ +JSONFormat + { specInternalVars = Just "..auxiliary_defs[*]" + , specInternalVarId = ".name" + , specInternalVarExpr = ".meaning" + , specInternalVarType = Just ".type" + , specExternalVars = Just "..inputs[*]" + , specExternalVarId = ".name" + , specExternalVarType = Just ".type" + , specRequirements = "..properties[*]" + , specRequirementId = ".id" + , specRequirementDesc = Just ".description" + , specRequirementExpr = ".formula" + , specRequirementResultType = Nothing + , specRequirementResultExpr = Nothing + } diff --git a/data/formats/default_lustre b/data/formats/default_lustre new file mode 100644 --- /dev/null +++ b/data/formats/default_lustre @@ -0,0 +1,15 @@ +JSONFormat + { specInternalVars = Just "..auxiliary_defs[*]" + , specInternalVarId = ".name" + , specInternalVarExpr = ".meaning" + , specInternalVarType = Just ".type" + , specExternalVars = Just "..inputs[*]" + , specExternalVarId = ".name" + , specExternalVarType = Just ".type" + , specRequirements = "..properties[*]" + , specRequirementId = ".id" + , specRequirementDesc = Just ".description" + , specRequirementExpr = ".formula" + , specRequirementResultType = Nothing + , specRequirementResultExpr = Nothing + } diff --git a/data/formats/default_smv b/data/formats/default_smv new file mode 100644 --- /dev/null +++ b/data/formats/default_smv @@ -0,0 +1,15 @@ +JSONFormat + { specInternalVars = Just "..auxiliary_defs[*]" + , specInternalVarId = ".name" + , specInternalVarExpr = ".meaning" + , specInternalVarType = Just ".type" + , specExternalVars = Just "..inputs[*]" + , specExternalVarId = ".name" + , specExternalVarType = Just ".type" + , specRequirements = "..properties[*]" + , specRequirementId = ".id" + , specRequirementDesc = Just ".description" + , specRequirementExpr = ".formula" + , specRequirementResultType = Nothing + , specRequirementResultExpr = Nothing + } diff --git a/ogma-core.cabal b/ogma-core.cabal --- a/ogma-core.cabal +++ b/ogma-core.cabal @@ -19,7 +19,7 @@ build-type: Simple name: ogma-core -version: 1.15.0 +version: 1.16.0 homepage: https://github.com/nasa/ogma bug-reports: https://github.com/nasa/ogma/issues license: Apache-2.0 @@ -76,6 +76,9 @@ templates/fprime/instance-copilot templates/report/Report.md templates/standalone/Copilot.hs + data/formats/default_smv + data/formats/default_literal + data/formats/default_lustre data/formats/fcs_smv data/formats/fcs_lustre data/formats/fdb_smv @@ -160,23 +163,23 @@ , filepath >= 1.4.2 && < 1.6 , graphviz >= 2999.20 && < 2999.21 , hint >= 0.9.0 && < 1.10 - , megaparsec >= 8.0.0 && < 9.8 + , megaparsec >= 8.0.0 && < 9.9 , mtl >= 2.2.2 && < 2.4 , process >= 1.6 && < 1.7 , text >= 1.2.3.1 && < 2.2 , vector >= 0.12.0.1 && < 0.14 , yaml >= 0.11.7.0 && < 0.12 - , ogma-extra >= 1.15.0 && < 1.16 - , ogma-language-c >= 1.15.0 && < 1.16 - , ogma-language-copilot >= 1.15.0 && < 1.16 - , ogma-language-csv >= 1.15.0 && < 1.16 - , ogma-language-jsonspec >= 1.15.0 && < 1.16 - , ogma-language-lustre >= 1.15.0 && < 1.16 - , ogma-language-smv >= 1.15.0 && < 1.16 - , ogma-language-xlsx >= 1.15.0 && < 1.16 - , ogma-language-xmlspec >= 1.15.0 && < 1.16 - , ogma-spec >= 1.15.0 && < 1.16 + , ogma-extra >= 1.16.0 && < 1.17 + , ogma-language-c >= 1.16.0 && < 1.17 + , ogma-language-copilot >= 1.16.0 && < 1.17 + , ogma-language-csv >= 1.16.0 && < 1.17 + , ogma-language-jsonspec >= 1.16.0 && < 1.17 + , ogma-language-lustre >= 1.16.0 && < 1.17 + , ogma-language-smv >= 1.16.0 && < 1.17 + , ogma-language-xlsx >= 1.16.0 && < 1.17 + , ogma-language-xmlspec >= 1.16.0 && < 1.17 + , ogma-spec >= 1.16.0 && < 1.17 hs-source-dirs: src @@ -198,7 +201,7 @@ base >= 4.11.0.0 && < 5 , directory >= 1.3.1.5 && < 1.4 , HUnit >= 1.2.0.0 && < 1.7 - , QuickCheck >= 2.8.2 && < 2.17 + , QuickCheck >= 2.8.2 && < 2.19 , test-framework >= 0.8.2 && < 0.9 , test-framework-hunit >= 0.2.0 && < 0.4 , test-framework-quickcheck2 >= 0.3.0.4 && < 0.4 diff --git a/src/Command/CFSApp.hs b/src/Command/CFSApp.hs --- a/src/Command/CFSApp.hs +++ b/src/Command/CFSApp.hs @@ -36,11 +36,12 @@ where -- External imports -import Control.Applicative ( liftA2, (<|>) ) +import Control.Applicative ( (<|>) ) import qualified Control.Exception as E import Control.Monad.Except ( ExceptT (..), liftEither, throwError ) import Data.Aeson ( ToJSON (..), Value ) +import Data.List ( nub ) import Data.Maybe ( fromMaybe, mapMaybe, maybeToList ) import GHC.Generics ( Generic ) @@ -49,14 +50,15 @@ -- Internal imports: auxiliary import Command.Result ( Result (..) ) +import Data.Either.Extra ( mapLeft ) import Data.List.Extra ( stripSuffix ) import Data.String.Extra ( pascalCase ) import System.Directory.Extra ( copyTemplate ) -- Internal imports -import Command.Common (InputFile (..), cannotCopyTemplate, +import Command.Common (InputFile (..), cannotCopyTemplateF, checkArguments, combineInputFiles, - locateTemplateDir, makeLeftE, + locateTemplateDir, openVarDBFilesWithDefault, parseInputFile, parseRequirementsListFile, @@ -89,7 +91,7 @@ let subst = mergeObjects (toJSON appData) templateVars -- Expand template - ExceptT $ fmap (makeLeftE cannotCopyTemplate) $ E.try $ + ExceptT $ fmap (mapLeft cannotCopyTemplateF) $ E.try $ copyTemplate templateDir subst targetDir where @@ -99,6 +101,8 @@ functions = exprPair (commandPropFormat options) templateVarsF = commandExtraVars options +-- | Generate application data describing core elements of a new cFS +-- application that implements the input requirements or diagrams. command' :: CommandOptions -> ExprPair -> ExceptT