From 848ee140812fe741c4a05b298cc29dbbd097059e Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Tue, 12 Nov 2024 05:49:32 +0000 Subject: [PATCH 01/57] ogma-core: Fix incorrect path when using Space ROS humble-2024.10.0. Refs #158. The new Space ROS no longer has packages in the user's home. Instead, the Space ROS installation has been moved to /opt. This makes the Dockerfile produced by the ROS backend fail, since it sources a setup.bash file that no longer exists. This commit fixes the version of Space ROS to be humble-2024.10.0, and adjusts a source command to the correct location under that version. --- ogma-core/templates/ros/Dockerfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ogma-core/templates/ros/Dockerfile b/ogma-core/templates/ros/Dockerfile index 5c14dbd4..ce627fa3 100644 --- a/ogma-core/templates/ros/Dockerfile +++ b/ogma-core/templates/ros/Dockerfile @@ -1,4 +1,4 @@ -FROM osrf/space-ros:latest +FROM osrf/space-ros:humble-2024.10.0 ARG USER=spaceros-user ARG PACKAGE_PATH=/home/${USER}/monitors @@ -12,5 +12,5 @@ USER ${USER} SHELL ["/bin/bash", "-c"] WORKDIR ${PACKAGE_PATH} -RUN source ${ROS_PATH}/install/setup.bash && \ +RUN source /opt/spaceros/install/setup.bash && \ colcon build From 3c6a675c18b3239864cd6b3ace3d68f58b9128b3 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Wed, 13 Nov 2024 10:47:16 +0000 Subject: [PATCH 02/57] ogma-core: Document changes in CHANGELOG. Refs #158. --- ogma-core/CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ogma-core/CHANGELOG.md b/ogma-core/CHANGELOG.md index 4796c588..6744d418 100644 --- a/ogma-core/CHANGELOG.md +++ b/ogma-core/CHANGELOG.md @@ -1,5 +1,9 @@ # Revision history for ogma-core +## [1.X.Y] - 2024-11-13 + +* Fix incorrect path when using Space ROS humble-2024.10.0 (#158). + ## [1.4.1] - 2024-09-21 * Version bump 1.4.1 (#155). From 041c44cf411260d3a565d34b604af1cbc80c46c4 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Sun, 22 Sep 2024 22:17:13 +0000 Subject: [PATCH 03/57] ogma-core: Use template expansion to generate cFS monitoring application. Refs #157. The cFS application generation backend has a fixed template that it uses to generate the cFS application. That template does not fit all use cases, so we are finding users heavily modifying the output (which is hard to keep up with when there are changes), and or not using ogma altogether for that reason. This commit modifies the ogma-core cfs command to use mustache to generate the cFS monitoring application template using variable expansion. --- ogma-core/ogma-core.cabal | 4 + ogma-core/src/Command/CFSApp.hs | 239 ++++++------------ .../copilot-cfs/fsw/src/copilot_cfs.c | 21 +- 3 files changed, 85 insertions(+), 179 deletions(-) diff --git a/ogma-core/ogma-core.cabal b/ogma-core/ogma-core.cabal index 975a0f8c..891e3e8b 100644 --- a/ogma-core/ogma-core.cabal +++ b/ogma-core/ogma-core.cabal @@ -106,8 +106,12 @@ library base >= 4.11.0.0 && < 5 , aeson >= 2.0.0.0 && < 2.2 , bytestring + , Cabal >= 2.4 && < 3.10 + , directory >= 1.3.1.0 && < 1.4 , filepath + , microstache >= 1.0 && < 1.1 , mtl + , text >= 1.2.3.1 && < 2.1 , ogma-extra >= 1.4.1 && < 1.5 , ogma-language-c >= 1.4.1 && < 1.5 diff --git a/ogma-core/src/Command/CFSApp.hs b/ogma-core/src/Command/CFSApp.hs index 26bdc8ff..de195cd2 100644 --- a/ogma-core/src/Command/CFSApp.hs +++ b/ogma-core/src/Command/CFSApp.hs @@ -1,3 +1,4 @@ +{-# LANGUAGE OverloadedStrings #-} -- Copyright 2020 United States Government as represented by the Administrator -- of the National Aeronautics and Space Administration. All Rights Reserved. -- @@ -45,12 +46,20 @@ module Command.CFSApp where -- External imports -import qualified Control.Exception as E -import Data.List ( find ) -import System.FilePath ( (</>) ) - --- External imports: auxiliary -import System.Directory.Extra ( copyDirectoryRecursive ) +import qualified Control.Exception as E +import Control.Monad (filterM, forM_) +import Data.Aeson (Value (..), decode, object, (.=)) +import qualified Data.ByteString.Lazy as B +import Data.List (find) +import Data.Text (Text) +import Data.Text.Lazy (pack, unpack) +import Data.Text.Lazy.Encoding (encodeUtf8) +import Distribution.Simple.Utils (getDirectoryContentsRecursive) +import System.Directory (createDirectoryIfMissing, + doesFileExist) +import System.FilePath (makeRelative, splitFileName, (</>)) +import Text.Microstache (compileMustacheFile, + compileMustacheText, renderMustache) -- Internal imports: auxiliary import Command.Result ( Result (..) ) @@ -101,8 +110,6 @@ cFSApp targetDir varNameFile varDBFile = do let templateDir = dataDir </> "templates" </> "copilot-cfs" E.handle (return . cannotCopyTemplate) $ do - -- Expand template - copyDirectoryRecursive templateDir targetDir let f n o@(oVars, oIds, oInfos, oDatas) = case variableMap varDB n of @@ -113,10 +120,18 @@ cFSApp targetDir varNameFile varDBFile = do -- This is a Data.List.unzip4 let (vars, ids, infos, datas) = foldr f ([], [], [], []) varNames - let cfsFileName = targetDir </> "fsw" </> "src" </> "copilot_cfs.c" - cfsFileContents = unlines $ fileContents vars ids infos datas + let (variablesS, msgSubscriptionS, msgCasesS, msgHandlerS) = + appComponents vars ids infos datas + subst = object $ + [ "variablesS" .= pack variablesS + , "msgSubscriptionsS" .= pack msgSubscriptionS + , "msgCasesS" .= pack msgCasesS + , "msgHandlerS" .= pack msgHandlerS + ] + + -- Expand template + copyTemplate templateDir subst targetDir - writeFile cfsFileName cfsFileContents return Success -- | Predefined list of Icarous variables that are known to Ogma @@ -170,9 +185,10 @@ data MsgData = MsgData , msgDataVarType :: String } --- | Return the contents of the main CFS application. -fileContents :: [VarDecl] -> [MsgInfoId] -> [MsgInfo] -> [MsgData] -> [String] -fileContents variables msgIds msgNames msgDatas = cfsFileContents +-- | Return the components that are customized in a cFS application. +appComponents :: [VarDecl] -> [MsgInfoId] -> [MsgInfo] -> [MsgData] + -> (String, String, String, String) +appComponents variables msgIds msgNames msgDatas = cfsFileContents where variablesS = unlines $ map toVarDecl variables toVarDecl varDecl = varDeclType varDecl ++ " " ++ varDeclName varDecl ++ ";" @@ -205,157 +221,11 @@ fileContents variables msgIds msgNames msgDatas = cfsFileContents ] cfsFileContents = - [ "/********************************************************************" - , "** File: copilot_cfs.c" - , "**" - , "** Purpose:" - , "** This file contains the source code for the Copilot App." - , "**" - , "*********************************************************************/" - , "" - , "/*" - , "** Include Files:" - , "*/" - , "" - , "#include \"copilot_cfs.h\"" - , "#include \"copilot_cfs_perfids.h\"" - , "#include \"copilot_cfs_msgids.h\"" - , "#include \"copilot_cfs_msg.h\"" - , "#include \"copilot_cfs_events.h\"" - , "#include \"copilot_cfs_version.h\"" - , "#include \"Icarous_msgids.h\"" - , "#include \"Icarous_msg.h\"" - , "" - , variablesS - , "void split(void);" - , "void step(void);" - , "" - , "/*" - , "** global data" - , "*/" - , "" - , "copilot_hk_tlm_t COPILOT_HkTelemetryPkt;" - , "CFE_SB_PipeId_t COPILOT_CommandPipe;" - , "CFE_SB_MsgPtr_t COPILOTMsgPtr;" - , "" - , "static CFE_EVS_BinFilter_t COPILOT_EventFilters[] =" - , " { /* Event ID mask */" - , " {COPILOT_STARTUP_INF_EID, 0x0000}," - , " {COPILOT_COMMAND_ERR_EID, 0x0000}," - , " {COPILOT_COMMANDCPVIOL_INF_EID, 0x0000}," - , " };" - , "" - , "/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */" - , "/* COPILOT_AppMain() -- App entry point and main process loop */" - , "/* */" - , "/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */" - , "void COPILOT_AppMain( void )" - , "{" - , " int32 status;" - , " uint32 RunStatus = CFE_ES_APP_RUN;" - , "" - , " CFE_ES_PerfLogEntry(COPILOT_CFS_PERF_ID);" - , "" - , " COPILOT_AppInit();" - , "" - , " /*" - , " ** COPILOT Runloop" - , " */" - , " while (CFE_ES_RunLoop(&RunStatus) == TRUE)" - , " {" - , " CFE_ES_PerfLogExit(COPILOT_CFS_PERF_ID);" - , "" - , " // Pend on receipt of command packet" - , " // (timeout set to 500 millisecs)" - , " status = CFE_SB_RcvMsg (&COPILOTMsgPtr," - , " COPILOT_CommandPipe," - , " 500);" - , " " - , " CFE_ES_PerfLogEntry(COPILOT_CFS_PERF_ID);" - , "" - , " if (status == CFE_SUCCESS)" - , " {" - , " COPILOT_ProcessCommandPacket();" - , " }" - , "" - , " }" - , "" - , " CFE_ES_ExitApp(RunStatus);" - , "" - , "} /* End of COPILOT_AppMain() */" - , "" - , "/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */" - , "/* */" - , "/* COPILOT_AppInit() -- initialization */" - , "/* */" - , "/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */" - , "void COPILOT_AppInit(void)" - , "{" - , " // Register the app with Executive services" - , " CFE_ES_RegisterApp();" - , "" - , " // Register the events" - , " CFE_EVS_Register(COPILOT_EventFilters," - , " sizeof(COPILOT_EventFilters) / " - ++ "sizeof(CFE_EVS_BinFilter_t)," - , " CFE_EVS_BINARY_FILTER);" - , "" - , " // Create the Software Bus command pipe and subscribe to " - , " // housekeeping messages" - , " CFE_SB_CreatePipe(&COPILOT_CommandPipe, COPILOT_PIPE_DEPTH," - ++ "\"COPILOT_CMD_PIPE\");" + ( variablesS , msgSubscriptionS - , "" - , " CFE_EVS_SendEvent (COPILOT_STARTUP_INF_EID," - , " CFE_EVS_INFORMATION," - , " \"COPILOT App Initialized. Ver %d.%d.%d.%d\"," - , " COPILOT_CFS_MAJOR_VERSION," - , " COPILOT_CFS_MINOR_VERSION, " - , " COPILOT_CFS_REVISION, " - , " COPILOT_CFS_MISSION_REV);" - , "" - , "} /* End of COPILOT_AppInit() */" - , "" - , "/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */" - , "/* Name: COPILOT_ProcessCommandPacket */" - , "/* */" - , "/* Purpose: */" - , "/* This routine will process any packet that is received */" - , "/* on the COPILOT command pipe. */" - , "/* */" - , "/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */" - , "void COPILOT_ProcessCommandPacket(void)" - , "{" - , " CFE_SB_MsgId_t MsgId;" - , "" - , " MsgId = CFE_SB_GetMsgId(COPILOTMsgPtr);" - , "" - , " switch (MsgId)" - , " {" , msgCasesS - , " default:" - , " COPILOT_HkTelemetryPkt.copilot_command_error_count++;" - , " CFE_EVS_SendEvent(COPILOT_COMMAND_ERR_EID,CFE_EVS_ERROR," - , " " - ++ "\"COPILOT: invalid command packet,MID = 0x%x\"," - , " MsgId);" - , " break;" - , " }" - , "" - , " return;" - , "" - , "} /* End COPILOT_ProcessCommandPacket */" - , "" , msgHandlerS - , "" - , "/**" - , " * Report copilot property violations." - , " */" - , "void split(void) {" - , " CFE_EVS_SendEvent(COPILOT_COMMANDCPVIOL_INF_EID, CFE_EVS_ERROR," - , " \"COPILOT: violation\");" - , "}" - ] + ) -- * Exception handlers @@ -429,3 +299,48 @@ ecCannotEmptyVarList = 1 -- permissions or some I/O error. ecCannotCopyTemplate :: ErrorCode ecCannotCopyTemplate = 1 + +-- * Generic template handling + +-- | Copy a template directory into a target location, expanding variables +-- provided in a map in a JSON value, both in the file contents and in the +-- filepaths themselves. +copyTemplate :: FilePath -> Value -> FilePath -> IO () +copyTemplate templateDir subst targetDir = do + + -- Get all files (not directories) in the template dir. To keep a directory, + -- create an empty file in it (e.g., .keep). + tmplContents <- map (templateDir </>) . filter (`notElem` ["..", "."]) + <$> getDirectoryContentsRecursive templateDir + tmplFiles <- filterM doesFileExist tmplContents + + -- Copy files to new locations, expanding their name and contents as + -- mustache templates. + forM_ tmplFiles $ \fp -> do + + -- New file name in target directory, treating file + -- name as mustache template. + let fullPath = targetDir </> newFP + where + -- If file name has mustache markers, expand, otherwise use + -- relative file path + newFP = either (const relFP) + (unpack . (`renderMustache` subst)) + fpAsTemplateE + + -- Local file name within template dir + relFP = makeRelative templateDir fp + + -- Apply mustache substitutions to file name + fpAsTemplateE = compileMustacheText "fp" (pack relFP) + + -- File contents, treated as a mustache template. + contents <- encodeUtf8 <$> (`renderMustache` subst) + <$> compileMustacheFile fp + + -- Create target directory if necessary + let dirName = fst $ splitFileName fullPath + createDirectoryIfMissing True dirName + + -- Write expanded contents to expanded file path + B.writeFile fullPath contents diff --git a/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.c b/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.c index 74917cf9..7f9d0ff9 100644 --- a/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.c +++ b/ogma-core/templates/copilot-cfs/fsw/src/copilot_cfs.c @@ -19,7 +19,7 @@ #include "Icarous_msgids.h" #include "Icarous_msg.h" -position_t my_position; +{{variablesS}} void split(void); void step(void); @@ -98,7 +98,7 @@ void COPILOT_AppInit(void) ** messages */ CFE_SB_CreatePipe(&COPILOT_CommandPipe, COPILOT_PIPE_DEPTH,"COPILOT_CMD_PIPE"); - CFE_SB_Subscribe(ICAROUS_POSITION_MID, COPILOT_CommandPipe); +{{msgSubscriptionsS}} CFE_EVS_SendEvent (COPILOT_STARTUP_INF_EID, CFE_EVS_INFORMATION, "COPILOT App Initialized. Version %d.%d.%d.