diff --git a/CHANGELOG.md b/CHANGELOG.md --- a/CHANGELOG.md +++ b/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). diff --git a/ogma-core.cabal b/ogma-core.cabal --- a/ogma-core.cabal +++ b/ogma-core.cabal @@ -32,7 +32,7 @@ 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 @@ 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 @@ , 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 diff --git a/src/Command/ROSApp.hs b/src/Command/ROSApp.hs --- a/src/Command/ROSApp.hs +++ b/src/Command/ROSApp.hs @@ -136,7 +136,7 @@ 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 @@ -144,7 +144,7 @@ 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 @@ "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 diff --git a/templates/ros/CMakeLists.txt b/templates/ros/CMakeLists.txt deleted file mode 100644 --- a/templates/ros/CMakeLists.txt +++ /dev/null @@ -1,29 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(copilot) - -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) - -add_executable(copilot src/copilot_monitor.cpp) -ament_target_dependencies(copilot rclcpp std_msgs) - -# Uncomment to enable compiling the copilot logger -# add_executable(copilot_logger src/copilot_logger.cpp) -# ament_target_dependencies(copilot_logger rclcpp std_msgs) - -install(TARGETS - copilot - DESTINATION lib/${PROJECT_NAME}) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/templates/ros/Dockerfile b/templates/ros/Dockerfile new file mode 100644 --- /dev/null +++ b/templates/ros/Dockerfile @@ -0,0 +1,16 @@ +FROM osrf/space-ros:latest + +ARG USER=spaceros-user +ARG PACKAGE_PATH=/home/${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 ${ROS_PATH}/install/setup.bash && \ + colcon build diff --git a/templates/ros/copilot/CMakeLists.txt b/templates/ros/copilot/CMakeLists.txt new file mode 100644 --- /dev/null +++ b/templates/ros/copilot/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 3.8) +project(copilot) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) + +add_executable(copilot src/copilot_monitor.cpp) +ament_target_dependencies(copilot rclcpp std_msgs) + +# Uncomment to enable compiling the copilot logger +# add_executable(copilot_logger src/copilot_logger.cpp) +# ament_target_dependencies(copilot_logger rclcpp std_msgs) + +install(TARGETS + copilot + DESTINATION lib/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/templates/ros/copilot/package.xml b/templates/ros/copilot/package.xml new file mode 100644 --- /dev/null +++ b/templates/ros/copilot/package.xml @@ -0,0 +1,20 @@ + + + + copilot + 0.0.0 + TODO: Package description + root + TODO: License declaration + + ament_cmake + rclcpp + std_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/templates/ros/copilot/src/.keep b/templates/ros/copilot/src/.keep new file mode 100644 --- /dev/null +++ b/templates/ros/copilot/src/.keep diff --git a/templates/ros/package.xml b/templates/ros/package.xml deleted file mode 100644 --- a/templates/ros/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - copilot - 0.0.0 - TODO: Package description - root - TODO: License declaration - - ament_cmake - rclcpp - std_msgs - - ament_lint_auto - ament_lint_common - - - ament_cmake - - diff --git a/templates/ros/src/.keep b/templates/ros/src/.keep deleted file mode 100644 --- a/templates/ros/src/.keep +++ /dev/null