diff --git a/CHANGELOG.md b/CHANGELOG.md --- a/CHANGELOG.md +++ b/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). 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: 1.8.0 +version: 1.9.0 homepage: https://github.com/nasa/ogma bug-reports: https://github.com/nasa/ogma/issues license: OtherLicense @@ -69,11 +69,15 @@ 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 @@ , 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 diff --git a/src/Command/ROSApp.hs b/src/Command/ROSApp.hs --- a/src/Command/ROSApp.hs +++ b/src/Command/ROSApp.hs @@ -44,6 +44,7 @@ module Command.ROSApp ( command , CommandOptions(..) + , Node(Node) , ErrorCode ) where @@ -119,10 +120,18 @@ (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 @@ 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 @@ , 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 @@ 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 @@ , varDeclType :: String , varDeclId :: String , varDeclMsgType :: String + , varDeclRandom :: String } deriving Generic @@ -228,12 +245,40 @@ 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 diff --git a/templates/ros/Dockerfile b/templates/ros/Dockerfile --- a/templates/ros/Dockerfile +++ b/templates/ros/Dockerfile @@ -6,6 +6,7 @@ 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} @@ -13,4 +14,11 @@ 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 diff --git a/templates/ros/screenrc b/templates/ros/screenrc new file mode 100644 --- /dev/null +++ b/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 "" bash -c 'bash --init-file <(echo "echo This is an interactive shell. Send data to topics with ros2 topic pub \ \; source /home/spaceros-user/spaceros/install/setup.bash")' diff --git a/templates/ros/test_requirements/CMakeLists.txt b/templates/ros/test_requirements/CMakeLists.txt new file mode 100644 --- /dev/null +++ b/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() diff --git a/templates/ros/test_requirements/package.xml b/templates/ros/test_requirements/package.xml new file mode 100644 --- /dev/null +++ b/templates/ros/test_requirements/package.xml @@ -0,0 +1,20 @@ + + + + test_requirements + 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/test_requirements/src/test_requirements.cpp b/templates/ros/test_requirements/src/test_requirements.cpp new file mode 100644 --- /dev/null +++ b/templates/ros/test_requirements/src/test_requirements.cpp @@ -0,0 +1,192 @@ +#include +#include + +#include "gtest/gtest.h" + +#include "rclcpp/rclcpp.hpp" + +#include "std_msgs/msg/bool.hpp" +#include "std_msgs/msg/empty.hpp" +#include "std_msgs/msg/u_int8.hpp" +#include "std_msgs/msg/u_int16.hpp" +#include "std_msgs/msg/u_int32.hpp" +#include "std_msgs/msg/u_int64.hpp" +#include "std_msgs/msg/int8.hpp" +#include "std_msgs/msg/int16.hpp" +#include "std_msgs/msg/int32.hpp" +#include "std_msgs/msg/int64.hpp" +#include "std_msgs/msg/float32.hpp" +#include "std_msgs/msg/float64.hpp" +#include + +using std::placeholders::_1; + +class RequirementsTest : public rclcpp::Node { + public: + RequirementsTest() : Node("requirementstest") { + + declare_parameter("testing_seed", 0); // defaults to 0 + declare_parameter("testing_deadline", 2); // defaults to 2 secs + + +{{#testingVariables}} + {{varDeclName}}_publisher_ = this->create_publisher<{{varDeclMsgType}}>( + "{{varDeclId}}", 10); + +{{/testingVariables}} + +{{#monitors}} + {{monitorName}}_subscription_ = this->create_subscription( + "copilot/{{monitorName}}", 10, + std::bind(&RequirementsTest::{{monitorName}}_callback, this, _1)); + +{{/monitors}} + + get_parameter("testing_seed", initial_seed); + get_parameter("testing_deadline", deadline); + + std::srand((unsigned int)this->initial_seed); + + this->seed = this->initial_seed; + this->max_tests = calculate_num_tests(); + + rclcpp::Duration update_period = rclcpp::Duration::from_seconds(1); + timerInit = rclcpp::create_timer(this->get_node_base_interface(), + this->get_node_timers_interface(), + this->get_node_clock_interface()->get_clock(), + update_period, + std::bind(&RequirementsTest::tests_init, this) + ); + } + + private: + + +{{#monitors}} + bool violation_{{monitorName}} = false; + +{{/monitors}} + bool violations = false; + + +{{#testingVariables}} + rclcpp::Publisher<{{varDeclMsgType}}>::SharedPtr {{varDeclName}}_publisher_; + +{{/testingVariables}} +{{#monitors}} + void {{monitorName}}_callback(const std_msgs::msg::Empty::SharedPtr msg) { + this->violation_{{monitorName}} = true; + this->violations = true; + } +{{/monitors}} + +{{#monitors}} + rclcpp::Subscription::SharedPtr {{monitorName}}_subscription_; + +{{/monitors}} + + + int initial_seed; // To be configured using a parameter. + int seed; // To be configured using a parameter. + int deadline; // To be configured using a parameter. + + int max_tests; + int num_test = 0; + + // Calculate the number of tests to be executed + int calculate_num_tests() { + return abs(std::rand()); + } + + rclcpp::TimerBase::SharedPtr timerResult; + rclcpp::TimerBase::SharedPtr timerInit; + + void tests_init () { + timerInit->cancel(); + tests_step_send(); + } + + void tests_step_send () { + +{{#testingVariables}} + {{varDeclType}} {{varDeclName}}_data = {{varDeclRandom}}(); + auto {{varDeclName}}_data_msg = {{varDeclMsgType}}(); + {{varDeclName}}_data_msg.data = {{varDeclName}}_data; + {{varDeclName}}_publisher_->publish({{varDeclName}}_data_msg); + +{{/testingVariables}} + + + rclcpp::Duration update_period = rclcpp::Duration::from_seconds(deadline); + timerResult = rclcpp::create_timer(this->get_node_base_interface(), + this->get_node_timers_interface(), + this->get_node_clock_interface()->get_clock(), + update_period, + std::bind(&RequirementsTest::tests_step_result, this) + ); + } + + void tests_step_result () { + timerResult->cancel(); + +{{#monitors}} + if (this->violation_{{monitorName}}) { + this->publish_violation("{{monitorName}}"); + } + +{{/monitors}} + + this->num_test++; + + // Stop if out of steps or there have been violations + if ((this->num_test >= this->max_tests) || violations) { + // Terminate using the gtest mechanism to indicate the result + if (violations) { + RCLCPP_INFO(this->get_logger(), "Tests failed"); + // FAIL(); + } else { + RCLCPP_INFO(this->get_logger(), "Tests succeeded"); + // SUCCEED(); + } + rclcpp::shutdown(); + } else { + tests_step_send(); + } + } + + float randomFloat() { + int numerator = rand(); + int denominator = rand(); + + // Ensure that we do not divide by zero. + if (denominator == 0) { + denominator = 1; + } + + return (float)numerator / (float)denominator; + } + + int randomInt() { + return rand(); + } + + bool randomBool() { + return rand() & 1; + } + + void delay(int time) { + rclcpp::sleep_for(std::chrono::seconds(time)); + } + + void publish_violation (const char* requirement) { + RCLCPP_INFO(this->get_logger(), "Requirement violation. Req: %s; Seed: %d; Step: %d\\n", + requirement, this->initial_seed, this->num_test); + } +}; + +int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +}