CommandROSApp.hs

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--
-- | 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
  , rosAppTemplateDir :: Maybe String
  , rosAppFRETFile    :: Maybe String
  , rosAppVarNames    :: Maybe String
  , rosAppVarDB       :: Maybe String
  , rosAppHandlers    :: Maybe String
  }

-- | Create <https://www.ros.org/ Robot Operating System> (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)
    (rosAppTemplateDir c)
    (rosAppFRETFile c)
    (rosAppVarNames c)
    (rosAppVarDB c)
    (rosAppHandlers c)

-- * CLI

-- | ROS command description
commandDesc :: String
commandDesc = "Generate a ROS 2 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 "app-template-dir"
            <> metavar "DIR"
            <> help strROSAppTemplateDirArgDesc
            )
        )
  <*> 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 template directory to ROS app generation command
strROSAppTemplateDirArgDesc :: String
strROSAppTemplateDirArgDesc =
  "Directory holding ROS application source template"

-- | 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"