%d", @@ -125,9 +125,7 @@ void COPILOT_ProcessCommandPacket(void) switch (MsgId) { - case ICAROUS_POSITION_MID: - COPILOT_ProcessIcarousPosition(); - break; +{{ msgCasesS }} default: COPILOT_HkTelemetryPkt.copilot_command_error_count++; CFE_EVS_SendEvent(COPILOT_COMMAND_ERR_EID,CFE_EVS_ERROR, @@ -139,18 +137,7 @@ void COPILOT_ProcessCommandPacket(void) } /* End COPILOT_ProcessCommandPacket */ -/** - * Make ICAROUS data available to Copilot and run monitors. - */ -void COPILOT_ProcessIcarousPosition(void) -{ - position_t* msg; - msg = (position_t*) COPILOTMsgPtr; - my_position = *msg; - - // Run all copilot monitors. - step(); -} +{{msgHandlerS}} /** * Report copilot property violations. From 7c9db6d5edb264513dbc9acd6be1fc1b2d2b5254 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Tue, 12 Nov 2024 00:29:57 +0000 Subject: [PATCH 04/57] ogma-core: Enable customizing template directory in cFS app generation. Refs #157. The cFS application generation backend has a fixed template that it uses to generate the cFS application. That template does not fit all use cases, so we are finding users heavily modifying the output (which is hard to keep up with when there are changes), and or not using ogma altogether for that reason. A recent commit introduced the ability to use mustache to expand variables in a template. This commit modifies the cfs command to accept an additional argument that points to a user-provided directory with a custom template. --- ogma-core/src/Command/CFSApp.hs | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/ogma-core/src/Command/CFSApp.hs b/ogma-core/src/Command/CFSApp.hs index de195cd2..59bd5ce7 100644 --- a/ogma-core/src/Command/CFSApp.hs +++ b/ogma-core/src/Command/CFSApp.hs @@ -71,13 +71,14 @@ import Paths_ogma_core ( getDataDir ) -- | Generate a new CFS application connected to Copilot. cFSApp :: FilePath -- ^ Target directory where the application -- should be created. + -> Maybe FilePath -- ^ Directory where the template is to be found. -> FilePath -- ^ File containing a list of variables to make -- available to Copilot. -> Maybe FilePath -- ^ File containing a list of known variables -- with their types and the message IDs they -- can be obtained from. -> IO (Result ErrorCode) -cFSApp targetDir varNameFile varDBFile = do +cFSApp targetDir mTemplateDir varNameFile varDBFile = do -- We first try to open the two files we need to fill in details in the CFS -- app template. @@ -106,8 +107,11 @@ cFSApp targetDir varNameFile varDBFile = do Right varNames -> do -- Obtain template dir - dataDir <- getDataDir - let templateDir = dataDir </> "templates" </> "copilot-cfs" + templateDir <- case mTemplateDir of + Just x -> return x + Nothing -> do + dataDir <- getDataDir + return $ dataDir </> "templates" </> "copilot-cfs" E.handle (return . cannotCopyTemplate) $ do From 2905a0e1ccc76cc03a0e51470970cf7da0fd4a83 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Tue, 12 Nov 2024 00:30:19 +0000 Subject: [PATCH 05/57] ogma-cli: Provide CLI argument to pass an auxiliary template source directory to cFS app command. Refs #157. The cFS application generation backend has a fixed template that it uses to generate the cFS application. That template does not fit all use cases, so we are finding users heavily modifying the output (which is hard to keep up with when there are changes), and or not using ogma altogether for that reason. A recent commit introduced into ogma-core the ability to use a custom provided template and expand variables using mustache. This commit exposes that new parameter to the user in the CLI. --- ogma-cli/src/CLI/CommandCFSApp.hs | 25 +++++++++++++++++++++---- 1 file changed, 21 insertions(+), 4 deletions(-) diff --git a/ogma-cli/src/CLI/CommandCFSApp.hs b/ogma-cli/src/CLI/CommandCFSApp.hs index a5574080..1a44a72b 100644 --- a/ogma-cli/src/CLI/CommandCFSApp.hs +++ b/ogma-cli/src/CLI/CommandCFSApp.hs @@ -56,9 +56,10 @@ import Command.CFSApp ( ErrorCode, cFSApp ) -- | Options needed to generate the cFS application. data CommandOpts = CommandOpts - { cFSAppTarget :: String - , cFSAppVarNames :: String - , cFSAppVarDB :: Maybe String + { cFSAppTarget :: String + , cFSAppTemplateDir :: Maybe String + , cFSAppVarNames :: String + , cFSAppVarDB :: Maybe String } -- | Create <https://cfs.gsfc.nasa.gov/ NASA core Flight System> (cFS) @@ -68,7 +69,11 @@ data CommandOpts = CommandOpts -- This is just an uncurried version of "Command.CFSApp". command :: CommandOpts -> IO (Result ErrorCode) command c = - cFSApp (cFSAppTarget c) (cFSAppVarNames c) (cFSAppVarDB c) + cFSApp + (cFSAppTarget c) + (cFSAppTemplateDir c) + (cFSAppVarNames c) + (cFSAppVarDB c) -- * CLI @@ -87,6 +92,13 @@ commandOptsParser = CommandOpts <> value "copilot-cfs-demo" <> help strCFSAppDirArgDesc ) + <*> optional + ( strOption + ( long "app-template-dir" + <> metavar "DIR" + <> help strCFSAppTemplateDirArgDesc + ) + ) <*> strOption ( long "variable-file" <> metavar "FILENAME" @@ -106,6 +118,11 @@ commandOptsParser = CommandOpts strCFSAppDirArgDesc :: String strCFSAppDirArgDesc = "Target directory" +-- | Argument template directory to cFS app generation command +strCFSAppTemplateDirArgDesc :: String +strCFSAppTemplateDirArgDesc = + "Directory holding cFS application source template" + -- | Argument variable list to cFS app generation command strCFSAppVarListArgDesc :: String strCFSAppVarListArgDesc = From ee6e14495ea996c07f3e3721f15e0c934abd780f Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Tue, 12 Nov 2024 04:01:06 +0000 Subject: [PATCH 06/57] ogma-cli: Update README to document cFS application template customization. Refs #157. The cFS application generation backend has a fixed template that it uses to generate the cFS application. That template does not fit all use cases, so we are finding users heavily modifying the output (which is hard to keep up with when there are changes), and or not using ogma altogether for that reason. Prior commits have expanded the command to allow for customization of the template using a user-provided directory and expanding variables in the template using mustache. This commit documents the new feature in the README. --- ogma-cli/README.md | 42 +++++++++++++++++++++++++++++++++++++++++- 1 file changed, 41 insertions(+), 1 deletion(-) diff --git a/ogma-cli/README.md b/ogma-cli/README.md index 6d22e140..b6623550 100644 --- a/ogma-cli/README.md +++ b/ogma-cli/README.md @@ -115,9 +115,10 @@ flags to customize the list of known variables, so that projects can maintain their own variable databases beyond what Ogma includes by default. cFS applications are generated using the Ogma command `cfs`, which receives -three main arguments: +four main arguments: - `--app-target-dir DIR`: location where the cFS application files must be stored. +- `--app-template-dir DIR`: location of the cFS application template to use. - `--variable-file FILENAME`: a file containing a list of variables that must be made available to the monitor. - `--variable-db FILENAME`: a file containing a database of known variables, @@ -187,6 +188,45 @@ void COPILOT_ProcessIcarousPosition(void) } ``` +### Template Customization + +By default, Ogma uses a pre-defined template to generate the cFS monitoring +application. It's possible to customize the output by providing a directory +with a set of files with a cFS application template, which Ogma will use +instead. + +To choose this feature, one must call Ogma's `cfs` command with the argument +`--app-template-dir DIR`, where `DIR` is the path to a directory containing a +cFS application template. For example, assuming that the directory +`my_template` contains a custom cFS application template, one can execute: + +``` +$ ogma cfs --app-template-dir my_template/ --variable-db examples/cfs-variable-db --variable-file examples/cfs-variables +``` + +Ogma will copy the files in that directory to the target path, filling in +several holes with specific information: + +- `{{variablesS}}`: this will be replaced by a list of variable declarations, + one for each global variable that holds information read from the cFS +software bus that must be made accessible to the monitoring code. + +- `{{msgSubscriptionsS}}`: this will be replaced by a list of calls to + `CFE_SB_Subscribe`, subscribing to the necessary information coming in the +software bus. + +- `{{msgCasesS}}`: this will be replaced by a switch case statements that match + the ID of an incoming message, to handle information being received that must +be updated and would trigger a re-evaluation of the monitors. + +- `{{msgHandlerS}}`: this will be replaced by function definitions of the + functions that will be called to actually update the variables with +information coming from the software bus, and re-evaluate the monitors. + +We understand that this level of customization may be insufficient for your +application. If that is the case, feel free to reach out to our team to discuss +how we could make the template expansion system more versatile. + ## ROS Application Generation The Robot Operating System (ROS) is a framework to build robot applications. From 30f7a1693e27d01b7668409558a42907b284e80f Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Tue, 12 Nov 2024 04:58:28 +0000 Subject: [PATCH 07/57] ogma-core: Document changes in CHANGELOG. Refs #157. --- ogma-core/CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/ogma-core/CHANGELOG.md b/ogma-core/CHANGELOG.md index 6744d418..00dca11d 100644 --- a/ogma-core/CHANGELOG.md +++ b/ogma-core/CHANGELOG.md @@ -3,6 +3,7 @@ ## [1.X.Y] - 2024-11-13 * Fix incorrect path when using Space ROS humble-2024.10.0 (#158). +* Use template expansion system to generate cFS monitoring application (#157). ## [1.4.1] - 2024-09-21 From a1a96818e5a60420c233a3a00d4117e95dfbb1b0 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Tue, 12 Nov 2024 04:58:59 +0000 Subject: [PATCH 08/57] ogma-cli: Document changes in CHANGELOG. Refs #157. --- ogma-cli/CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ogma-cli/CHANGELOG.md b/ogma-cli/CHANGELOG.md index 00e5d435..5b17da9f 100644 --- a/ogma-cli/CHANGELOG.md +++ b/ogma-cli/CHANGELOG.md @@ -1,5 +1,9 @@ # Revision history for ogma-cli +## [1.X.Y] - 2024-11-11 + +* Provide ability to customize template in cfs command (#157). + ## [1.4.1] - 2024-09-21 * Version bump 1.4.1 (#155). From 8ba1cf39f444ead951eec13b3e635ad4fadff4ed Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Thu, 21 Nov 2024 02:46:26 +0000 Subject: [PATCH 09/57] ogma-extra: Introduce template expansion functionality. Refs #162. The ROS backend used a fixed template to generate the ROS package. That template does not fit all use cases, and users are heavily modifying the output (which is hard to keep up with when there are changes), and or not using ogma altogether for that reason. To make it possible for users to customize the ROS output, we want to support using mustache templates for ROS packages, like we did with the cFS backend. This commit copies the functionality of template generation and expansion using mustache from ogma-core's cFS backend to ogma-extra. --- ogma-extra/ogma-extra.cabal | 5 +- ogma-extra/src/System/Directory/Extra.hs | 61 +++++++++++++++++++++++- 2 files changed, 63 insertions(+), 3 deletions(-) diff --git a/ogma-extra/ogma-extra.cabal b/ogma-extra/ogma-extra.cabal index c4ca300a..0c7c9b19 100644 --- a/ogma-extra/ogma-extra.cabal +++ b/ogma-extra/ogma-extra.cabal @@ -68,11 +68,14 @@ library System.Directory.Extra build-depends: - base >= 4.11.0.0 && < 5 + base >= 4.11.0.0 && < 5 + , aeson >= 2.0.0.0 && < 2.2 , bytestring , Cabal , directory , filepath + , microstache >= 1.0 && < 1.1 + , text >= 1.2.3.1 && < 2.1 hs-source-dirs: src diff --git a/ogma-extra/src/System/Directory/Extra.hs b/ogma-extra/src/System/Directory/Extra.hs index eb276012..01ebfdc4 100644 --- a/ogma-extra/src/System/Directory/Extra.hs +++ b/ogma-extra/src/System/Directory/Extra.hs @@ -1,3 +1,4 @@ +{-# LANGUAGE OverloadedStrings #-} -- Copyright 2020 United States Government as represented by the Administrator -- of the National Aeronautics and Space Administration. All Rights Reserved. -- @@ -32,17 +33,28 @@ module System.Directory.Extra ( copyDirectoryRecursive , copyFile' + , copyTemplate ) where -- External imports +import Control.Monad ( filterM, forM_ ) import qualified Control.Exception as E +import Data.Aeson ( Value (..) ) +import qualified Data.ByteString.Lazy as B +import Data.Text.Lazy ( pack, unpack ) +import Data.Text.Lazy.Encoding ( encodeUtf8 ) import Distribution.Simple.Utils ( getDirectoryContentsRecursive ) import System.Directory ( copyFile, - createDirectoryIfMissing ) + createDirectoryIfMissing, + doesFileExist ) import System.Exit ( ExitCode (ExitFailure), exitWith ) -import System.FilePath ( takeDirectory, (</>) ) +import System.FilePath ( makeRelative, splitFileName, + takeDirectory, (</>) ) import System.IO ( hPutStrLn, stderr ) +import Text.Microstache ( compileMustacheFile, + compileMustacheText, + renderMustache ) -- | Copy all files from one directory to another. copyDirectoryRecursive :: FilePath -- ^ Source directory @@ -79,3 +91,48 @@ copyDirectoryRecursiveErrorHandler sourceDir targetDir _exception = do hPutStrLn stderr $ "ogma: error: cannot copy " ++ sourceDir ++ " to " ++ targetDir exitWith (ExitFailure 1) + +-- * Generic template handling + +-- | Copy a template directory into a target location, expanding variables +-- provided in a map in a JSON value, both in the file contents and in the +-- filepaths themselves. +copyTemplate :: FilePath -> Value -> FilePath -> IO () +copyTemplate templateDir subst targetDir = do + + -- Get all files (not directories) in the template dir. To keep a directory, + -- create an empty file in it (e.g., .keep). + tmplContents <- map (templateDir </>) . filter (`notElem` ["..", "."]) + <$> getDirectoryContentsRecursive templateDir + tmplFiles <- filterM doesFileExist tmplContents + + -- Copy files to new locations, expanding their name and contents as + -- mustache templates. + forM_ tmplFiles $ \fp -> do + + -- New file name in target directory, treating file + -- name as mustache template. + let fullPath = targetDir </> newFP + where + -- If file name has mustache markers, expand, otherwise use + -- relative file path + newFP = either (const relFP) + (unpack . (`renderMustache` subst)) + fpAsTemplateE + + -- Local file name within template dir + relFP = makeRelative templateDir fp + + -- Apply mustache substitutions to file name + fpAsTemplateE = compileMustacheText "fp" (pack relFP) + + -- File contents, treated as a mustache template. + contents <- encodeUtf8 <$> (`renderMustache` subst) + <$> compileMustacheFile fp + + -- Create target directory if necessary + let dirName = fst $ splitFileName fullPath + createDirectoryIfMissing True dirName + + -- Write expanded contents to expanded file path + B.writeFile fullPath contents From facb7fd1e7d8aa21c565f1c52e2a58f66935bf6c Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Thu, 21 Nov 2024 02:46:45 +0000 Subject: [PATCH 10/57] ogma-core: Use template expansion feature from ogma-extra in cFS backend. Refs #162. The ROS backend used a fixed template to generate the ROS package. That template does not fit all use cases, and users are heavily modifying the output (which is hard to keep up with when there are changes), and or not using ogma altogether for that reason. To make it possible for users to customize the ROS output, we want to support using mustache templates for ROS packages, like we did with the cFS backend. A prior commit has copied the functionality of template generation and expansion using mustache from ogma-core's cFS backend to ogma-extra. This commit makes the cFS backend depend on that feature on ogma-extra, to avoid duplication. --- ogma-core/ogma-core.cabal | 3 -- ogma-core/src/Command/CFSApp.hs | 62 +++------------------------------ 2 files changed, 5 insertions(+), 60 deletions(-) diff --git a/ogma-core/ogma-core.cabal b/ogma-core/ogma-core.cabal index 891e3e8b..8a160a87 100644 --- a/ogma-core/ogma-core.cabal +++ b/ogma-core/ogma-core.cabal @@ -106,10 +106,7 @@ library base >= 4.11.0.0 && < 5 , aeson >= 2.0.0.0 && < 2.2 , bytestring - , Cabal >= 2.4 && < 3.10 - , directory >= 1.3.1.0 && < 1.4 , filepath - , microstache >= 1.0 && < 1.1 , mtl , text >= 1.2.3.1 && < 2.1 diff --git a/ogma-core/src/Command/CFSApp.hs b/ogma-core/src/Command/CFSApp.hs index 59bd5ce7..1c5b35f1 100644 --- a/ogma-core/src/Command/CFSApp.hs +++ b/ogma-core/src/Command/CFSApp.hs @@ -47,23 +47,16 @@ module Command.CFSApp -- External imports import qualified Control.Exception as E -import Control.Monad (filterM, forM_) -import Data.Aeson (Value (..), decode, object, (.