ErrorTriplet IO AppData @@ -110,7 +114,7 @@ specT <- maybe (return Nothing) - (\e -> Just . InputFileSpec <$> readInputExpr' e) + (fmap (Just . InputFileSpec) . readInputExpr') cExpr specF <- if null fpA @@ -128,8 +132,7 @@ mode <- parseDiagramMode (commandDiagramMode options) - copilotM <- sequenceA $ - (\spec' -> processSpec spec' cExpr fpA mode) <$> spec + copilotM <- traverse (\spec' -> processSpec spec' cExpr fpA mode) spec let varNames = fromMaybe (defaultVarNames spec) vs monitors = maybe (defaultMonitors spec) (map (\x -> (x, Nothing))) rs @@ -156,8 +159,8 @@ readInputFile' f = parseInputFile f formatName propFormatName propVia exprT - processSpec spec' expr' fp' mode = - Command.Standalone.commandLogic expr' fp' "copilot" [] exprT spec' mode + processSpec spec' expr' fp' = + Command.Standalone.commandLogic expr' fp' "copilot" [] exprT spec' defaultVarNames spec = case spec of Just (InputFileSpec spec') -> specExtractExternalVariables (Just spec') @@ -180,10 +183,17 @@ -> [Trigger] -> Maybe Command.Standalone.AppData -> AppData -commandLogic varDB varNames handlers copilotM = - AppData vars ids infos datas handlers copilotM +commandLogic varDB varNames triggers = + AppData vars' ids' infos' datas' triggers' + where + vars' = nub vars + ids' = nub ids + infos' = nub infos + datas' = nub datas + triggers' = nub triggers + -- This is a Data.List.unzip4 (vars, ids, infos, datas) = foldr f ([], [], [], []) varNames @@ -245,7 +255,7 @@ active = inputActive inputDef - let typeVar' = fromMaybe (topicType topicDef) (typeToType <$> typeDef) + let typeVar' = maybe (topicType topicDef) typeToType typeDef -- Pick name for the function to process a message ID. let mn = pascalCase $ stripSuffix "_MID" mid @@ -272,7 +282,7 @@ { varDeclName :: String , varDeclType :: String } - deriving (Generic) + deriving (Eq, Generic) instance ToJSON VarDecl @@ -286,7 +296,7 @@ , msgInfoDesc :: String , msgInfoExtra :: Value } - deriving (Generic) + deriving (Eq, Generic) instance ToJSON MsgInfo @@ -300,7 +310,7 @@ , msgDataVarType :: String , msgDataActive :: Bool } - deriving (Generic) + deriving (Eq, Generic) instance ToJSON MsgData @@ -310,7 +320,7 @@ , triggerType :: Maybe String , triggerMsgType :: Maybe String } - deriving (Generic) + deriving (Eq, Generic) instance ToJSON Trigger diff --git a/src/Command/Common.hs b/src/Command/Common.hs --- a/src/Command/Common.hs +++ b/src/Command/Common.hs @@ -1,5 +1,4 @@ {-# LANGUAGE ExistentialQuantification #-} -{-# LANGUAGE OverloadedStrings #-} {-# LANGUAGE ScopedTypeVariables #-} -- Copyright 2022 United States Government as represented by the Administrator -- of the National Aeronautics and Space Administration. All Rights Reserved. @@ -32,8 +31,7 @@ , specExtractExternalVariables , specExtractHandlers , processResult - , cannotCopyTemplate - , makeLeftE + , cannotCopyTemplateF , locateTemplateDir ) where @@ -47,8 +45,9 @@ import System.FilePath (()) -- External imports: auxiliary -import Data.ByteString.Extra as B (safeReadFile) -import Data.String.Extra (sanitizeLCIdentifier, sanitizeUCIdentifier) +import Data.ByteString.Extra as B (safeReadFile) +import Data.String.Extra (sanitizeLCIdentifier, sanitizeUCIdentifier) +import System.Directory.Extra (CopyTemplateException(..)) -- External imports: ogma import Data.OgmaSpec (Requirement (..), Spec (..), externalVariableName, @@ -98,7 +97,7 @@ mergeSpecs :: Spec a -> Spec a -> Spec a mergeSpecs s1 s2 = Spec { internalVariables = internalVariables s1 ++ internalVariables s2 - , externalVariables = externalVariables s2 ++ externalVariables s2 + , externalVariables = externalVariables s1 ++ externalVariables s2 , requirements = requirements s1 ++ requirements s2 } @@ -157,7 +156,7 @@ parseRequirementsListFile Nothing = return Nothing parseRequirementsListFile (Just fp) = ExceptT $ makeLeftE (cannotOpenHandlersFile fp) <$> - (E.try $ Just . lines <$> readFile fp) + E.try (Just . lines <$> readFile fp) -- | Read a list of variable DBs. openVarDBFiles :: VariableDB @@ -226,9 +225,8 @@ -- | Extract the variables from a specification, and sanitize them. specExtractExternalVariables :: Maybe (Spec a) -> [String] specExtractExternalVariables Nothing = [] -specExtractExternalVariables (Just cs) = map sanitizeLCIdentifier - $ map externalVariableName - $ externalVariables cs +specExtractExternalVariables (Just cs) = + map (sanitizeLCIdentifier . externalVariableName) $ externalVariables cs -- | Extract the requirements from a specification, and sanitize them to match -- the names of the handlers used by Copilot. @@ -313,14 +311,12 @@ -- | Exception handler to deal with the case of files that cannot be -- copied/generated due lack of space or permissions or some I/O error. -cannotCopyTemplate :: ErrorTriplet -cannotCopyTemplate = - ErrorTriplet ecCannotCopyTemplate msg LocationNothing +cannotCopyTemplateF :: CopyTemplateException -> ErrorTriplet +cannotCopyTemplateF e = + ErrorTriplet ecCannotCopyTemplate (msg ++ show e) LocationNothing where msg = - "Generation failed during copy/write operation. Check that" - ++ " there's free space in the disk and that you have the necessary" - ++ " permissions to write in the destination directory." + "Generation failed during copy/write operation: " -- ** Error codes diff --git a/src/Command/Diagram.hs b/src/Command/Diagram.hs --- a/src/Command/Diagram.hs +++ b/src/Command/Diagram.hs @@ -187,7 +187,7 @@ exprPair Inputs = ExprPair $ ExprPairT ((Right . read) :: String -> Either String Int) - (\_ -> id) + (const id) (\x -> "input == " ++ show x) (const []) (-1) diff --git a/src/Command/FPrimeApp.hs b/src/Command/FPrimeApp.hs --- a/src/Command/FPrimeApp.hs +++ b/src/Command/FPrimeApp.hs @@ -1,6 +1,5 @@ {-# LANGUAGE DeriveGeneric #-} {-# LANGUAGE ExistentialQuantification #-} -{-# LANGUAGE OverloadedStrings #-} {-# LANGUAGE ScopedTypeVariables #-} -- Copyright 2022 United States Government as represented by the Administrator -- of the National Aeronautics and Space Administration. All Rights Reserved. @@ -19,7 +18,7 @@ -- License for the specific language governing permissions and limitations -- under the License. -- --- | Create components that subscribe +-- | Create components that subscribe -- to obtain data and call Copilot when new values arrive. {- HLINT ignore "Functor law" -} @@ -31,7 +30,7 @@ where -- External imports -import Control.Applicative ( liftA2, (<|>) ) +import Control.Applicative ( (<|>) ) import qualified Control.Exception as E import Control.Monad.Except ( ExceptT(..), liftEither ) import Data.Aeson ( ToJSON, toJSON ) @@ -40,6 +39,7 @@ import GHC.Generics ( Generic ) -- External imports: auxiliary +import Data.Either.Extra ( mapLeft ) import System.Directory.Extra ( copyTemplate ) import qualified Command.Standalone @@ -48,9 +48,9 @@ import Command.Result (Result (..)) -- Internal imports -import Command.Common (InputFile (..), cannotCopyTemplate, +import Command.Common (InputFile (..), cannotCopyTemplateF, checkArguments, combineInputFiles, - locateTemplateDir, makeLeftE, + locateTemplateDir, openVarDBFilesWithDefault, parseInputFile, parseRequirementsListFile, @@ -67,7 +67,7 @@ import Data.Spec.Parser (readInputExpr) import Language.Trans.Diagram2Copilot (DiagramMode (..)) --- | Generate a new FPrime component connected to Copilot. +-- | Generate a new F Prime component connected to Copilot. command :: CommandOptions -- ^ Options to the ROS backend. -> IO (Result ErrorCode) command options = processResult $ do @@ -81,7 +81,7 @@ let subst = mergeObjects (toJSON appData) templateVars -- Expand template - ExceptT $ fmap (makeLeftE cannotCopyTemplate) $ E.try $ + ExceptT $ fmap (mapLeft cannotCopyTemplateF) $ E.try $ copyTemplate templateDir subst targetDir where @@ -91,6 +91,8 @@ functions = exprPair (commandPropFormat options) templateVarsF = commandExtraVars options +-- | Generate application data describing core elements of a new F Prime +-- component that implements the input requirements or diagrams. command' :: CommandOptions -> ExprPair -> ExceptT ErrorTriplet IO AppData @@ -102,7 +104,7 @@ specT <- maybe (return Nothing) - (\e -> Just . InputFileSpec <$> readInputExpr' e) + (fmap (Just . InputFileSpec). readInputExpr') cExpr specF <- if null fpA @@ -118,7 +120,7 @@ liftEither $ checkArguments spec vs rs - copilotM <- sequenceA $ (\spec' -> processSpec spec' cExpr fpA) <$> spec + copilotM <- traverse (\spec' -> processSpec spec' cExpr fpA) spec let varNames = fromMaybe (defaultVarNames spec) vs monitors = maybe (defaultMonitors spec) (map (\x -> (x, Nothing))) rs diff --git a/src/Command/Overview.hs b/src/Command/Overview.hs --- a/src/Command/Overview.hs +++ b/src/Command/Overview.hs @@ -1,6 +1,5 @@ {-# LANGUAGE DeriveGeneric #-} {-# LANGUAGE ExistentialQuantification #-} -{-# LANGUAGE OverloadedStrings #-} {-# LANGUAGE ScopedTypeVariables #-} -- Copyright 2024 United States Government as represented by the Administrator -- of the National Aeronautics and Space Administration. All Rights Reserved. @@ -202,7 +201,7 @@ instance ToJSON CommandSummaryDiagram -- | Options used to customize the interpretation of input specifications. -data CommandOptions = CommandOptions +newtype CommandOptions = CommandOptions { commandInputFiles :: [ OverviewFile ] } diff --git a/src/Command/ROSApp.hs b/src/Command/ROSApp.hs --- a/src/Command/ROSApp.hs +++ b/src/Command/ROSApp.hs @@ -1,6 +1,5 @@ {-# LANGUAGE DeriveGeneric #-} {-# LANGUAGE ExistentialQuantification #-} -{-# LANGUAGE OverloadedStrings #-} {-# LANGUAGE ScopedTypeVariables #-} -- Copyright 2022 United States Government as represented by the Administrator -- of the National Aeronautics and Space Administration. All Rights Reserved. @@ -36,7 +35,7 @@ where -- External imports -import Control.Applicative (liftA2, (<|>)) +import Control.Applicative ((<|>)) import qualified Control.Exception as E import Control.Monad.Except (ExceptT (..), liftEither) import Data.Aeson (ToJSON (..)) @@ -49,12 +48,13 @@ import qualified Command.Standalone -- Internal imports: auxiliary -import Command.Result (Result (..)) +import Command.Result ( Result (..) ) +import Data.Either.Extra ( mapLeft ) -- Internal imports -import Command.Common (InputFile (..), cannotCopyTemplate, +import Command.Common (InputFile (..), cannotCopyTemplateF, checkArguments, combineInputFiles, - locateTemplateDir, makeLeftE, + locateTemplateDir, openVarDBFilesWithDefault, parseInputFile, parseRequirementsListFile, @@ -87,7 +87,7 @@ let subst = mergeObjects (toJSON appData) templateVars -- Expand template - ExceptT $ fmap (makeLeftE cannotCopyTemplate) $ E.try $ + ExceptT $ fmap (mapLeft cannotCopyTemplateF) $ E.try $ copyTemplate templateDir subst targetDir where @@ -97,6 +97,8 @@ functions = exprPair (commandPropFormat options) templateVarsF = commandExtraVars options +-- | Generate application data describing core elements of a new ROS package +-- that implements the input requirements or diagrams. command' :: CommandOptions -> ExprPair -> ExceptT ErrorTriplet IO AppData @@ -108,7 +110,7 @@ specT <- maybe (return Nothing) - (\e -> Just . InputFileSpec <$> readInputExpr' e) + (fmap (Just . InputFileSpec) . readInputExpr') cExpr specF <- if null fpA @@ -124,7 +126,7 @@ liftEither $ checkArguments spec vs rs - copilotM <- sequenceA $ (\spec' -> processSpec spec' cExpr fpA) <$> spec + copilotM <- traverse (\spec' -> processSpec spec' cExpr fpA) spec let varNames = fromMaybe (defaultVarNames spec) vs monitors = maybe (defaultMonitors spec) (map (\x -> (x, Nothing))) rs @@ -232,9 +234,10 @@ (inputType inputDef) (Just . typeToType) (findType varDB varName "ros/variable" "C") - let typeMsg' = fromMaybe + let typeMsg' = maybe (topicType topicDef) - (typeFromType <$> findType varDB varName "ros/message" "C") + typeFromType + (findType varDB varName "ros/message" "C") fieldMsg = typeFromField =<< findType varDB varName "ros/message" "C" diff --git a/src/Command/Report.hs b/src/Command/Report.hs --- a/src/Command/Report.hs +++ b/src/Command/Report.hs @@ -29,21 +29,21 @@ -- External imports import qualified Control.Exception as E import Control.Monad (foldM) -import Control.Monad.Except (ExceptT (..), liftEither, runExceptT, - withExceptT) +import Control.Monad.Except (ExceptT (..), liftEither, withExceptT) import Control.Monad.IO.Class (liftIO) import Data.Aeson (ToJSON (..)) import GHC.Generics (Generic) -- External imports: Ogma +import Data.Either.Extra (mapLeft) import Data.OgmaSpec (Requirement (..), Spec (..)) import Data.String.Extra (sanitizeUCIdentifier) import System.Directory.Extra (copyTemplate) -- Internal imports import Command.Common (InputFile (..), - cannotCopyTemplate, - locateTemplateDir, makeLeftE, + cannotCopyTemplateF, + locateTemplateDir, parseInputFile, processResult) import Command.Errors (ErrorCode, ErrorTriplet (..)) import Command.Result (Result (..)) @@ -76,7 +76,7 @@ (commandInputFiles options) -- Expand template - ExceptT $ fmap (makeLeftE cannotCopyTemplate) $ E.try $ + ExceptT $ fmap (mapLeft cannotCopyTemplateF) $ E.try $ copyTemplate templateDir (toJSON reportData) targetDir where @@ -159,7 +159,7 @@ } pure $ CommandSummary - { commandRequirementsAny = length reqListDetails > 0 + { commandRequirementsAny = not (null reqListDetails) , commandRequirementList = [fileReqs] , commandDiagramsAny = False , commandDiagramsList = [] diff --git a/src/Command/Result.hs b/src/Command/Result.hs --- a/src/Command/Result.hs +++ b/src/Command/Result.hs @@ -26,7 +26,7 @@ -- Internal imports import Data.Location ( Location ) --- | Result of the global process +-- | Result of the global process. data Result a = Success | Error a String Location diff --git a/src/Command/Search.hs b/src/Command/Search.hs --- a/src/Command/Search.hs +++ b/src/Command/Search.hs @@ -174,7 +174,7 @@ instance ToJSON RequirementInfo -- | Information about a diagram that matches the search query. -data DiagramInfo = DiagramInfo +newtype DiagramInfo = DiagramInfo { diagramInfoLocation :: FilePath } deriving (Generic, Show) diff --git a/src/Command/Standalone.hs b/src/Command/Standalone.hs --- a/src/Command/Standalone.hs +++ b/src/Command/Standalone.hs @@ -1,6 +1,5 @@ {-# LANGUAGE DeriveGeneric #-} {-# LANGUAGE ExistentialQuantification #-} -{-# LANGUAGE OverloadedStrings #-} {-# LANGUAGE ScopedTypeVariables #-} -- Copyright 2020 United States Government as represented by the Administrator -- of the National Aeronautics and Space Administration. All Rights Reserved. @@ -41,10 +40,10 @@ import System.Directory.Extra (copyTemplate) -- Internal imports -import Command.Common (InputFile (..), cannotCopyTemplate, +import Command.Common (InputFile (..), cannotCopyTemplateF, combineInputFiles, locateTemplateDir, - makeLeftE, parseInputFile, - parseTemplateVarsFile, processResult) + parseInputFile, parseTemplateVarsFile, + processResult) import Command.Errors (ErrorCode, ErrorTriplet (..)) import Command.Result (Result (..)) import Data.Aeson.Extra (mergeObjects) @@ -78,7 +77,7 @@ let subst = mergeObjects (toJSON appData) templateVars -- Expand template - ExceptT $ fmap (makeLeftE cannotCopyTemplate) $ E.try $ + ExceptT $ fmap (mapLeft cannotCopyTemplateF) $ E.try $ copyTemplate templateDir subst targetDir where @@ -106,7 +105,7 @@ -- definitions. specT <- maybe (return Nothing) - (\e -> Just . InputFileSpec <$> readInputExpr' e) + (fmap (Just . InputFileSpec) . readInputExpr') triggerExprM specF <- if null fpA @@ -121,7 +120,7 @@ let spec = specT <|> specF case spec of - Nothing -> liftEither $ Left $ commandMissingSpec + Nothing -> liftEither $ Left commandMissingSpec Just spec' -> commandLogic triggerExprM fpA name typeMaps exprT spec' ComputeState diff --git a/src/Command/VariableDB.hs b/src/Command/VariableDB.hs --- a/src/Command/VariableDB.hs +++ b/src/Command/VariableDB.hs @@ -36,6 +36,8 @@ where -- External imports +import Control.Applicative ((<|>)) +import Control.Monad (foldM) import Control.Monad.Except (ExceptT, throwError) import Data.Aeson (FromJSON (..), Value (Object), (.:), withObject) import Data.Aeson.KeyMap (filterWithKey) @@ -104,8 +106,7 @@ -- | Find an input with a given name. findInput :: VariableDB -> String -> Maybe InputDef -findInput varDB name = - find (\x -> inputName x == name) (inputs varDB) +findInput varDB name = find (\x -> inputName x == name) (inputs varDB) -- | Find a connection a given scope. findConnection :: InputDef -> String -> Maybe Connection @@ -188,10 +189,7 @@ -- contradictory information. mergeInputs :: Monad m => [InputDef] -> [InputDef] -> ExceptT ErrorTriplet m [InputDef] -mergeInputs is1 [] = return is1 -mergeInputs is1 (i2:is2) = do - is1' <- mergeInput is1 i2 - mergeInputs is1' is2 +mergeInputs = foldM mergeInput -- | Merge an input definition into a list of input definitions, so long as it -- does not contain contradictory information. @@ -205,10 +203,8 @@ || inputType i1 == inputType i2 ) = do cs <- mergeConnections (inputConnections i1) (inputConnections i2) - let i1' = i1 { inputType = - mergeMaybe (inputType i1) (inputType i2) - , inputConnections = - cs + let i1' = i1 { inputType = inputType i1 <|> inputType i2 + , inputConnections = cs } return (i1' : is1) @@ -220,10 +216,7 @@ -- contradictory information. mergeConnections :: Monad m => [Connection] -> [Connection] -> ExceptT ErrorTriplet m [Connection] -mergeConnections cs1 [] = return cs1 -mergeConnections cs1 (c2:cs2) = do - cs1' <- mergeConnection cs1 c2 - mergeConnections cs1' cs2 +mergeConnections = foldM mergeConnection -- | Merge a connection into a list of connections, so long as it does not -- contain contradictory information. @@ -246,10 +239,7 @@ -- information. mergeTopics :: Monad m => [TopicDef] -> [TopicDef] -> ExceptT ErrorTriplet m [TopicDef] -mergeTopics ts1 [] = return ts1 -mergeTopics ts1 (t2:ts2) = do - ts1' <- mergeTopic ts1 t2 - mergeTopics ts1' ts2 +mergeTopics = foldM mergeTopic -- | Merge a topic into a list of topics, so long as it does not contain -- contradictory information. @@ -272,10 +262,7 @@ -- contradictory information. mergeTypes :: Monad m => [TypeDef] -> [TypeDef] -> ExceptT ErrorTriplet m [TypeDef] -mergeTypes ts1 [] = return ts1 -mergeTypes ts1 (t2:ts2) = do - ts1' <- mergeType ts1 t2 - mergeTypes ts1' ts2 +mergeTypes = foldM mergeType -- | Merge a type definition into a list of type definitions, so long as it -- does not contain contradictory information. @@ -310,13 +297,6 @@ -- | Error: one of the variable DBs provided cannot be merged. ecCannotMergeVariableDB :: ErrorCode ecCannotMergeVariableDB = 1 - --- | Merge two @Maybe@ values, prefering the left one if two @Just@s are --- provided. -mergeMaybe :: Maybe a -> Maybe a -> Maybe a -mergeMaybe Nothing x = x -mergeMaybe x Nothing = x -mergeMaybe x _ = x -- | Implement instances of parser to read variable DB from JSON, dropping the -- prefix in each field name. diff --git a/src/Data/Aeson/Extra.hs b/src/Data/Aeson/Extra.hs --- a/src/Data/Aeson/Extra.hs +++ b/src/Data/Aeson/Extra.hs @@ -28,7 +28,7 @@ -- -- Fails if the values are not objects or null. mergeObjects :: Value -> Value -> Value -mergeObjects (Object m1) (Object m2) = Object (union m1 m2) +mergeObjects (Object m1) (Object m2) = Object (m1 `union` m2) mergeObjects obj Null = obj mergeObjects Null obj = obj mergeObjects _ _ = error "The values passed are not objects" diff --git a/src/Data/Diagram/Parser.hs b/src/Data/Diagram/Parser.hs --- a/src/Data/Diagram/Parser.hs +++ b/src/Data/Diagram/Parser.hs @@ -64,7 +64,7 @@ (\msg -> ErrorTriplet ecCannotReadDiagram msg (LocationFile fp)) diagramE ---- | Generic function to parse a diagram. +-- | Generic function to parse a diagram. parseDiagram :: DiagramFormat -- ^ Format of the input file -> B.ByteString -- ^ Contents of the diagram -> ExprPair -- ^ Subparser for conditions or edge diff --git a/src/Data/Diagram/Parser/Mermaid.hs b/src/Data/Diagram/Parser/Mermaid.hs --- a/src/Data/Diagram/Parser/Mermaid.hs +++ b/src/Data/Diagram/Parser/Mermaid.hs @@ -79,6 +79,7 @@ pure $ Diagram transitions +{-# ANN pGraphTransition ("HLint: ignore Redundant bracket" :: String) #-} -- | Parser for an edge in a state diagram. -- -- This parser depends on an auxiliary parser for the expressions associated to @@ -109,6 +110,8 @@ pure $ Diagram transitions +{-# ANN pStateTransition ("HLint: ignore Redundant bracket" :: String) #-} +{-# ANN pStateTransition ("HLint: ignore Reduce duplication" :: String) #-} -- | Parser for transition label in stateDiagram-v2 mermaid diagram. pStateTransition :: ExprPair -> MermaidParser (Int, String, Int) pStateTransition ep@(ExprPair (ExprPairT { exprTParse = parseProp })) = do @@ -129,7 +132,7 @@ _ <- newline - pure $ (from, exprPairShow ep edge, to) + pure (from, exprPairShow ep edge, to) -- | Parser for Mermaid diagrams of type sequenceDiagram. pSequenceDiagram :: ExprPair -> MermaidParser Diagram @@ -143,6 +146,7 @@ pure $ Diagram transitions +{-# ANN pSequenceTransition ("HLint: ignore Redundant bracket" :: String) #-} -- | Parser for a connection, message or transition in a sequence diagram. -- -- This parser depends on an auxiliary parser for the expressions associated to @@ -176,6 +180,6 @@ , string "-)" ] --- | Consume spaces +-- | Consume spaces. spaces :: MermaidParser () spaces = L.space space1 empty empty diff --git a/src/Data/ExprPair.hs b/src/Data/ExprPair.hs --- a/src/Data/ExprPair.hs +++ b/src/Data/ExprPair.hs @@ -71,14 +71,14 @@ exprPair "lustre" = ExprPair $ ExprPairT (Lustre.pBoolSpec . Lustre.myLexer) - (\_ -> id) + (const id) Lustre.boolSpec2Copilot Lustre.boolSpecNames (Lustre.BoolSpecSignal (Lustre.Ident "undefined")) exprPair "literal" = ExprPair $ ExprPairT Right - (\_ -> id) + (const id) id (const []) "undefined" diff --git a/src/Data/Project.hs b/src/Data/Project.hs --- a/src/Data/Project.hs +++ b/src/Data/Project.hs @@ -17,15 +17,22 @@ -- under the License. -- -- | Ogma projects. -module Data.Project where +module Data.Project + ( Project(..) + , readProject + ) + where -- External imports import Control.Exception (IOException, try) import Data.Aeson (FromJSON, ToJSON, eitherDecodeStrict') import qualified Data.ByteString as BS +import Data.List (stripPrefix) import GHC.Generics (Generic) +import System.Directory (makeAbsolute) +import System.FilePath (isAbsolute, takeDirectory, ()) --- -- Internal imports +-- Internal imports import Data.Either.Extra (mapLeft) data Project = Project @@ -49,7 +56,49 @@ readProject :: FilePath -> IO (Either String Project) readProject path = do bytesResult <- try (BS.readFile path) - pure $ case bytesResult of - Left e -> Left (show (e :: IOException)) - Right bytes -> mapLeft ("Failed to read project: " ++) - $ eitherDecodeStrict' bytes + let project = case bytesResult of + Left e -> Left (show (e :: IOException)) + Right bytes -> mapLeft ("Failed to read project: " ++) + $ eitherDecodeStrict' bytes + + projectDir <- takeDirectory <$> makeAbsolute path + + pure $ resolveProjectPaths projectDir <$> project + +-- | Resolve paths inside a project. +resolveProjectPaths :: FilePath -> Project -> Project +resolveProjectPaths projectDir p = p + { projectInputFiles = resolveInputFile projectDir <$> projectInputFiles p + , projectVariableFiles = resolvePath projectDir <$> projectVariableFiles p + , projectVariableDBFile = resolvePath projectDir <$> projectVariableDBFile p + , projectHandlerFile = resolvePath projectDir <$> projectHandlerFile p + , projectCommandPropVia = resolvePath projectDir <$> projectCommandPropVia p + , projectTemplateDir = resolvePath projectDir <$> projectTemplateDir p + , projectTargetDir = resolvePath projectDir <$> projectTargetDir p + , projectExtraJSONFile = resolvePath projectDir <$> projectExtraJSONFile p + } + +-- | Resolve the locations of input file pairs, possibly in relation to the +-- project path. +resolveInputFile :: FilePath + -> (FilePath, String, String) + -> (FilePath, String, String) +resolveInputFile projectDir (filePath, fileFormat, propName) = + (filePath', fileFormat', propName) + where + filePath' = resolvePath projectDir filePath + fileFormat' = resolvePath projectDir fileFormat + +-- | Resolve the path to a file, possibly in relation to the project path. +resolvePath :: FilePath -> FilePath -> FilePath +resolvePath projectDir path + | isAbsolute path + = path + | Just path' <- stripPrefix "cwd:" path + = path' + | Just path' <- stripPrefix "cmd:" path + = path' + | Just path' <- stripPrefix "project:" path + = projectDir path' + | otherwise + = projectDir path diff --git a/src/Data/Spec/Analysis.hs b/src/Data/Spec/Analysis.hs --- a/src/Data/Spec/Analysis.hs +++ b/src/Data/Spec/Analysis.hs @@ -243,7 +243,7 @@ map (" " ++) [ n ++ " :: " ++ t, n ++ " = " ++ i ] formatTrigger (_, _, h, g, a) = - map (" " ++) [ "trigger " ++ show h ++ " (" ++ g ++ ") " ++ a ] + [ " trigger " ++ show h ++ " (" ++ g ++ ") " ++ a ] -- | Default imports for a 'Spec' that was converted into a 'Copilot.Spec'. defaultSpecImports :: [(String, Maybe String)] diff --git a/src/Data/Spec/Extra.hs b/src/Data/Spec/Extra.hs --- a/src/Data/Spec/Extra.hs +++ b/src/Data/Spec/Extra.hs @@ -33,7 +33,7 @@ addMissingIdentifiers f s = s { externalVariables = vars' } where vars' = externalVariables s ++ newVars - newVars = map (\n -> ExternalVariableDef n "") newVarNames + newVars = map (`ExternalVariableDef` "") newVarNames -- Names that are not defined anywhere newVarNames = identifiers \\ existingNames diff --git a/src/Data/Spec/Parser.hs b/src/Data/Spec/Parser.hs --- a/src/Data/Spec/Parser.hs +++ b/src/Data/Spec/Parser.hs @@ -29,19 +29,16 @@ import Control.Monad.Except (ExceptT (..)) import Data.Aeson (eitherDecode) import qualified Data.ByteString.Lazy as L -import Data.List (isInfixOf, isPrefixOf, nub, (\\)) +import Data.List (isInfixOf, isPrefixOf) import System.Directory (doesFileExist) import System.FilePath (()) import System.Process (readProcess) -- External imports: auxiliary import Data.ByteString.Extra as B (safeReadFile) -import Data.String.Extra (sanitizeLCIdentifier, sanitizeUCIdentifier) -- External imports: ogma -import Data.OgmaSpec (ExternalVariableDef (..), - InternalVariableDef (..), Requirement (..), - Spec (..)) +import Data.OgmaSpec (Requirement (..), Spec (..)) import Language.CSVSpec.Parser (parseCSVSpec) import Language.JSONSpec.Parser (parseJSONSpec) import Language.XLSXSpec.Parser (parseXLSXSpec) @@ -50,7 +47,6 @@ -- Internal imports: auxiliary import Command.Errors (ErrorTriplet(..), ErrorCode) -import Data.Diagram (Diagram) import Data.Either.Extra (mapLeft) import Data.ExprPair (ExprPairT(..)) import Data.Location (Location (..)) @@ -79,8 +75,8 @@ -- Return the spec, transforming the error message if applicable. pure $ mapLeft (cannotReadConditionExpr expr) spec ---- | Process input specification, if available, and return its abstract ---- representation. +-- | Process input specification, if available, and return its abstract +-- representation. readInputFile :: FilePath -> String -> String diff --git a/src/Language/Trans/CStruct2CopilotStruct.hs b/src/Language/Trans/CStruct2CopilotStruct.hs --- a/src/Language/Trans/CStruct2CopilotStruct.hs +++ b/src/Language/Trans/CStruct2CopilotStruct.hs @@ -35,7 +35,7 @@ -- Internal imports import qualified Language.C.AbsC as C --- | Convert a top-level struct declaration into a CStruct +-- | Convert a top-level struct declaration into a CStruct. mkCStruct :: C.ExternalDeclaration -> Either String CStruct mkCStruct (C.MkExternalDeclarationFunctionDefinition _) = Left "C files must contain struct definitions only." mkCStruct (C.MkExternalDeclarationDeclaration (C.MkDeclaration specifiers initDecl)) = @@ -48,7 +48,7 @@ in CStruct <$> name <*> fields _ -> Left "C files must contain struct definitions only." --- -- | Convert a declaration within a struct into a field declaration. +-- | Convert a declaration within a struct into a field declaration. buildCField :: C.StructDeclaration -> Either String CField buildCField (C.MkStructDeclaration field name) | fieldLength > 0 = CArray <$> fieldType <*> fieldName <*> pure fieldLength @@ -77,7 +77,7 @@ showTypeSpecifier C.MkTypeSpecifierInt64 = "int64_t" showTypeSpecifier C.MkTypeSpecifierInt = "int" --- -- | Extract the name of a field from a struct declarator. +-- | Extract the name of a field from a struct declarator. extractFieldName :: Read n => C.StructDeclarator -> Either String n extractFieldName (C.MkStructDeclaratorDeclarator (C.MkDeclarator C.MkPointerOptNothing (C.MkDirectDeclaratorIdentifier (C.Identifier d)))) = Right $ read $ show d extractFieldName (C.MkStructDeclaratorDeclarator @@ -92,8 +92,8 @@ extractFieldName _ = Left $ "only struct declarations that are IDs without a" ++ " pointer, or plain arrays without a pointer, are" ++ " supported." --- --- -- | Extract the length of an array field from a struct declarator. + +-- | Extract the length of an array field from a struct declarator. extractFieldLength :: C.StructDeclarator -> Integer extractFieldLength (C.MkStructDeclaratorDeclarator (C.MkDeclarator @@ -139,7 +139,6 @@ ) = read i extractFieldLength _ = 0 --- -- | Convert a 'String' to camel case, also eliminating the @_t@ at the end if -- present. camelCaseTypeName :: String -> String diff --git a/src/Language/Trans/CStructs2Copilot.hs b/src/Language/Trans/CStructs2Copilot.hs --- a/src/Language/Trans/CStructs2Copilot.hs +++ b/src/Language/Trans/CStructs2Copilot.hs @@ -28,7 +28,6 @@ -- External imports import Data.Char ( isUpper, toLower ) -import Data.List ( intercalate ) -- External imports: auxiliary import Data.List.Extra ( toHead, toTail ) diff --git a/src/Language/Trans/Spec2Copilot.hs b/src/Language/Trans/Spec2Copilot.hs --- a/src/Language/Trans/Spec2Copilot.hs +++ b/src/Language/Trans/Spec2Copilot.hs @@ -140,31 +140,12 @@ (Just ty, Just ex) -> "[ arg (" ++ showExpr ex ++ " ) ]" _ -> "[]" - -- Map from a variable name to its desired identifier in the code - -- generated. - internalVariableMap = - map (\x -> (x, sanitizeLCIdentifier x)) internalVariableNames - - externalVariableMap = - map (\x -> (x, sanitizeLCIdentifier x)) externalVariableNames - - requirementNameMap = - map (\x -> (x, "prop" ++ sanitizeUCIdentifier x)) requirementNames - - nameSubstitutions = internalVariableMap - ++ externalVariableMap - ++ requirementNameMap - - -- Variable/requirement names used in the input spec. - internalVariableNames = map internalVariableName - $ internalVariables spec - - externalVariableNames = map externalVariableName - $ externalVariables spec - - requirementNames = map requirementName - $ requirements spec + nameSubstitutions = internalVariableMap spec + ++ externalVariableMap spec + ++ requirementNameMap spec +-- | Check that a specification does not contain any name clashes between +-- variables and/or requirements. specAnalyze :: Spec a -> Either String (Spec a) specAnalyze spec | not (null evnClash) @@ -193,30 +174,9 @@ `union` externalVariableNames') -- Names used. - internalVariableNames' = map snd internalVariableMap - externalVariableNames' = map snd externalVariableMap - requirementNames' = map snd requirementNameMap - - -- Map from a variable name to its desired identifier in the code - -- generated. - internalVariableMap = - map (\x -> (x, sanitizeLCIdentifier x)) internalVariableNames - - externalVariableMap = - map (\x -> (x, sanitizeLCIdentifier x)) externalVariableNames - - requirementNameMap = - map (\x -> (x, "prop" ++ sanitizeUCIdentifier x)) requirementNames - - -- Variable/requirement names used in the input spec. - internalVariableNames = map internalVariableName - $ internalVariables spec - - externalVariableNames = map externalVariableName - $ externalVariables spec - - requirementNames = map requirementName - $ requirements spec + internalVariableNames' = map snd (internalVariableMap spec) + externalVariableNames' = map snd (externalVariableMap spec) + requirementNames' = map snd (requirementNameMap spec) -- * Auxiliary @@ -232,3 +192,33 @@ -- an end of line character at the end of the last string. unlines' :: [String] -> String unlines' = intercalate "\n" + +-- | Map from an internal variable name to its desired identifier in the code +-- generated. +internalVariableMap :: Spec a -> [(String, String)] +internalVariableMap = + map (\x -> (x, sanitizeLCIdentifier x)) . internalVariableNames + +-- | Map from an external variable name to its desired identifier in the code +-- generated. +externalVariableMap :: Spec a -> [(String, String)] +externalVariableMap = + map (\x -> (x, sanitizeLCIdentifier x)) . externalVariableNames + +-- | Map from a requirement name to its desired identifier in the code +-- generated. +requirementNameMap :: Spec a -> [(String, String)] +requirementNameMap = + map (\x -> (x, "prop" ++ sanitizeUCIdentifier x)) . requirementNames + +-- | Names of all internal variables in a 'Spec'. +internalVariableNames :: Spec a -> [String] +internalVariableNames = map internalVariableName . internalVariables + +-- | Names of all external variables in a 'Spec'. +externalVariableNames :: Spec a -> [String] +externalVariableNames = map externalVariableName . externalVariables + +-- | Names of all requirements in a 'Spec'. +requirementNames :: Spec a -> [String] +requirementNames = map requirementName . requirements diff --git a/src/Language/YAMLSpec/Parser.hs b/src/Language/YAMLSpec/Parser.hs --- a/src/Language/YAMLSpec/Parser.hs +++ b/src/Language/YAMLSpec/Parser.hs @@ -20,19 +20,19 @@ module Language.YAMLSpec.Parser where -- External imports -import Control.Monad.Except (ExceptT (..), runExceptT) -import Control.Monad.IO.Class (liftIO) -import Data.Aeson (Value (..)) -import Data.Aeson.Key (fromString) -import qualified Data.Aeson.KeyMap as M -import Data.Bifunctor (first) -import qualified Data.ByteString as BS -import Data.Char (isSpace) -import Data.List (intercalate) -import Data.Text (unpack) -import qualified Data.Vector as V -import qualified Data.Yaml as Y -import System.FilePath (takeBaseName, takeFileName) +import Control.Monad.Except (ExceptT (..), runExceptT) +import Data.Aeson (Value (..)) +import Data.Aeson.Key (fromString) +import qualified Data.Aeson.KeyMap as M +import Data.Bifunctor (first) +import qualified Data.ByteString as BS +import Data.Char (isSpace) +import Data.List (intercalate) +import Data.Maybe (maybeToList) +import Data.Text (unpack) +import qualified Data.Vector as V +import qualified Data.Yaml as Y +import System.FilePath (takeBaseName, takeFileName) -- External imports: ogma-spec import Data.Either.Extra (mapLeft) @@ -249,7 +249,7 @@ -- -- If the values are an array, it returns the values in the array directly. objectFieldValues :: String -> Value -> [Value] -objectFieldValues key (Object o) = maybe [] (:[]) $ M.lookup (fromString key) o +objectFieldValues key (Object o) = maybeToList $ M.lookup (fromString key) o objectFieldValues _ _ = [] -- ** Either-related auxiliary functions diff --git a/templates/fprime/Dockerfile b/templates/fprime/Dockerfile --- a/templates/fprime/Dockerfile +++ b/templates/fprime/Dockerfile @@ -1,11 +1,11 @@ -# This dockerfile compiles a monitoring application inside FPrime's Reference +# This dockerfile compiles a monitoring application inside F Prime's Reference # Application. FROM ubuntu:focal # Avoid questions during package installation. ENV DEBIAN_FRONTEND=noninteractive -# Install FPrime dependencies and clone fprime from the repo. +# Install F Prime dependencies and clone fprime from the repo. RUN apt-get update RUN apt-get install -y git cmake gcc python3 pip default-jre diff --git a/templates/ros/Dockerfile b/templates/ros/Dockerfile --- a/templates/ros/Dockerfile +++ b/templates/ros/Dockerfile @@ -1,4 +1,9 @@ -FROM osrf/space-ros:jazzy-2026.04.0 +{{#BASE_DOCKER_IMAGE}} +FROM {{.}} +{{/BASE_DOCKER_IMAGE}} +{{^BASE_DOCKER_IMAGE}} +FROM osrf/space-ros:jazzy-2026.07.0 +{{/BASE_DOCKER_IMAGE}} ARG USER=spaceros-user ARG PACKAGE_PATH=/home/${USER}/monitors @@ -26,7 +31,7 @@ fi ADD excluded-pkgs*.txt /tmp/ -RUN sudo rosdep init +RUN if [ ! -f "/etc/ros/rosdep/sources.list.d/20-default.list" ]; then sudo rosdep init; fi RUN rosdep update RUN source /opt/ros/spaceros/setup.bash && \ if [ -f "/tmp/excluded-pkgs.txt" ]; then \ diff --git a/templates/ros/copilot/src/copilot_monitor.cpp b/templates/ros/copilot/src/copilot_monitor.cpp --- a/templates/ros/copilot/src/copilot_monitor.cpp +++ b/templates/ros/copilot/src/copilot_monitor.cpp @@ -77,8 +77,8 @@ {{/monitors}} // Needed so we can report messages to the log. - static CopilotRV& getInstance() { - static CopilotRV instance; + static std::shared_ptr getInstance() { + static std::shared_ptr instance = std::shared_ptr(new CopilotRV()); return instance; } @@ -115,19 +115,19 @@ // communicate with other applications. {{#monitorType}} void {{monitorName}}({{.}} arg) { - CopilotRV::getInstance().{{monitorName}}(arg); + CopilotRV::getInstance()->{{monitorName}}(arg); } {{/monitorType}} {{^monitorType}} void {{monitorName}}() { - CopilotRV::getInstance().{{monitorName}}(); + CopilotRV::getInstance()->{{monitorName}}(); } {{/monitorType}} {{/monitors}} int main(int argc, char* argv[]) { rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + rclcpp::spin(CopilotRV::getInstance()); rclcpp::shutdown(); return 0; } diff --git a/templates/ros/test_requirements/src/test_requirements.cpp b/templates/ros/test_requirements/src/test_requirements.cpp --- a/templates/ros/test_requirements/src/test_requirements.cpp +++ b/templates/ros/test_requirements/src/test_requirements.cpp @@ -113,10 +113,10 @@ {{#testingVariables}} {{#varDeclMsgField}} - {{varDeclType}} {{varDeclName}}_{{.}} = {{varDeclRandom}}(); - auto {{varDeclName}}_{{.}}_msg = {{varDeclMsgType}}(); - {{varDeclName}}_{{.}}_msg.{{.}} = {{varDeclName}}_{{.}}; - {{varDeclName}}_publisher_->publish({{varDeclName}}_{{.}}_msg); + {{varDeclType}} {{varDeclName}}_data = {{varDeclRandom}}(); + auto {{varDeclName}}_data_msg = {{varDeclMsgType}}(); + {{varDeclName}}_data_msg.{{.}} = {{varDeclName}}_data; + {{varDeclName}}_publisher_->publish({{varDeclName}}_data_msg); {{/varDeclMsgField}} {{^varDeclMsgField}} {{varDeclType}} {{varDeclName}}_data = {{varDeclRandom}}(); diff --git a/tests/Main.hs b/tests/Main.hs --- a/tests/Main.hs +++ b/tests/Main.hs @@ -1,4 +1,5 @@ --- | Test ogma-core +{- HLint ignore "Reduce duplication" -} +-- | Test ogma-core. module Main where import Data.Monoid ( mempty ) @@ -14,8 +15,7 @@ -- | Run all unit tests on ogma-core. main :: IO () -main = - defaultMainWithOpts tests mempty +main = defaultMainWithOpts tests mempty -- | All unit tests for ogma-core. tests :: [Test.Framework.Test]