=)) -import qualified Data.ByteString.Lazy as B +import Data.Aeson (decode, object, (.=)) import Data.List (find) import Data.Text (Text) import Data.Text.Lazy (pack, unpack) -import Data.Text.Lazy.Encoding (encodeUtf8) -import Distribution.Simple.Utils (getDirectoryContentsRecursive) -import System.Directory (createDirectoryIfMissing, - doesFileExist) -import System.FilePath (makeRelative, splitFileName, (</>)) -import Text.Microstache (compileMustacheFile, - compileMustacheText, renderMustache) +import System.FilePath ( (</>) ) -- Internal imports: auxiliary -import Command.Result ( Result (..) ) -import Data.Location ( Location (..) ) +import Command.Result ( Result (..) ) +import Data.Location ( Location (..) ) +import System.Directory.Extra ( copyTemplate ) -- Internal imports import Paths_ogma_core ( getDataDir ) @@ -303,48 +296,3 @@ ecCannotEmptyVarList = 1 -- permissions or some I/O error. ecCannotCopyTemplate :: ErrorCode ecCannotCopyTemplate = 1 - --- * Generic template handling - --- | Copy a template directory into a target location, expanding variables --- provided in a map in a JSON value, both in the file contents and in the --- filepaths themselves. -copyTemplate :: FilePath -> Value -> FilePath -> IO () -copyTemplate templateDir subst targetDir = do - - -- Get all files (not directories) in the template dir. To keep a directory, - -- create an empty file in it (e.g., .keep). - tmplContents <- map (templateDir </>) . filter (`notElem` ["..", "."]) - <$> getDirectoryContentsRecursive templateDir - tmplFiles <- filterM doesFileExist tmplContents - - -- Copy files to new locations, expanding their name and contents as - -- mustache templates. - forM_ tmplFiles $ \fp -> do - - -- New file name in target directory, treating file - -- name as mustache template. - let fullPath = targetDir </> newFP - where - -- If file name has mustache markers, expand, otherwise use - -- relative file path - newFP = either (const relFP) - (unpack . (`renderMustache` subst)) - fpAsTemplateE - - -- Local file name within template dir - relFP = makeRelative templateDir fp - - -- Apply mustache substitutions to file name - fpAsTemplateE = compileMustacheText "fp" (pack relFP) - - -- File contents, treated as a mustache template. - contents <- encodeUtf8 <$> (`renderMustache` subst) - <$> compileMustacheFile fp - - -- Create target directory if necessary - let dirName = fst $ splitFileName fullPath - createDirectoryIfMissing True dirName - - -- Write expanded contents to expanded file path - B.writeFile fullPath contents From f18064e0db9833526328da4aad1721d589b924fe Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Wed, 20 Nov 2024 20:06:02 +0000 Subject: [PATCH 11/57] ogma-core: Use template expansion to generate ROS monitoring package. Refs #162. The ROS package generation backend has a fixed template that it uses to generate the ROS nodes. That template does not fit all use cases, so we are finding users heavily modifying the output (which is hard to keep up with when there are changes), and or not using ogma altogether for that reason. This commit modifies the ogma-core ros command to use mustache to generate the ROS monitoring package via a template and variable expansion. We adapt the template to also use those variables, and we modify the cabal file to include the new files as data files that are copied over during installation. --- ogma-core/ogma-core.cabal | 3 +- ogma-core/src/Command/ROSApp.hs | 168 +++++------------- ogma-core/templates/ros/copilot/src/.keep | 0 .../ros/copilot/src/copilot_logger.cpp | 27 +++ .../ros/copilot/src/copilot_monitor.cpp | 52 ++++++ 5 files changed, 128 insertions(+), 122 deletions(-) delete mode 100644 ogma-core/templates/ros/copilot/src/.keep create mode 100644 ogma-core/templates/ros/copilot/src/copilot_logger.cpp create mode 100644 ogma-core/templates/ros/copilot/src/copilot_monitor.cpp diff --git a/ogma-core/ogma-core.cabal b/ogma-core/ogma-core.cabal index 8a160a87..ad264143 100644 --- a/ogma-core/ogma-core.cabal +++ b/ogma-core/ogma-core.cabal @@ -62,7 +62,8 @@ data-files: templates/copilot-cfs/CMakeLists.txt templates/copilot-cfs/fsw/src/copilot_cfs_events.h templates/ros/Dockerfile templates/ros/copilot/CMakeLists.txt - templates/ros/copilot/src/.keep + templates/ros/copilot/src/copilot_logger.cpp + templates/ros/copilot/src/copilot_monitor.cpp templates/ros/copilot/package.xml templates/fprime/CMakeLists.txt templates/fprime/Dockerfile diff --git a/ogma-core/src/Command/ROSApp.hs b/ogma-core/src/Command/ROSApp.hs index 9528b34f..3d76a32a 100644 --- a/ogma-core/src/Command/ROSApp.hs +++ b/ogma-core/src/Command/ROSApp.hs @@ -1,3 +1,4 @@ +{-# LANGUAGE OverloadedStrings #-} -- Copyright 2022 United States Government as represented by the Administrator -- of the National Aeronautics and Space Administration. All Rights Reserved. -- @@ -46,15 +47,16 @@ module Command.ROSApp import qualified Control.Exception as E import Control.Monad.Except (ExceptT, liftEither, liftIO, runExceptT, throwError) -import Data.Aeson (eitherDecode) +import Data.Aeson (eitherDecode, object, (.=)) import Data.List (find, intersperse) import Data.Maybe (fromMaybe) +import Data.Text.Lazy (pack) import System.FilePath ((</>)) -- External imports: auxiliary import Data.ByteString.Extra as B (safeReadFile) import Data.String.Extra (sanitizeLCIdentifier, sanitizeUCIdentifier) -import System.Directory.Extra (copyDirectoryRecursive) +import System.Directory.Extra (copyTemplate) -- External imports: ogma import Data.OgmaSpec (Spec, externalVariableName, externalVariables, @@ -118,9 +120,6 @@ rosApp' targetDir varNames varDB monitors = dataDir <- getDataDir let templateDir = dataDir </> "templates" </> "ros" - -- Expand template - copyDirectoryRecursive templateDir targetDir - let f n o@(oVars, oIds, oInfos, oDatas) = case variableMap varDB n of Nothing -> o @@ -135,21 +134,29 @@ rosApp' targetDir varNames varDB monitors = let (vars, ids, infos, datas) = foldr f ([], [], [], []) varNames - let rosFileName = - targetDir </> "copilot" </> "src" </> "copilot_monitor.cpp" - rosFileContents = - unlines $ - rosMonitorContents varNames vars ids infos datas monitors - - writeFile rosFileName rosFileContents - - let rosFileName = - targetDir </> "copilot" </> "src" </> "copilot_logger.cpp" - rosFileContents = - unlines $ - rosLoggerContents varNames vars ids infos datas monitors - - writeFile rosFileName rosFileContents + let (variablesS, msgSubscriptionS, msgPublisherS, + msgHandlerInClassS, msgCallbacks, msgSubscriptionDeclrs, + msgPublisherDeclrs, msgHandlerGlobalS) = + rosMonitorComponents varNames vars ids infos datas monitors + + (logMsgSubscriptionS, logMsgCallbacks, logMsgSubscriptionDeclrs) = + rosLoggerComponents varNames vars ids infos datas monitors + + subst = object $ + [ "variablesS" .= pack variablesS + , "msgSubscriptionS" .= pack msgSubscriptionS + , "msgPublisherS" .= pack msgPublisherS + , "msgHandlerInClassS" .= pack msgHandlerInClassS + , "msgCallbacks" .= pack msgCallbacks + , "msgSubscriptionDeclrs" .= pack msgSubscriptionDeclrs + , "msgPublisherDeclrs" .= pack msgPublisherDeclrs + , "msgHandlerGlobalS" .= pack msgHandlerGlobalS + , "logMsgSubscriptionS" .= pack logMsgSubscriptionS + , "logMsgCallbacks" .= pack logMsgCallbacks + , "logMsgSubscriptionDeclrs" .= pack logMsgSubscriptionDeclrs + ] + + copyTemplate templateDir subst targetDir return $ Right () @@ -301,52 +308,24 @@ data MsgData = MsgData -- * ROS apps content -- | Return the contents of the main ROS application. -rosMonitorContents :: [String] -- Variables - -> [VarDecl] - -> [MsgInfoId] - -> [MsgInfo] - -> [MsgData] - -> [String] -- Monitors - -> [String] -rosMonitorContents varNames variables msgIds msgNames msgDatas monitors = - [ "#include <functional>" - , "#include <memory>" - , "" - , "#include \"rclcpp/rclcpp.hpp\"" - , "" - , typeIncludes - , copilotIncludes - , "using std::placeholders::_1;" - , "" - , variablesS - , "class CopilotRV : public rclcpp::Node {" - , " public:" - , " CopilotRV() : Node(\"copilotrv\") {" +rosMonitorComponents + :: [String] -- Variables + -> [VarDecl] + -> [MsgInfoId] + -> [MsgInfo] + -> [MsgData] + -> [String] -- Monitors + -> (String, String, String, String, String, String, String, String) +rosMonitorComponents varNames variables msgIds msgNames msgDatas monitors = + ( variablesS , msgSubscriptionS , msgPublisherS - , " }" - , "" , msgHandlerInClassS - , " // Needed so we can report messages to the log." - , " static CopilotRV& getInstance() {" - , " static CopilotRV instance;" - , " return instance;" - , " }" - , "" - , " private:" , msgCallbacks , msgSubscriptionDeclrs , msgPublisherDeclrs - , "};" - , "" , msgHandlerGlobalS - , "int main(int argc, char* argv[]) {" - , " rclcpp::init(argc, argv);" - , " rclcpp::spin(std::make_shared<CopilotRV>());" - , " rclcpp::shutdown();" - , " return 0;" - , "}" - ] + ) where @@ -369,27 +348,6 @@ rosMonitorContents varNames variables msgIds msgNames msgDatas monitors = publisher = monitor ++ "_publisher_" - typeIncludes = unlines - [ "#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 <cstdint>" - ] - - copilotIncludes = unlines - [ "#include \"monitor.h\"" - , "#include \"monitor.c\"" - ] - variablesS = unlines $ map toVarDecl variables toVarDecl varDecl = varDeclType' varDecl ++ " " ++ varDeclName varDecl ++ ";" @@ -515,50 +473,18 @@ rosMonitorContents varNames variables msgIds msgNames msgDatas monitors = publisher = nm ++ "_publisher_" -- | Return the contents of the logger ROS application. -rosLoggerContents :: [String] -- Variables - -> [VarDecl] - -> [MsgInfoId] - -> [MsgInfo] - -> [MsgData] - -> [String] -- Monitors - -> [String] -rosLoggerContents varNames variables msgIds msgNames msgDatas monitors = - rosFileContents +rosLoggerComponents :: [String] -- Variables + -> [VarDecl] + -> [MsgInfoId] + -> [MsgInfo] + -> [MsgData] + -> [String] -- Monitors + -> (String, String, String) +rosLoggerComponents varNames variables msgIds msgNames msgDatas monitors = + (msgSubscriptionS, msgCallbacks, msgSubscriptionDeclrs) where - rosFileContents = - [ "#include <functional>" - , "#include <memory>" - , "" - , "#include \"rclcpp/rclcpp.hpp\"" - , "" - , typeIncludes - , "using std::placeholders::_1;" - , "" - , "class CopilotLogger : public rclcpp::Node {" - , " public:" - , " CopilotLogger() : Node(\"copilotlogger\") {" - , msgSubscriptionS - , " }" - , "" - , " private:" - , msgCallbacks - , msgSubscriptionDeclrs - , "};" - , "" - , "int main(int argc, char* argv[]) {" - , " rclcpp::init(argc, argv);" - , " rclcpp::spin(std::make_shared<CopilotLogger>());" - , " rclcpp::shutdown();" - , " return 0;" - , "}" - ] - - typeIncludes = unlines - [ "#include \"std_msgs/msg/empty.hpp\"" - ] - msgSubscriptionS = unlines $ concat $ intersperse [""] diff --git a/ogma-core/templates/ros/copilot/src/.keep b/ogma-core/templates/ros/copilot/src/.keep deleted file mode 100644 index e69de29b..00000000 diff --git a/ogma-core/templates/ros/copilot/src/copilot_logger.cpp b/ogma-core/templates/ros/copilot/src/copilot_logger.cpp new file mode 100644 index 00000000..fbda764f --- /dev/null +++ b/ogma-core/templates/ros/copilot/src/copilot_logger.cpp @@ -0,0 +1,27 @@ +#include <functional> +#include <memory> + +#include "rclcpp/rclcpp.hpp" + +#include "std_msgs/msg/empty.hpp" +using std::placeholders::_1; + +class CopilotLogger : public rclcpp::Node { + public: + CopilotLogger() : Node("copilotlogger") { +{{{logMsgSubscriptionS}}} + } + + private: +{{{logMsgCallbacks}}} +{{{logMsgSubscriptionDeclrs}}} +}; + +int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared<CopilotLogger>()); + rclcpp::shutdown(); + return 0; +} + + diff --git a/ogma-core/templates/ros/copilot/src/copilot_monitor.cpp b/ogma-core/templates/ros/copilot/src/copilot_monitor.cpp new file mode 100644 index 00000000..2d495fa0 --- /dev/null +++ b/ogma-core/templates/ros/copilot/src/copilot_monitor.cpp @@ -0,0 +1,52 @@ +#include <functional> +#include <memory> + +#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 <cstdint> +#include "monitor.h" +#include "monitor.c" + +using std::placeholders::_1; + +{{{variablesS}}} +class CopilotRV : public rclcpp::Node { + public: + CopilotRV() : Node("copilotrv") { +{{{msgSubscriptionS}}} +{{{msgPublisherS}}} + } + +{{{msgHandlerInClassS}}} + // Needed so we can report messages to the log. + static CopilotRV& getInstance() { + static CopilotRV instance; + return instance; + } + + private: +{{{msgCallbacks}}} +{{{msgSubscriptionDeclrs}}} +{{{msgPublisherDeclrs}}} +}; + +{{{msgHandlerGlobalS}}} +int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared<CopilotRV>()); + rclcpp::shutdown(); + return 0; +} + From 3a8a28a877b8f0e9395f553982f7882ab21aab6f Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Thu, 21 Nov 2024 01:36:40 +0000 Subject: [PATCH 12/57] ogma-core: Enable customizing template directory in ROS package generation. Refs #162. The ROS package generation backend has a fixed template that it uses to generate the ROS package. That template does not fit all use cases, so we are finding users heavily modifying the output (which is hard to keep up with when there are changes), and or not using ogma altogether for that reason. A recent commit introduced the ability to use mustache to expand variables in a template. This commit modifies the ros command to accept an additional argument that points to a user-provided directory with a custom template. --- ogma-core/src/Command/ROSApp.hs | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/ogma-core/src/Command/ROSApp.hs b/ogma-core/src/Command/ROSApp.hs index 3d76a32a..9c673706 100644 --- a/ogma-core/src/Command/ROSApp.hs +++ b/ogma-core/src/Command/ROSApp.hs @@ -75,6 +75,7 @@ import Paths_ogma_core ( getDataDir ) -- | Generate a new ROS application connected to Copilot. rosApp :: FilePath -- ^ Target directory where the application -- should be created. + -> Maybe FilePath -- ^ Directory where the template is to be found. -> Maybe FilePath -- ^ FRET Component specification file. -> Maybe FilePath -- ^ File containing a list of variables to make -- available to Copilot. @@ -85,7 +86,7 @@ rosApp :: FilePath -- ^ Target directory where the application -- Copilot specification. The handlers are assumed -- to receive no arguments. -> IO (Result ErrorCode) -rosApp targetDir fretCSFile varNameFile varDBFile handlersFile = +rosApp targetDir mTemplateDir fretCSFile varNameFile varDBFile handlersFile = processResult $ do cs <- parseOptionalFRETCS fretCSFile vs <- parseOptionalVariablesFile varNameFile @@ -97,13 +98,15 @@ rosApp targetDir fretCSFile varNameFile varDBFile handlersFile = let varNames = fromMaybe (fretCSExtractExternalVariables cs) vs monitors = fromMaybe (fretCSExtractHandlers cs) rs - e <- liftIO $ rosApp' targetDir varNames varDB monitors + e <- liftIO $ rosApp' targetDir mTemplateDir varNames varDB monitors liftEither e -- | Generate a new ROS application connected to Copilot, by copying the -- template and filling additional necessary files. rosApp' :: FilePath -- ^ Target directory where the -- application should be created. + -> Maybe FilePath -- ^ Directory where the template + -- is to be found. -> [String] -- ^ List of variable names -- (data sources). -> [(String, String, String, String)] -- ^ List of variables with their @@ -114,11 +117,14 @@ rosApp' :: FilePath -- ^ Target directory where the -- to the monitors (or -- requirements monitored). -> IO (Either ErrorTriplet ()) -rosApp' targetDir varNames varDB monitors = +rosApp' targetDir mTemplateDir varNames varDB monitors = E.handle (return . Left . cannotCopyTemplate) $ do -- Obtain template dir - dataDir <- getDataDir - let templateDir = dataDir </> "templates" </> "ros" + templateDir <- case mTemplateDir of + Just x -> return x + Nothing -> do + dataDir <- getDataDir + return $ dataDir </> "templates" </> "ros" let f n o@(oVars, oIds, oInfos, oDatas) = case variableMap varDB n of From f7a4e5da43fdcc4d3c957384237ab73f7bb9d788 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Thu, 21 Nov 2024 01:39:10 +0000 Subject: [PATCH 13/57] ogma-cli: Provide CLI argument to pass an auxiliary template source directory to ROS app command. Refs #162. The ROS package generation backend has a fixed template that it uses to generate the ROS package. That template does not fit all use cases, so we are finding users heavily modifying the output (which is hard to keep up with when there are changes), and or not using ogma altogether for that reason. A recent commit introduced into ogma-core the ability to use a custom provided template and expand variables using mustache. This commit exposes that new parameter to the user in the CLI. --- ogma-cli/src/CLI/CommandROSApp.hs | 24 +++++++++++++++++++----- 1 file changed, 19 insertions(+), 5 deletions(-) diff --git a/ogma-cli/src/CLI/CommandROSApp.hs b/ogma-cli/src/CLI/CommandROSApp.hs index 9fac9ba3..2762c86f 100644 --- a/ogma-cli/src/CLI/CommandROSApp.hs +++ b/ogma-cli/src/CLI/CommandROSApp.hs @@ -56,11 +56,12 @@ import Command.ROSApp ( ErrorCode, rosApp ) -- | Options needed to generate the ROS application. data CommandOpts = CommandOpts - { rosAppTarget :: String - , rosAppFRETFile :: Maybe String - , rosAppVarNames :: Maybe String - , rosAppVarDB :: Maybe String - , rosAppHandlers :: Maybe String + { 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 @@ -72,6 +73,7 @@ command :: CommandOpts -> IO (Result ErrorCode) command c = rosApp (rosAppTarget c) + (rosAppTemplateDir c) (rosAppFRETFile c) (rosAppVarNames c) (rosAppVarDB c) @@ -94,6 +96,13 @@ commandOptsParser = CommandOpts <> value "ros" <> help strROSAppDirArgDesc ) + <*> optional + ( strOption + ( long "app-template-dir" + <> metavar "DIR" + <> help strROSAppTemplateDirArgDesc + ) + ) <*> optional ( strOption ( long "fret-file-name" @@ -127,6 +136,11 @@ commandOptsParser = CommandOpts 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 = From 5871ce1e6aac8a3b9927d10b49ca353585c463bf Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Thu, 21 Nov 2024 01:42:22 +0000 Subject: [PATCH 14/57] ogma-cli: Update README to document ROS package template customization. Refs #162. The ROS package generation backend used a fixed template to generate the ROS package. That template did not fit all use cases, and users are modifying the output (which is hard to keep up with when there are changes), and or not using ogma altogether for that reason. Prior commits have expanded the command to allow for customization of the template using a user-provided directory and expanding variables in the template using mustache. This commit documents the new feature in the README. --- ogma-cli/README.md | 71 +++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 70 insertions(+), 1 deletion(-) diff --git a/ogma-cli/README.md b/ogma-cli/README.md index b6623550..0227b91c 100644 --- a/ogma-cli/README.md +++ b/ogma-cli/README.md @@ -236,9 +236,10 @@ the data needed by the monitors and report any violations. At present, support for ROS app generation is considered preliminary. ROS applications are generated using the Ogma command `ros`, which receives -four main arguments: +five main arguments: - `--app-target-dir DIR`: location where the ROS application files must be stored. +- `--app-template-dir DIR`: location of the ROS application template to use. - `--variable-file FILENAME`: a file containing a list of variables that must be made available to the monitor. - `--variable-db FILENAME`: a file containing a database of known variables, @@ -299,6 +300,74 @@ and the last step of the script `.github/workflows/repo-ghc-8.6-cabal-2.4-ros.yml`, which generates a ROS monitor with multiple variables and compiles the resulting code. +### Template Customization + +By default, Ogma uses a pre-defined template to generate the ROS monitoring +package. It's possible to customize the output by providing a directory with a +set of files with a ROS package template, which Ogma will use instead. + +To choose this feature, one must call Ogma's `ros` command with the argument +`--app-template-dir DIR`, where `DIR` is the path to a directory containing a +ROS 2 package template. For example, assuming that the directory `my_template` +contains a custom ROS package template, one can execute: + +``` +$ ogma ros --app-template-dir my_template/ --handlers filename --variable-file variables --variable-db ros-variable-db --app-target-dir ros_demo +``` + +Ogma will copy the files in that directory to the target path, filling in +several holes with specific information. For the monitoring node, the variables +are: + +- `{{variablesS}}`: this will be replaced by a list of variable declarations, + one for each global variable that holds information read from the ROS +software bus that must be made accessible to the monitoring code. + +- `{{msgSubscriptionsS}}`: this will be replaced by a list of calls to + `create_subscription`, subscribing to the necessary information coming in the +software bus. + +- `{{msgPublisherS}}`: this will be replaced by a list of calls to + `create_publisher`, to create topics to report property violations on the +software bus. + +- `{{msgHandlerInClassS}}`: this will be replaced by the functions that will be + called to report a property violation via one of the property violation +topics (publishers). + +- `{{msgCallbacks}}`: this will be replaced by function definitions of the + functions that will be called to actually update the variables with +information coming from the software bus, and re-evaluate the monitors. + +- `{{msgSubscriptionDeclrs}}`: this will be replaced by declarations of + subscriptions used in `{{msgSubscriptionsS}}`. + +- `{{msgPublisherDeclrs}}`: this will be replaced by declarations of publishers + used in `{{msgPublishersS}}`. + +- `{{msgHandlerGlobalS}}`: this will be replaced by top-level functions that + call the handlers from the single monitoring class instance (singleton). + +Ogma will also generate a logging node that can be used for debugging purposes, +to print property violations to a log. This second node listens to the messages +published by the monitoring node in the software bus. For that node, the +variables used are: + +- `{{logMsgSubscriptionsS}}`: this will be replaced by a list of calls to + `create_subscription`, subscribing to the necessary information coming in the +software bus. + +- `{{logMsgCallbacks}}`: this will be replaced by function definitions of the + functions called to report the violations in the log. These functions are +used as handlers to incoming messages in the subscriptions. + +- `{{logMsgSubscriptionDeclrs}}`: this will be replaced by declarations of + subscriptions used in `{{logMsgSubscriptionsS}}`. + +We understand that this level of customization may be insufficient for your +application. If that is the case, feel free to reach out to our team to discuss +how we could make the template expansion system more versatile. + ### Current limitations The user must place the code generated by Copilot monitors in two files, From 07229fea96edc6be6fb7b1d6860655223ca68680 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Thu, 21 Nov 2024 02:44:37 +0000 Subject: [PATCH 15/57] ogma-extra: Document changes in CHANGELOG. Refs #162. --- ogma-extra/CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ogma-extra/CHANGELOG.md b/ogma-extra/CHANGELOG.md index defe47b1..dcc31e24 100644 --- a/ogma-extra/CHANGELOG.md +++ b/ogma-extra/CHANGELOG.md @@ -1,5 +1,9 @@ # Revision history for ogma-extra +## [1.X.Y] - 2024-11-20 + +* Introduce template expansion functionality (#162). + ## [1.4.1] - 2024-09-21 * Version bump 1.4.1 (#155). From f6854c8757cf217a65929207aea73e9803ea407c Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Thu, 21 Nov 2024 02:45:00 +0000 Subject: [PATCH 16/57] ogma-core: Document changes in CHANGELOG. Refs #162. --- ogma-core/CHANGELOG.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ogma-core/CHANGELOG.md b/ogma-core/CHANGELOG.md index 00dca11d..b068afac 100644 --- a/ogma-core/CHANGELOG.md +++ b/ogma-core/CHANGELOG.md @@ -1,9 +1,10 @@ # Revision history for ogma-core -## [1.X.Y] - 2024-11-13 +## [1.X.Y] - 2024-11-20 * Fix incorrect path when using Space ROS humble-2024.10.0 (#158). * Use template expansion system to generate cFS monitoring application (#157). +* Use template expansion system to generate ROS monitoring application (#162). ## [1.4.1] - 2024-09-21 From 879f0715798944c146e1d47268844fc60f5d65c9 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Thu, 21 Nov 2024 02:45:19 +0000 Subject: [PATCH 17/57] ogma-cli: Document changes in CHANGELOG. Refs #162. --- ogma-cli/CHANGELOG.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ogma-cli/CHANGELOG.md b/ogma-cli/CHANGELOG.md index 5b17da9f..b0177a40 100644 --- a/ogma-cli/CHANGELOG.md +++ b/ogma-cli/CHANGELOG.md @@ -1,8 +1,9 @@ # Revision history for ogma-cli -## [1.X.Y] - 2024-11-11 +## [1.X.Y] - 2024-11-20 * Provide ability to customize template in cfs command (#157). +* Provide ability to customize template in ros command (#162). ## [1.4.1] - 2024-09-21 From 74ec98758aa707a6a2d3158576c9d29fa49247fd Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Thu, 21 Nov 2024 21:21:15 +0000 Subject: [PATCH 18/57] ogma-core: Fix comment in generated Copilot spec. Refs #164. The Copilot specification generated by Ogma includes the following comment for the top-level `spec`: ``` -- | Complete specification. Calls the C function void handler(); when -- the property is violated. ``` The comment is inaccurate, since the name of the function executed may not be `handler`. This commit fixes the comment to say that *handlers* are executed when properties are violated. --- ogma-core/src/Language/Trans/Spec2Copilot.hs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ogma-core/src/Language/Trans/Spec2Copilot.hs b/ogma-core/src/Language/Trans/Spec2Copilot.hs index 99e1fb6a..9de043b7 100644 --- a/ogma-core/src/Language/Trans/Spec2Copilot.hs +++ b/ogma-core/src/Language/Trans/Spec2Copilot.hs @@ -197,9 +197,9 @@ spec2Copilot specName typeMaps exprTransform showExpr spec = -- Main specification copilotSpec :: [String] copilotSpec = [ "" - , "-- | Complete specification. Calls the C function void " - ++ " handler(); when" - , "-- the property is violated." + , "-- | Complete specification. Calls C handler functions" + ++ " when" + , "-- properties are violated." , "spec :: Spec" , "spec = do" ] From 69e128c1a71a61ffbb46daf52f0a48826360c80a Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Thu, 21 Nov 2024 21:22:19 +0000 Subject: [PATCH 19/57] ogma-core: Document changes in CHANGELOG. Refs #164. --- ogma-core/CHANGELOG.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ogma-core/CHANGELOG.md b/ogma-core/CHANGELOG.md index b068afac..d41d1f6c 100644 --- a/ogma-core/CHANGELOG.md +++ b/ogma-core/CHANGELOG.md @@ -1,10 +1,11 @@ # Revision history for ogma-core -## [1.X.Y] - 2024-11-20 +## [1.X.Y] - 2024-11-21 * Fix incorrect path when using Space ROS humble-2024.10.0 (#158). * Use template expansion system to generate cFS monitoring application (#157). * Use template expansion system to generate ROS monitoring application (#162). +* Fix comment in generated Copilot spec (#164). ## [1.4.1] - 2024-09-21 From 7b2faed82befd3ad07095d52236fc53247285813 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 03:41:17 +0000 Subject: [PATCH 20/57] ogma-core: Add missing notPreviousNot to generated spec. Refs #168. When an input spec uses the Z SMV operator, the produced Copilot spec refers to a function notPreviousNot that is not defined. This function should be included in the generated spec. This commit makes the Copilot generator include a default definition for notPreviousNot. --- ogma-core/src/Language/Trans/Spec2Copilot.hs | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/ogma-core/src/Language/Trans/Spec2Copilot.hs b/ogma-core/src/Language/Trans/Spec2Copilot.hs index 9de043b7..8a75ca67 100644 --- a/ogma-core/src/Language/Trans/Spec2Copilot.hs +++ b/ogma-core/src/Language/Trans/Spec2Copilot.hs @@ -67,6 +67,7 @@ spec2Copilot specName typeMaps exprTransform showExpr spec = , ftp , pre , tpre + , notPreviousNot , copilotSpec , main' ] @@ -194,6 +195,13 @@ spec2Copilot specName typeMaps exprTransform showExpr spec = , "tpre = ([True] ++)" ] + -- Auxiliary streams: notPreviousNot + notPreviousNot :: [String] + notPreviousNot = [ "" + , "notPreviousNot :: Stream Bool -> Stream Bool" + , "notPreviousNot = not . PTLTL.previous . not" + ] + -- Main specification copilotSpec :: [String] copilotSpec = [ "" From 090d256846fb69b12fb47acf1e6dfba286e51952 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 03:42:47 +0000 Subject: [PATCH 21/57] ogma-core: Document changes in CHANGELOG. Refs #168. --- ogma-core/CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/ogma-core/CHANGELOG.md b/ogma-core/CHANGELOG.md index d41d1f6c..6c86958b 100644 --- a/ogma-core/CHANGELOG.md +++ b/ogma-core/CHANGELOG.md @@ -6,6 +6,7 @@ * Use template expansion system to generate cFS monitoring application (#157). * Use template expansion system to generate ROS monitoring application (#162). * Fix comment in generated Copilot spec (#164). +* Add missing notPreviousNot to generated spec (#168). ## [1.4.1] - 2024-09-21 From 6a9a9c70ba05f5a21df788435af95667ca83fb5b Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 08:16:23 +0000 Subject: [PATCH 22/57] ogma-language-jsonspec: Make JSONFormat readable. Refs #170. To make Ogma more easily extensible, we want to make it possible to store the format specifications in individual files, so that they do not have to be included with the code and they can be provided by users. This commit makes a JSONFormat readable, so that it can be easily read from a file. --- .../src/Language/JSONSpec/Parser.hs | 25 ++++++++++--------- 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/ogma-language-jsonspec/src/Language/JSONSpec/Parser.hs b/ogma-language-jsonspec/src/Language/JSONSpec/Parser.hs index 973e494c..d57be333 100644 --- a/ogma-language-jsonspec/src/Language/JSONSpec/Parser.hs +++ b/ogma-language-jsonspec/src/Language/JSONSpec/Parser.hs @@ -52,18 +52,19 @@ import Text.Megaparsec (eof, errorBundlePretty, parse) import Data.OgmaSpec data JSONFormat = JSONFormat - { specInternalVars :: Maybe String - , specInternalVarId :: String - , specInternalVarExpr :: String - , specInternalVarType :: Maybe String - , specExternalVars :: Maybe String - , specExternalVarId :: String - , specExternalVarType :: Maybe String - , specRequirements :: String - , specRequirementId :: String - , specRequirementDesc :: Maybe String - , specRequirementExpr :: String - } + { specInternalVars :: Maybe String + , specInternalVarId :: String + , specInternalVarExpr :: String + , specInternalVarType :: Maybe String + , specExternalVars :: Maybe String + , specExternalVarId :: String + , specExternalVarType :: Maybe String + , specRequirements :: String + , specRequirementId :: String + , specRequirementDesc :: Maybe String + , specRequirementExpr :: String + } + deriving (Read) data JSONFormatInternal = JSONFormatInternal { jfiInternalVars :: Maybe [JSONPathElement] From c6b5eb942981e7443ba0c67b57f4d243c7403676 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 08:16:01 +0000 Subject: [PATCH 23/57] ogma-core: Introduce standalone command. Refs #170. The CLI of Ogma lacks uniformity: some commands are driven by the input format, others by the output format (e.g., ROS, cFS). To make Ogma easier to use, we should provide an interface that is driven by one or the other, but not both. This commit introduces a new standalone command, at core level, that produces an individual Copilot specification from an input file. --- ogma-core/data/formats/fcs_cocospec | 13 ++ ogma-core/data/formats/fcs_smv | 13 ++ ogma-core/data/formats/fdb_cocospec | 13 ++ ogma-core/data/formats/fdb_smv | 13 ++ ogma-core/ogma-core.cabal | 5 + ogma-core/src/Command/Standalone.hs | 223 ++++++++++++++++++++++++++++ 6 files changed, 280 insertions(+) create mode 100644 ogma-core/data/formats/fcs_cocospec create mode 100644 ogma-core/data/formats/fcs_smv create mode 100644 ogma-core/data/formats/fdb_cocospec create mode 100644 ogma-core/data/formats/fdb_smv create mode 100644 ogma-core/src/Command/Standalone.hs diff --git a/ogma-core/data/formats/fcs_cocospec b/ogma-core/data/formats/fcs_cocospec new file mode 100644 index 00000000..cf41054f --- /dev/null +++ b/ogma-core/data/formats/fcs_cocospec @@ -0,0 +1,13 @@ +JSONFormat + { specInternalVars = Just "..Internal_variables[*]" + , specInternalVarId = ".name" + , specInternalVarExpr = ".assignmentCopilot" + , specInternalVarType = Just ".type" + , specExternalVars = Just "..Other_variables[*]" + , specExternalVarId = ".name" + , specExternalVarType = Just ".type" + , specRequirements = "..Requirements[*]" + , specRequirementId = ".name" + , specRequirementDesc = Just ".fretish" + , specRequirementExpr = ".CoCoSpecCode" + } diff --git a/ogma-core/data/formats/fcs_smv b/ogma-core/data/formats/fcs_smv new file mode 100644 index 00000000..708abce1 --- /dev/null +++ b/ogma-core/data/formats/fcs_smv @@ -0,0 +1,13 @@ +JSONFormat + { specInternalVars = Just "..Internal_variables[*]" + , specInternalVarId = ".name" + , specInternalVarExpr = ".assignmentCopilot" + , specInternalVarType = Just ".type" + , specExternalVars = Just "..Other_variables[*]" + , specExternalVarId = ".name" + , specExternalVarType = Just ".type" + , specRequirements = "..Requirements[*]" + , specRequirementId = ".name" + , specRequirementDesc = Just ".fretish" + , specRequirementExpr = ".ptLTL" + } diff --git a/ogma-core/data/formats/fdb_cocospec b/ogma-core/data/formats/fdb_cocospec new file mode 100644 index 00000000..1519b0fe --- /dev/null +++ b/ogma-core/data/formats/fdb_cocospec @@ -0,0 +1,13 @@ +JSONFormat + { specInternalVars = Nothing + , specInternalVarId = "" + , specInternalVarExpr = "" + , specInternalVarType = Nothing + , specExternalVars = Just ".semantics.variables..*.*" + , specExternalVarId = "" + , specExternalVarType = Nothing + , specRequirements = "$[:]" + , specRequirementId = ".reqid" + , specRequirementDesc = Just ".fulltext" + , specRequirementExpr = ".semantics.CoCoSpecCode" + } diff --git a/ogma-core/data/formats/fdb_smv b/ogma-core/data/formats/fdb_smv new file mode 100644 index 00000000..59252cf7 --- /dev/null +++ b/ogma-core/data/formats/fdb_smv @@ -0,0 +1,13 @@ +JSONFormat + { specInternalVars = Nothing + , specInternalVarId = "" + , specInternalVarExpr = "" + , specInternalVarType = Nothing + , specExternalVars = Just ".semantics.variables..*.*" + , specExternalVarId = "" + , specExternalVarType = Nothing + , specRequirements = "$[:]" + , specRequirementId = ".reqid" + , specRequirementDesc = Just ".fulltext" + , specRequirementExpr = ".semantics.ptExpanded" + } diff --git a/ogma-core/ogma-core.cabal b/ogma-core/ogma-core.cabal index ad264143..92a2c39c 100644 --- a/ogma-core/ogma-core.cabal +++ b/ogma-core/ogma-core.cabal @@ -68,6 +68,10 @@ data-files: templates/copilot-cfs/CMakeLists.txt templates/fprime/CMakeLists.txt templates/fprime/Dockerfile templates/fprime/instance-copilot + data/formats/fcs_smv + data/formats/fcs_cocospec + data/formats/fdb_smv + data/formats/fdb_cocospec -- Ogma packages should be uncurated so that only the official maintainers make -- changes. @@ -87,6 +91,7 @@ library Command.FRETReqsDB2Copilot Command.Result Command.ROSApp + Command.Standalone Data.Location diff --git a/ogma-core/src/Command/Standalone.hs b/ogma-core/src/Command/Standalone.hs new file mode 100644 index 00000000..5d963141 --- /dev/null +++ b/ogma-core/src/Command/Standalone.hs @@ -0,0 +1,223 @@ +{-# LANGUAGE ExistentialQuantification #-} +-- Copyright 2020 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. +-- +-- | Transform a specification into a standalone Copilot specification. +module Command.Standalone + ( standalone + , StandaloneOptions(..) + , ErrorCode + ) + where + +-- External imports +import Data.Aeson (decode, eitherDecode) +import Data.ByteString.Lazy (fromStrict, pack) +import Data.Foldable (for_) +import Data.List (nub, (\\)) +import Data.Maybe (fromMaybe) +import System.FilePath ((</>)) + +-- External imports: auxiliary +import Data.ByteString.Extra as B ( safeReadFile ) + +-- Internal imports: auxiliary +import Command.Result (Result (..)) +import Data.Location (Location (..)) +import Paths_ogma_core (getDataDir) + +-- Internal imports: language ASTs, transformers +import Data.OgmaSpec (ExternalVariableDef (..), InternalVariableDef (..), + Requirement (..), Spec (..)) +import Language.JSONSpec.Parser (JSONFormat (..), parseJSONSpec) + +-- Internal imports: language ASTs, transformers +import qualified Language.CoCoSpec.AbsCoCoSpec as CoCoSpec +import qualified Language.CoCoSpec.ParCoCoSpec as CoCoSpec ( myLexer, + pBoolSpec ) + +import qualified Language.SMV.AbsSMV as SMV +import qualified Language.SMV.ParSMV as SMV (myLexer, pBoolSpec) +import Language.SMV.Substitution (substituteBoolExpr) + +import qualified Language.Trans.CoCoSpec2Copilot as CoCoSpec (boolSpec2Copilot, + boolSpecNames) +import Language.Trans.SMV2Copilot as SMV (boolSpec2Copilot, + boolSpecNames) +import Language.Trans.Spec2Copilot (spec2Copilot, specAnalyze) + +-- | Print the contents of a Copilot module that implements the spec in an +-- input file. +-- +-- PRE: The file given is readable, contains a valid file with recognizable +-- format, the formulas in the file do not use any identifiers that exist in +-- Copilot, or any of @prop@, @clock@, @ftp@, @notPreviousNot@. All identifiers +-- used are valid C99 identifiers. +standalone :: FilePath -- ^ Path to a file containing a specification + -> StandaloneOptions -- ^ Customization options + -> IO (Result ErrorCode) +standalone fp options = do + + let functions = exprPair (standalonePropFormat options) + + copilot <- standalone' fp options functions + + let (mOutput, result) = standaloneResult options fp copilot + + for_ mOutput putStrLn + return result + +-- | Print the contents of a Copilot module that implements the spec in an +-- input file, using a subexpression handler. +-- +-- PRE: The file given is readable, contains a valid file with recognizable +-- format, the formulas in the file do not use any identifiers that exist in +-- Copilot, or any of @prop@, @clock@, @ftp@, @notPreviousNot@. All identifiers +-- used are valid C99 identifiers. +standalone' :: FilePath + -> StandaloneOptions + -> ExprPair + -> IO (Either String String) +standalone' fp options (ExprPair parse replace print ids) = do + let name = standaloneFilename options + typeMaps = typeToCopilotTypeMapping options + + -- Obtain format file + dataDir <- getDataDir + let formatFile = + dataDir </> "data" </> "formats" </> + (standaloneFormat options ++ "_" ++ standalonePropFormat options) + + format <- read <$> readFile formatFile + + -- All of the following operations use Either to return error messages. The + -- use of the monadic bind to pass arguments from one function to the next + -- will cause the program to stop at the earliest error. + content <- B.safeReadFile fp + res <- case content of + Left s -> return $ Left s + Right b -> return $ parseJSONSpec parse format =<< eitherDecode b + + -- Complement the specification with any missing/implicit definitions + let res' = fmap (addMissingIdentifiers ids) res + + let copilot = spec2Copilot name typeMaps replace print =<< specAnalyze =<< res' + + return copilot + +-- | Options used to customize the conversion of specifications to Copilot +-- code. +data StandaloneOptions = StandaloneOptions + { standaloneFormat :: String + , standalonePropFormat :: String + , standaloneTypeMapping :: [(String, String)] + , standaloneFilename :: String + } + +-- * Error codes + +-- | Encoding of reasons why the command can fail. +-- +-- The error code used is 1 for user error. +type ErrorCode = Int + +-- | Error: the input file cannot be read due to it being unreadable or the +-- format being incorrect. +ecStandaloneError :: ErrorCode +ecStandaloneError = 1 + +-- * Result + +-- | Process the result of the transformation function. +standaloneResult :: StandaloneOptions + -> FilePath + -> Either String String + -> (Maybe String, Result ErrorCode) +standaloneResult options fp result = case result of + Left msg -> (Nothing, Error ecStandaloneError msg (LocationFile fp)) + Right t -> (Just t, Success) + +-- * Mapping of types from input format to Copilot +typeToCopilotTypeMapping :: StandaloneOptions -> [(String, String)] +typeToCopilotTypeMapping options = + [ ("bool", "Bool") + , ("int", intType) + , ("integer", intType) + , ("real", realType) + , ("string", "String") + , ("", "_") + ] + where + intType = fromMaybe "Int64" $ lookup "int" types + realType = fromMaybe "Float" $ lookup "real" types + + types = standaloneTypeMapping options + +-- * Handler for boolean expressions + +-- | Handler for boolean expressions that knows how to parse them, replace +-- variables in them, and convert them to Copilot. +data ExprPair = forall a . ExprPair + { exprParse :: String -> Either String a + , exprReplace :: [(String, String)] -> a -> a + , exprPrint :: a -> String + , exprIdents :: a -> [String] + } + +-- | Return a handler depending on whether it should be for CoCoSpec boolean +-- expressions or for SMV boolean expressions. We default to SMV if not format +-- is given. +exprPair :: String -> ExprPair +exprPair "cocospec" = ExprPair (CoCoSpec.pBoolSpec . CoCoSpec.myLexer) + (\_ -> id) + (CoCoSpec.boolSpec2Copilot) + (CoCoSpec.boolSpecNames) +exprPair _ = ExprPair (SMV.pBoolSpec . SMV.myLexer) + (substituteBoolExpr) + (SMV.boolSpec2Copilot) + (SMV.boolSpecNames) + +-- | Add to a spec external variables for all identifiers mentioned in +-- expressions that are not defined anywhere. +addMissingIdentifiers :: (a -> [String]) -> Spec a -> Spec a +addMissingIdentifiers f s = s { externalVariables = vars' } + where + vars' = externalVariables s ++ newVars + newVars = map (\n -> ExternalVariableDef n "") newVarNames + + -- Names that are not defined anywhere + newVarNames = identifiers \\ existingNames + + -- Identifiers being mentioned in the requirements. + identifiers = nub $ concatMap (f . requirementExpr) (requirements s) + + -- Names that are defined in variables. + existingNames = map externalVariableName (externalVariables s) + ++ map internalVariableName (internalVariables s) From 48fd64b5013f534d76f06f9176afa1b780c7aa7a Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 04:53:00 +0000 Subject: [PATCH 24/57] ogma-cli: Introduce standalone command. Refs #170. The CLI of Ogma lacks uniformity: some commands are driven by the input format, others by the output format (e.g., ROS, cFS). To make Ogma easier to use, we should provide an interface that is driven by one or the other, but not both. A prior commit has introduced a new standalone command, at core level, that produces an individual Copilot specification from an input file. This commit exposes that command to the user via the CLI. --- ogma-cli/ogma-cli.cabal | 2 + ogma-cli/src/CLI/CommandStandalone.hs | 167 ++++++++++++++++++++++++++ ogma-cli/src/CLI/CommandTop.hs | 14 +++ 3 files changed, 183 insertions(+) create mode 100644 ogma-cli/src/CLI/CommandStandalone.hs diff --git a/ogma-cli/ogma-cli.cabal b/ogma-cli/ogma-cli.cabal index 0a2559d5..646236cb 100644 --- a/ogma-cli/ogma-cli.cabal +++ b/ogma-cli/ogma-cli.cabal @@ -96,6 +96,7 @@ description: Ogma is a tool to facilitate the integration of safe runtim > fret-reqs-db Generate a Copilot file from a FRET Requirements > Database > ros Generate a ROS 2 monitoring application + > standalone Generate a Copilot file from an input specification . For further information, see: . @@ -135,6 +136,7 @@ executable ogma CLI.CommandFretComponentSpec2Copilot CLI.CommandFretReqsDB2Copilot CLI.CommandROSApp + CLI.CommandStandalone CLI.CommandTop CLI.Result diff --git a/ogma-cli/src/CLI/CommandStandalone.hs b/ogma-cli/src/CLI/CommandStandalone.hs new file mode 100644 index 00000000..b4cd7377 --- /dev/null +++ b/ogma-cli/src/CLI/CommandStandalone.hs @@ -0,0 +1,167 @@ +-- Copyright 2020 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 Standalone subcommand +module CLI.CommandStandalone + ( + -- * Direct command access + command + , CommandOpts + , ErrorCode + + -- * CLI + , commandDesc + , commandOptsParser + ) + where + +-- External imports +import Options.Applicative (Parser, help, long, metavar, many, short, + showDefault, strOption, switch, value) + +-- External imports: command results +import Command.Result ( Result(..) ) +import Data.Location ( Location(..) ) + +-- External imports: actions or commands supported +import Command.Standalone (standalone) +import qualified Command.Standalone + +-- * Command + +-- | Options to generate Copilot from specification. +data CommandOpts = CommandOpts + { standaloneFileName :: FilePath + , standaloneFormat :: String + , standalonePropFormat :: String + , standaloneTypes :: [String] + , standaloneTarget :: String + } + +-- | Transform an input specification into a Copilot specification. +command :: CommandOpts -> IO (Result ErrorCode) +command c = standalone (standaloneFileName c) internalCommandOpts + where + internalCommandOpts :: Command.Standalone.StandaloneOptions + internalCommandOpts = Command.Standalone.StandaloneOptions + { Command.Standalone.standaloneFormat = standaloneFormat c + , Command.Standalone.standalonePropFormat = standalonePropFormat c + , Command.Standalone.standaloneTypeMapping = types + , Command.Standalone.standaloneFilename = standaloneTarget c + } + + types :: [(String, String)] + types = map splitTypeMapping (standaloneTypes c) + + splitTypeMapping :: String -> (String, String) + splitTypeMapping s = (h, safeTail t) + where + (h, t) = span (/= ':') s + safeTail xs = if null xs then xs else tail xs + +-- * CLI + +-- | Command description for CLI help. +commandDesc :: String +commandDesc = + "Generate a standalone Copilot file from an input specification" + +-- | Subparser for the @standalone@ command, used to generate a Copilot +-- specification from an input specification file. +commandOptsParser :: Parser CommandOpts +commandOptsParser = CommandOpts + <$> strOption + ( long "file-name" + <> metavar "FILENAME" + <> help strStandaloneFilenameDesc + ) + <*> strOption + ( long "input-format" + <> short 'f' + <> metavar "FORMAT_NAME" + <> help strStandaloneFormatDesc + <> showDefault + <> value "fcs" + ) + <*> strOption + ( long "prop-format" + <> short 'p' + <> metavar "FORMAT_NAME" + <> help strStandalonePropFormatDesc + <> showDefault + <> value "smv" + ) + <*> many (strOption + ( long "map-type" + <> short 'm' + <> metavar "TYPE_NAME:TYPE_NAME" + <> help strStandaloneMapTypeDesc + ) + ) + <*> strOption + ( long "target-file-name" + <> metavar "FILENAME" + <> help strStandaloneTargetDesc + <> showDefault + <> value "monitor" + ) + +-- | Filename flag description. +strStandaloneFilenameDesc :: String +strStandaloneFilenameDesc = "File with properties or requirements" + +-- | Format flag description. +strStandaloneFormatDesc :: String +strStandaloneFormatDesc = "Format of the input file" + +-- | Property format flag description. +strStandalonePropFormatDesc :: String +strStandalonePropFormatDesc = "Format of temporal or boolean properties" + +-- | Type mapping flag description. +strStandaloneMapTypeDesc :: String +strStandaloneMapTypeDesc = "Map a type to another type" + +-- | Target file name flag description. +strStandaloneTargetDesc :: String +strStandaloneTargetDesc = + "Filename prefix for monitoring files in target language" + +-- * Error codes + +-- | Encoding of reasons why the command can fail. +-- +-- The error code used is 1 for user error. +type ErrorCode = Int + +-- | Error: the specification file cannot be read due to the format being +-- unknown. +ecSpecError :: ErrorCode +ecSpecError = 2 diff --git a/ogma-cli/src/CLI/CommandTop.hs b/ogma-cli/src/CLI/CommandTop.hs index 6da1b454..6ade1bd2 100644 --- a/ogma-cli/src/CLI/CommandTop.hs +++ b/ogma-cli/src/CLI/CommandTop.hs @@ -93,6 +93,7 @@ import qualified CLI.CommandFPrimeApp import qualified CLI.CommandFretComponentSpec2Copilot import qualified CLI.CommandFretReqsDB2Copilot import qualified CLI.CommandROSApp +import qualified CLI.CommandStandalone -- * Command @@ -109,6 +110,7 @@ data CommandOpts = | CommandOptsFretComponentSpec2Copilot CLI.CommandFretComponentSpec2Copilot.CommandOpts | CommandOptsFretReqsDB2Copilot CLI.CommandFretReqsDB2Copilot.CommandOpts | CommandOptsROSApp CLI.CommandROSApp.CommandOpts + | CommandOptsStandalone CLI.CommandStandalone.CommandOpts -- * CLI @@ -127,6 +129,7 @@ commandOptsParser = subparser <> subcommandFretComponentSpec <> subcommandFretReqs <> subcommandROSApp + <> subcommandStandalone ) -- | Modifier for the CStruct to Copilot Struct generation subcommand, linking @@ -199,6 +202,15 @@ subcommandFPrimeApp = (CommandOptsFPrimeApp <$> CLI.CommandFPrimeApp.commandOptsParser) CLI.CommandFPrimeApp.commandDesc +-- | Modifier for the standalone subcommand, linking the subcommand options and +-- description to the command @standalone@ at top level. +subcommandStandalone :: Mod CommandFields CommandOpts +subcommandStandalone = + subcommand + "standalone" + (CommandOptsStandalone <$> CLI.CommandStandalone.commandOptsParser) + CLI.CommandStandalone.commandDesc + -- * Command dispatcher -- | Command dispatcher that obtains the parameters from the command line and @@ -235,6 +247,8 @@ command (CommandOptsFretReqsDB2Copilot c) = id <$> CLI.CommandFretReqsDB2Copilot.command c command (CommandOptsROSApp c) = id <$> CLI.CommandROSApp.command c +command (CommandOptsStandalone c) = + id <$> CLI.CommandStandalone.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 From cdcfb1ca1891c139c6b6fb7b44aabd1a4fad1ff5 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 08:20:48 +0000 Subject: [PATCH 25/57] ogma-cli: Remove redundant commands. Refs #170. The CLI of Ogma lacks uniformity: some commands are driven by the input format, others by the output format (e.g., ROS, cFS). To make Ogma easier to use, we should provide an interface that is driven by one or the other, but not both. A prior commit has introduced a new standalone command that can be used to produce individual Copilot specs. This commit removes the commands made redundant by that new command, at CLI level. --- ogma-cli/ogma-cli.cabal | 13 +- .../CLI/CommandFretComponentSpec2Copilot.hs | 149 ------------------ ogma-cli/src/CLI/CommandFretReqsDB2Copilot.hs | 121 -------------- ogma-cli/src/CLI/CommandTop.hs | 32 ---- ogma-cli/src/Main.hs | 5 +- 5 files changed, 4 insertions(+), 316 deletions(-) delete mode 100644 ogma-cli/src/CLI/CommandFretComponentSpec2Copilot.hs delete mode 100644 ogma-cli/src/CLI/CommandFretReqsDB2Copilot.hs diff --git a/ogma-cli/ogma-cli.cabal b/ogma-cli/ogma-cli.cabal index 646236cb..0ffa1f9a 100644 --- a/ogma-cli/ogma-cli.cabal +++ b/ogma-cli/ogma-cli.cabal @@ -50,9 +50,8 @@ description: Ogma is a tool to facilitate the integration of safe runtim . Some use cases supported by Ogma include: . - - Translating requirements defined in - <https://github.com/NASA-SW-VnV/fret NASA requirements elicitation tool FRET> - into corresponding monitors in Copilot. + - Translating requirements defined in structured natural + language into monitors in Copilot. . - Generating the glue code necessary to work with C structs in Copilot. @@ -91,10 +90,6 @@ description: Ogma is a tool to facilitate the integration of safe runtim > handlers Generate message handlers from C structs > cfs Generate a complete CFS/Copilot application > fprime Generate a complete F' monitoring component - > fret-component-spec Generate a Copilot file from a FRET Component - > Specification - > fret-reqs-db Generate a Copilot file from a FRET Requirements - > Database > ros Generate a ROS 2 monitoring application > standalone Generate a Copilot file from an input specification . @@ -104,8 +99,6 @@ description: Ogma is a tool to facilitate the integration of safe runtim . - <https://copilot-language.github.io/ The Copilot web page>. . - - <https://github.com/NASA-SW-VnV/fret The FRET repository>. - . - <https://cfs.gsfc.nasa.gov/ The NASA Core Flight System web page>. . - <https://ros.org/ The Robot Operating System (ROS 2) web page>. @@ -133,8 +126,6 @@ executable ogma CLI.CommandCStructs2Copilot CLI.CommandCStructs2MsgHandlers CLI.CommandFPrimeApp - CLI.CommandFretComponentSpec2Copilot - CLI.CommandFretReqsDB2Copilot CLI.CommandROSApp CLI.CommandStandalone CLI.CommandTop diff --git a/ogma-cli/src/CLI/CommandFretComponentSpec2Copilot.hs b/ogma-cli/src/CLI/CommandFretComponentSpec2Copilot.hs deleted file mode 100644 index d571def1..00000000 --- a/ogma-cli/src/CLI/CommandFretComponentSpec2Copilot.hs +++ /dev/null @@ -1,149 +0,0 @@ --- Copyright 2020 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 FRET CS 2 Copilot subcommand -module CLI.CommandFretComponentSpec2Copilot - ( - -- * Direct command access - command - , CommandOpts - , ErrorCode - - -- * CLI - , commandDesc - , commandOptsParser - ) - where - --- External imports -import Options.Applicative (Parser, help, long, metavar, short, showDefault, - strOption, switch, value) - --- External imports: command results -import Command.Result ( Result ) - --- External imports: actions or commands supported -import Command.FRETComponentSpec2Copilot ( ErrorCode, - FRETComponentSpec2CopilotOptions(..), - fretComponentSpec2Copilot ) - --- * Command - --- | Options to generate Copilot from FRET Component Specifications. -data CommandOpts = CommandOpts - { fretComponentSpecFileName :: FilePath - , fretComponentSpecCoCoSpec :: Bool - , fretComponentSpecIntType :: String - , fretComponentSpecRealType :: String - , fretComponentSpecTarget :: String - } - --- | Transform a FRET component specification into a Copilot specification. --- --- This is just an uncurried version of "Command.FRETComponentSpec2Copilot". -command :: CommandOpts -> IO (Result ErrorCode) -command c = - fretComponentSpec2Copilot - (fretComponentSpecFileName c) - internalCommandOpts - - where - - internalCommandOpts :: FRETComponentSpec2CopilotOptions - internalCommandOpts = FRETComponentSpec2CopilotOptions - { fretCS2CopilotUseCoCoSpec = fretComponentSpecCoCoSpec c - , fretCS2CopilotIntType = fretComponentSpecIntType c - , fretCS2CopilotRealType = fretComponentSpecRealType c - , fretCS2CopilotFilename = fretComponentSpecTarget c - } - --- * CLI - --- | Command description for CLI help. -commandDesc :: String -commandDesc = - "Generate a Copilot file from a FRET Component Specification" - --- | Subparser for the @fret-component-spec@ command, used to generate a --- Copilot specification from a FRET component specification file. -commandOptsParser :: Parser CommandOpts -commandOptsParser = CommandOpts - <$> strOption - ( long "fret-file-name" - <> metavar "FILENAME" - <> help strFretArgDesc - ) - <*> switch - ( long "cocospec" - <> help strFretCoCoDesc - ) - <*> strOption - ( long "map-int-to" - <> short 'i' - <> metavar "TYPE_NAME" - <> help strFretIntTypeDesc - <> showDefault - <> value "Int64" - ) - <*> strOption - ( long "map-real-to" - <> short 'r' - <> metavar "TYPE_NAME" - <> help strFretRealTypeDesc - <> showDefault - <> value "Float" - ) - <*> strOption - ( long "target-file-name" - <> metavar "FILENAME" - <> help strFretTargetDesc - <> showDefault - <> value "fret" - ) - --- | Argument FRET command description -strFretArgDesc :: String -strFretArgDesc = "FRET file with requirements." - --- | CoCoSpec flag description -strFretCoCoDesc :: String -strFretCoCoDesc = "Use CoCoSpec variant of TL properties" - --- | Int type mapping flag description. -strFretIntTypeDesc :: String -strFretIntTypeDesc = "Map integer variables to the given type" - --- | Real type mapping flag description. -strFretRealTypeDesc :: String -strFretRealTypeDesc = "Map real variables to the given type" - --- | Target file name flag description. -strFretTargetDesc :: String -strFretTargetDesc = "Filename prefix for monitoring files in target language" diff --git a/ogma-cli/src/CLI/CommandFretReqsDB2Copilot.hs b/ogma-cli/src/CLI/CommandFretReqsDB2Copilot.hs deleted file mode 100644 index 26f1b2e9..00000000 --- a/ogma-cli/src/CLI/CommandFretReqsDB2Copilot.hs +++ /dev/null @@ -1,121 +0,0 @@ --- Copyright 2020 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 CStructs2Copilot subcommand -module CLI.CommandFretReqsDB2Copilot - ( - -- * Direct command access - command - , CommandOpts - , ErrorCode - - -- * CLI - , commandDesc - , commandOptsParser - ) - where - --- External imports -import Options.Applicative ( Parser, help, long, metavar, showDefault, - strOption, switch, value ) - --- External imports: command results -import Command.Result ( Result ) - --- External imports: actions or commands supported -import Command.FRETReqsDB2Copilot ( ErrorCode, FRETReqsDB2CopilotOptions (..), - fretReqsDB2Copilot ) - --- * Command - --- | Options to generate Copilot from FRET Requirements Databases. -data CommandOpts = CommandOpts - { fretReqsDBFileName :: FilePath - , fretReqsDBCoCoSpec :: Bool - , fretReqsDBTarget :: String - } - --- | Transform a FRET requirements database containing a temporal logic --- specification into a Copilot specification. --- --- This is just an uncurried version of "Command.FRETReqsDB2Copilot". -command :: CommandOpts -> IO (Result ErrorCode) -command c = - fretReqsDB2Copilot - (fretReqsDBFileName c) - internalCommandOpts - - where - - internalCommandOpts :: FRETReqsDB2CopilotOptions - internalCommandOpts = FRETReqsDB2CopilotOptions - { fretReqsDB2CopilotUseCoCoSpec = fretReqsDBCoCoSpec c - , fretReqsDB2CopilotFilename = fretReqsDBTarget c - } - --- * CLI - --- | Command description for CLI help. -commandDesc :: String -commandDesc = - "Generate a Copilot file from a FRET Requirements Database" - --- | Subparser for the @fret-reqs-db@ command, used to generate a Copilot --- specification from a FRET file containing requirements only. -commandOptsParser :: Parser CommandOpts -commandOptsParser = CommandOpts - <$> strOption - ( long "fret-file-name" - <> metavar "FILENAME" - <> help strFretArgDesc - ) - <*> switch - ( long "cocospec" - <> help strFretCoCoDesc - ) - <*> strOption - ( long "target-file-name" - <> metavar "FILENAME" - <> help strFretTargetDesc - <> showDefault - <> value "fret" - ) - --- | Argument FRET command description -strFretArgDesc :: String -strFretArgDesc = "FRET file with requirements." - --- | CoCoSpec flag description -strFretCoCoDesc :: String -strFretCoCoDesc = "Use CoCoSpec variant of TL properties" - --- | Target file name flag description. -strFretTargetDesc :: String -strFretTargetDesc = "Filename prefix for monitoring files in target language" diff --git a/ogma-cli/src/CLI/CommandTop.hs b/ogma-cli/src/CLI/CommandTop.hs index 6ade1bd2..c6fb03f8 100644 --- a/ogma-cli/src/CLI/CommandTop.hs +++ b/ogma-cli/src/CLI/CommandTop.hs @@ -90,8 +90,6 @@ import qualified CLI.CommandCFSApp import qualified CLI.CommandCStructs2Copilot import qualified CLI.CommandCStructs2MsgHandlers import qualified CLI.CommandFPrimeApp -import qualified CLI.CommandFretComponentSpec2Copilot -import qualified CLI.CommandFretReqsDB2Copilot import qualified CLI.CommandROSApp import qualified CLI.CommandStandalone @@ -107,8 +105,6 @@ data CommandOpts = | CommandOptsCStructs2Copilot CLI.CommandCStructs2Copilot.CommandOpts | CommandOptsCStructs2MsgHandlers CLI.CommandCStructs2MsgHandlers.CommandOpts | CommandOptsFPrimeApp CLI.CommandFPrimeApp.CommandOpts - | CommandOptsFretComponentSpec2Copilot CLI.CommandFretComponentSpec2Copilot.CommandOpts - | CommandOptsFretReqsDB2Copilot CLI.CommandFretReqsDB2Copilot.CommandOpts | CommandOptsROSApp CLI.CommandROSApp.CommandOpts | CommandOptsStandalone CLI.CommandStandalone.CommandOpts @@ -126,8 +122,6 @@ commandOptsParser = subparser <> subcommandMsgHandlers <> subcommandCFSApp <> subcommandFPrimeApp - <> subcommandFretComponentSpec - <> subcommandFretReqs <> subcommandROSApp <> subcommandStandalone ) @@ -162,28 +156,6 @@ subcommandCFSApp = (CommandOptsCFSApp <$> CLI.CommandCFSApp.commandOptsParser) CLI.CommandCFSApp.commandDesc --- | Modifier for the FRET component spec to copilot subcommand, linking the --- subcommand options and description to the command @fret-component-spec@ at --- top level. -subcommandFretComponentSpec :: Mod CommandFields CommandOpts -subcommandFretComponentSpec = - subcommand - "fret-component-spec" - (CommandOptsFretComponentSpec2Copilot - <$> CLI.CommandFretComponentSpec2Copilot.commandOptsParser) - CLI.CommandFretComponentSpec2Copilot.commandDesc - --- | Modifier for the FRET requirements DB to copilot subcommand, linking the --- subcommand options and description to the command @fret-reqs-db@ at top --- level. -subcommandFretReqs :: Mod CommandFields CommandOpts -subcommandFretReqs = - subcommand - "fret-reqs-db" - (CommandOptsFretReqsDB2Copilot - <$> 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 @@ -241,10 +213,6 @@ command (CommandOptsCStructs2MsgHandlers c) = id <$> CLI.CommandCStructs2MsgHandlers.command c command (CommandOptsFPrimeApp c) = id <$> CLI.CommandFPrimeApp.command c -command (CommandOptsFretComponentSpec2Copilot c) = - id <$> CLI.CommandFretComponentSpec2Copilot.command c -command (CommandOptsFretReqsDB2Copilot c) = - id <$> CLI.CommandFretReqsDB2Copilot.command c command (CommandOptsROSApp c) = id <$> CLI.CommandROSApp.command c command (CommandOptsStandalone c) = diff --git a/ogma-cli/src/Main.hs b/ogma-cli/src/Main.hs index 6535a987..de74c303 100644 --- a/ogma-cli/src/Main.hs +++ b/ogma-cli/src/Main.hs @@ -37,9 +37,8 @@ -- framework <https://cfs.gsfc.nasa.gov/ Copilot>. Currently, features -- supported are: -- --- * Translation of ptLTL and Cocospec properties defined in a --- <https://github.com/NASA-SW-VnV/fret FRET> file into corresponding --- expressions in Copilot. +-- * Translation properties defined in structured natural language into +-- corresponding expressions in Copilot. -- -- * Translation of C headers declaring structs into the corresponding Copilot -- Struct definitions. From d4a3a6b6d01a7a6bdaaf98b16cf9f657e48989c0 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 08:22:29 +0000 Subject: [PATCH 26/57] ogma-core: Remove redundant commands. Refs #170. The CLI of Ogma lacks uniformity: some commands are driven by the input format, others by the output format (e.g., ROS, cFS). To make Ogma easier to use, we should provide an interface that is driven by one or the other, but not both. A prior commit has introduced a new standalone command that can be used to produce individual Copilot specs, and redundant commands have been removed from the CLI. This commit removes the corresponding redundant core commands. --- ogma-core/ogma-core.cabal | 2 - .../src/Command/FRETComponentSpec2Copilot.hs | 204 ----------------- ogma-core/src/Command/FRETReqsDB2Copilot.hs | 213 ------------------ 3 files changed, 419 deletions(-) delete mode 100644 ogma-core/src/Command/FRETComponentSpec2Copilot.hs delete mode 100644 ogma-core/src/Command/FRETReqsDB2Copilot.hs diff --git a/ogma-core/ogma-core.cabal b/ogma-core/ogma-core.cabal index 92a2c39c..d53dada6 100644 --- a/ogma-core/ogma-core.cabal +++ b/ogma-core/ogma-core.cabal @@ -87,8 +87,6 @@ library Command.CStructs2Copilot Command.CStructs2MsgHandlers Command.FPrimeApp - Command.FRETComponentSpec2Copilot - Command.FRETReqsDB2Copilot Command.Result Command.ROSApp Command.Standalone diff --git a/ogma-core/src/Command/FRETComponentSpec2Copilot.hs b/ogma-core/src/Command/FRETComponentSpec2Copilot.hs deleted file mode 100644 index 74ed887c..00000000 --- a/ogma-core/src/Command/FRETComponentSpec2Copilot.hs +++ /dev/null @@ -1,204 +0,0 @@ -{-# LANGUAGE ExistentialQuantification #-} --- Copyright 2020 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. --- --- | Transform a FRET component specification into a Copilot specification. --- --- This module makes use of --- "Language.Trans.FRETComponentSpec2Copilot", which does most of the work. -module Command.FRETComponentSpec2Copilot - ( fretComponentSpec2Copilot - , FRETComponentSpec2CopilotOptions(..) - , ErrorCode - ) - where - --- External imports -import Data.Aeson ( eitherDecode, decode ) -import Data.ByteString.Lazy (fromStrict) -import Data.Foldable (for_) - --- External imports: auxiliary -import Data.ByteString.Extra as B ( safeReadFile ) - --- Internal imports: auxiliary -import Command.Result ( Result (..) ) -import Data.Location ( Location (..) ) - --- Internal imports: language ASTs, transformers -import Data.OgmaSpec (Spec) - -import qualified Language.CoCoSpec.AbsCoCoSpec as CoCoSpec -import qualified Language.CoCoSpec.ParCoCoSpec as CoCoSpec ( myLexer, - pBoolSpec ) - -import Language.JSONSpec.Parser (JSONFormat (..), parseJSONSpec) - -import qualified Language.SMV.AbsSMV as SMV -import qualified Language.SMV.ParSMV as SMV (myLexer, pBoolSpec) -import Language.SMV.Substitution (substituteBoolExpr) - -import qualified Language.Trans.CoCoSpec2Copilot as CoCoSpec (boolSpec2Copilot) -import Language.Trans.SMV2Copilot as SMV (boolSpec2Copilot) -import Language.Trans.Spec2Copilot (spec2Copilot, specAnalyze) - --- | Print the contents of a Copilot module that implements the Past-time TL --- formula in a FRET file. --- --- PRE: The file given is readable, contains a valid FRET file with a PT --- formula in the @ptExpanded@ key, the formula does not use any identifiers --- that exist in Copilot, or any of @prop@, @clock@, @ftp@. All identifiers --- used are valid C99 identifiers. -fretComponentSpec2Copilot :: FilePath -- ^ Path to a file containing a FRET - -- Component Specification - -> FRETComponentSpec2CopilotOptions - -- ^ Customization options - -- formula - -> IO (Result ErrorCode) -fretComponentSpec2Copilot fp options = do - - let functions = fretExprPair (fretCS2CopilotUseCoCoSpec options) - - copilot <- fretComponentSpec2Copilot' fp options functions - - let (mOutput, result) = - fretComponentSpec2CopilotResult options fp copilot - - for_ mOutput putStrLn - return result - --- | Print the contents of a Copilot module that implements the Past-time TL --- formula in a FRET file, using a subexpression handler. --- --- PRE: The file given is readable, contains a valid FRET file with a PT --- formula in the @ptExpanded@ key, the formula does not use any identifiers --- that exist in Copilot, or any of @prop@, @clock@, @ftp@. All identifiers --- used are valid C99 identifiers. -fretComponentSpec2Copilot' :: FilePath - -> FRETComponentSpec2CopilotOptions - -> FRETExprPair - -> IO (Either String String) -fretComponentSpec2Copilot' fp options (FRETExprPair parse replace print) = do - let name = fretCS2CopilotFilename options - useCoCoSpec = fretCS2CopilotUseCoCoSpec options - typeMaps = fretTypeToCopilotTypeMapping options - - -- All of the following operations use Either to return error messages. The - -- use of the monadic bind to pass arguments from one function to the next - -- will cause the program to stop at the earliest error. - content <- B.safeReadFile fp - res <- case content of - Left s -> return $ Left s - Right b -> return $ parseJSONSpec parse (fretFormat useCoCoSpec) =<< eitherDecode b - - let copilot = spec2Copilot name typeMaps replace print =<< specAnalyze =<< res - - return copilot - --- | Options used to customize the conversion of FRET Component Specifications --- to Copilot code. -data FRETComponentSpec2CopilotOptions = FRETComponentSpec2CopilotOptions - { fretCS2CopilotUseCoCoSpec :: Bool - , fretCS2CopilotIntType :: String - , fretCS2CopilotRealType :: String - , fretCS2CopilotFilename :: String - } - --- * Error codes - --- | Encoding of reasons why the command can fail. --- --- The error code used is 1 for user error. -type ErrorCode = Int - --- | Error: the FRET Component Spec file cannot be read due to the file being --- unreadable or the format being incorrect. -ecFretCSError :: ErrorCode -ecFretCSError = 1 - --- * Result - --- | Process the result of the transformation function. -fretComponentSpec2CopilotResult :: FRETComponentSpec2CopilotOptions - -> FilePath - -> Either String String - -> (Maybe String, Result ErrorCode) -fretComponentSpec2CopilotResult options fp result = case result of - Left msg -> (Nothing, Error ecFretCSError msg (LocationFile fp)) - Right t -> (Just t, Success) - --- * Parser - --- | JSONPath selectors for a FRET file -fretFormat :: Bool -> JSONFormat -fretFormat useCoCoSpec = JSONFormat - { specInternalVars = Just "..Internal_variables[*]" - , specInternalVarId = ".name" - , specInternalVarExpr = ".assignmentCopilot" - , specInternalVarType = Just ".type" - , specExternalVars = Just "..Other_variables[*]" - , specExternalVarId = ".name" - , specExternalVarType = Just ".type" - , specRequirements = "..Requirements[*]" - , specRequirementId = ".name" - , specRequirementDesc = Just ".fretish" - , specRequirementExpr = if useCoCoSpec then ".CoCoSpecCode" else ".ptLTL" - } - --- * Mapping of types from FRET to Copilot -fretTypeToCopilotTypeMapping :: FRETComponentSpec2CopilotOptions - -> [(String, String)] -fretTypeToCopilotTypeMapping options = - [ ("bool", "Bool") - , ("int", fretCS2CopilotIntType options) - , ("integer", fretCS2CopilotIntType options) - , ("real", fretCS2CopilotRealType options) - , ("string", "String") - ] - --- * Handler for boolean expressions - --- | Handler for boolean expressions that knows how to parse them, replace --- variables in them, and convert them to Copilot. -data FRETExprPair = forall a . FRETExprPair - { exprParse :: String -> Either String a - , exprReplace :: [(String, String)] -> a -> a - , exprPrint :: a -> String - } - --- | Return a handler depending on whether it should be for CoCoSpec boolean --- expressions or for SMV boolean expressions. -fretExprPair :: Bool -> FRETExprPair -fretExprPair True = FRETExprPair (CoCoSpec.pBoolSpec . CoCoSpec.myLexer) - (\_ -> id) - (CoCoSpec.boolSpec2Copilot) -fretExprPair False = FRETExprPair (SMV.pBoolSpec . SMV.myLexer) - (substituteBoolExpr) - (SMV.boolSpec2Copilot) diff --git a/ogma-core/src/Command/FRETReqsDB2Copilot.hs b/ogma-core/src/Command/FRETReqsDB2Copilot.hs deleted file mode 100644 index 7dc52b9c..00000000 --- a/ogma-core/src/Command/FRETReqsDB2Copilot.hs +++ /dev/null @@ -1,213 +0,0 @@ -{-# LANGUAGE ExistentialQuantification #-} --- Copyright 2020 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. --- --- | Transform a FRET requirements database containing a temporal logic --- specification into a Copilot specification. -module Command.FRETReqsDB2Copilot - ( fretReqsDB2Copilot - , FRETReqsDB2CopilotOptions(..) - , ErrorCode - ) - where - --- External imports -import Data.Aeson (eitherDecode) -import Data.Foldable (for_) -import Data.List (nub, (\\)) - --- External imports: auxiliary -import Data.ByteString.Extra as B ( safeReadFile ) - --- Internal imports: auxiliary -import Command.Result ( Result (..) ) -import Data.Location ( Location (..) ) - --- Internal imports: Generic specification, parser. -import Data.OgmaSpec (ExternalVariableDef (..), - InternalVariableDef (..), Requirement (..), - Spec (..)) -import Language.JSONSpec.Parser (JSONFormat (..), parseJSONSpec) - --- Internal imports: language ASTs, transformers -import qualified Language.CoCoSpec.ParCoCoSpec as CoCoSpec (myLexer, pBoolSpec) -import qualified Language.SMV.ParSMV as SMV (myLexer, pBoolSpec) -import Language.SMV.Substitution (substituteBoolExpr) - -import qualified Language.Trans.CoCoSpec2Copilot as CoCoSpec (boolSpec2Copilot, - boolSpecNames) -import Language.Trans.SMV2Copilot as SMV (boolSpec2Copilot, - boolSpecNames) -import Language.Trans.Spec2Copilot (spec2Copilot, specAnalyze) - --- | Print the contents of a Copilot module that implements the Past-time TL --- formula in a FRET file. --- --- PRE: The file given is readable, contains a valid FRET file with a PT --- formula in the @ptExpanded@ key, the formula does not use any identifiers --- that exist in Copilot, or any of @prop@, @clock@, @ftp@. All identifiers --- used are valid C99 identifiers. -fretReqsDB2Copilot :: FilePath -- ^ Path to a file containing a FRET - -- Requirements Database - -> FRETReqsDB2CopilotOptions - -- ^ Customization options formula - -> IO (Result ErrorCode) -fretReqsDB2Copilot fp options = do - - let functions = fretExprPair (fretReqsDB2CopilotUseCoCoSpec options) - - copilot <- fretReqsDB2Copilot' fp options functions - - let (mOutput, result) = - fretReqsDB2CopilotResult options fp copilot - - for_ mOutput putStrLn - return result - --- | Print the contents of a Copilot module that implements the Past-time TL --- formula in a FRET file, using a subexpression handler. --- --- PRE: The file given is readable, contains a valid FRET file with a PT --- formula in the @ptExpanded@ key, the formula does not use any identifiers --- that exist in Copilot, or any of @prop@, @clock@, @ftp@. All identifiers --- used are valid C99 identifiers. -fretReqsDB2Copilot' :: FilePath - -> FRETReqsDB2CopilotOptions - -> FRETExprPair - -> IO (Either String String) -fretReqsDB2Copilot' fp options (FRETExprPair parse replace showExpr ids) = do - let name = fretReqsDB2CopilotFilename options - useCoCoSpec = fretReqsDB2CopilotUseCoCoSpec options - typeMaps = [("", "_")] - - -- All of the following operations use Either to return error messages. The - -- use of the monadic bind to pass arguments from one function to the next - -- will cause the program to stop at the earliest error. - content <- B.safeReadFile fp - res <- case content of - Left s -> return $ Left s - Right b -> return $ parseJSONSpec parse (fretFormat useCoCoSpec) =<< eitherDecode b - - -- Complement the specification with any missing/implicit definitions - let res' = fmap (addMissingIdentifiers ids) res - - let copilot = - spec2Copilot name typeMaps replace showExpr =<< specAnalyze =<< res' - - return copilot - --- | Options used to customize the conversion of FRET Requirements Database --- to Copilot code. -data FRETReqsDB2CopilotOptions = FRETReqsDB2CopilotOptions - { fretReqsDB2CopilotUseCoCoSpec :: Bool - , fretReqsDB2CopilotFilename :: String - } - --- * Error codes - --- | Encoding of reasons why the command can fail. --- --- The error code used is 1 for user error. -type ErrorCode = Int - --- | Error: the FRET Requirements DB file cannot be read due to the file being --- unreadable or the format being incorrect. -ecFretReqsDBError :: ErrorCode -ecFretReqsDBError = 1 - --- * Result - --- | Process the result of the transformation function. -fretReqsDB2CopilotResult :: FRETReqsDB2CopilotOptions - -> FilePath - -> Either String String - -> (Maybe String, Result ErrorCode) -fretReqsDB2CopilotResult _options fp result = case result of - Left msg -> (Nothing, Error ecFretReqsDBError msg (LocationFile fp)) - Right t -> (Just t, Success) - --- * Parser - --- | JSONPath selectors for a FRET file -fretFormat :: Bool -> JSONFormat -fretFormat useCoCoSpec = JSONFormat - { specInternalVars = Nothing - , specInternalVarId = "" - , specInternalVarExpr = "" - , specInternalVarType = Nothing - , specExternalVars = Just ".semantics.variables..*.*" - , specExternalVarId = "" - , specExternalVarType = Nothing - , specRequirements = "$[:]" - , specRequirementId = ".reqid" - , specRequirementDesc = Just ".fulltext" - , specRequirementExpr = if useCoCoSpec then ".semantics.CoCoSpecCode" else ".semantics.ptExpanded" - } - --- * Handler for boolean expressions - --- | Handler for boolean expressions that knows how to parse them, replace --- variables in them, and convert them to Copilot. -data FRETExprPair = forall a . FRETExprPair - { exprParse :: String -> Either String a - , exprReplace :: [(String, String)] -> a -> a - , exprPrint :: a -> String - , exprIdents :: a -> [String] - } - --- | Return a handler depending on whether it should be for CoCoSpec boolean --- expressions or for SMV boolean expressions. -fretExprPair :: Bool -> FRETExprPair -fretExprPair True = FRETExprPair (CoCoSpec.pBoolSpec . CoCoSpec.myLexer) - (\_ -> id) - (CoCoSpec.boolSpec2Copilot) - (CoCoSpec.boolSpecNames) -fretExprPair False = FRETExprPair (SMV.pBoolSpec . SMV.myLexer) - (substituteBoolExpr) - (SMV.boolSpec2Copilot) - (SMV.boolSpecNames) - --- | Add to a spec external variables for all identifiers mentioned in --- expressions that are not defined anywhere. -addMissingIdentifiers :: (a -> [String]) -> Spec a -> Spec a -addMissingIdentifiers f s = s { externalVariables = vars' } - where - vars' = externalVariables s ++ newVars - newVars = map (\n -> ExternalVariableDef n "") newVarNames - - -- Names that are not defined anywhere - newVarNames = identifiers \\ existingNames - - -- Identifiers being mentioned in the requirements. - identifiers = nub $ concatMap (f . requirementExpr) (requirements s) - - -- Names that are defined in variables. - existingNames = map externalVariableName (externalVariables s) - ++ map internalVariableName (internalVariables s) From 9342a906c7eb67515b7790e42aaa51f3e8e9a18b Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 08:33:43 +0000 Subject: [PATCH 27/57] ogma-core: Adjust tests to use new standalone command. Refs #170. The CLI of Ogma lacks uniformity: some commands are driven by the input format, others by the output format (e.g., ROS, cFS). To make Ogma easier to use, we should provide an interface that is driven by one or the other, but not both. A prior commit has introduced a new standalone command that replaces two prior existing commands. This commit adjusts the core package tests to use the new standalone command. --- ogma-core/tests/Main.hs | 33 +++++++++++++++------------------ 1 file changed, 15 insertions(+), 18 deletions(-) diff --git a/ogma-core/tests/Main.hs b/ogma-core/tests/Main.hs index da71f6ee..4565d216 100644 --- a/ogma-core/tests/Main.hs +++ b/ogma-core/tests/Main.hs @@ -7,14 +7,9 @@ import Test.Framework.Providers.HUnit ( testCase ) import Test.HUnit ( assertBool ) -- Internal imports -import Command.CStructs2Copilot ( cstructs2Copilot ) -import Command.FRETComponentSpec2Copilot ( FRETComponentSpec2CopilotOptions (..) - , fretComponentSpec2Copilot - ) -import Command.FRETReqsDB2Copilot ( FRETReqsDB2CopilotOptions (..) - , fretReqsDB2Copilot - ) -import Command.Result ( isSuccess ) +import Command.CStructs2Copilot (cstructs2Copilot) +import Command.Result (isSuccess) +import Command.Standalone (StandaloneOptions (..), standalone) -- | Run all unit tests on ogma-core. main :: IO () @@ -106,13 +101,13 @@ testFretComponentSpec2Copilot :: FilePath -- ^ Path to a FRET/JSON requirements -> Bool -> IO () testFretComponentSpec2Copilot file success = do - let opts = FRETComponentSpec2CopilotOptions - { fretCS2CopilotUseCoCoSpec = False - , fretCS2CopilotIntType = "Int64" - , fretCS2CopilotRealType = "Float" - , fretCS2CopilotFilename = "fret" + let opts = StandaloneOptions + { standaloneFormat = "fcs" + , standalonePropFormat = "smv" + , standaloneTypeMapping = [("int", "Int64"), ("real", "Float")] + , standaloneFilename = "fret" } - result <- fretComponentSpec2Copilot file opts + result <- standalone file opts -- True if success is expected and detected, or niether expected nor -- detected. @@ -138,11 +133,13 @@ testFretReqsDBCoCoSpec2Copilot :: FilePath -- ^ Path to a FRET/JSON -> Bool -> IO () testFretReqsDBCoCoSpec2Copilot file success = do - let opts = FRETReqsDB2CopilotOptions - { fretReqsDB2CopilotUseCoCoSpec = True - , fretReqsDB2CopilotFilename = "fret" + let opts = StandaloneOptions + { standaloneFormat = "fdb" + , standalonePropFormat = "cocospec" + , standaloneTypeMapping = [] + , standaloneFilename = "fret" } - result <- fretReqsDB2Copilot file opts + result <- standalone file opts -- True if success is expected and detected, or niether expected nor -- detected. From cc44dea398211b21e2b6e58bcbde77f9dfde5751 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 08:28:07 +0000 Subject: [PATCH 28/57] ogma-cli: Adjust tests to use new standalone command. Refs #170. The CLI of Ogma lacks uniformity: some commands are driven by the input format, others by the output format (e.g., ROS, cFS). To make Ogma easier to use, we should provide an interface that is driven by one or the other, but not both. A prior commit has introduced a new standalone command that replaces two prior existing commands. This commit adjusts the CLI package tests to use the new standalone command. --- ogma-cli/tests/Main.hs | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) diff --git a/ogma-cli/tests/Main.hs b/ogma-cli/tests/Main.hs index fa134de8..20706b4e 100644 --- a/ogma-cli/tests/Main.hs +++ b/ogma-cli/tests/Main.hs @@ -42,16 +42,10 @@ tests = , testCase "cli-cmd-cfs-fail" (runErrorCode ["cfs", "--incorrect-argument"] False) -- Should fail due to arguments being incorrect - , testCase "cli-cmd-fret-component-spec" (runErrorCode ["fret-component-spec", "--help" ] True) + , testCase "cli-cmd-fret-component-spec" (runErrorCode ["standalone", "--help" ] True) -- Should pass - , testCase "cli-cmd-fret-component-spec-fail" (runErrorCode ["fret-component-spec", "--incorrect-argument"] False) - -- Should fail due to arguments being incorrect - - , testCase "cli-cmd-fret-reqs-db" (runErrorCode ["fret-reqs-db", "--help" ] True) - -- Should pass - - , testCase "cli-cmd-fret-reqs-db-fail" (runErrorCode ["fret-reqs-db", "--incorrect-argument"] False) + , testCase "cli-cmd-fret-component-spec-fail" (runErrorCode ["standalone", "--incorrect-argument"] False) -- Should fail due to arguments being incorrect , testCase "fret-cmd-fret-parse-ok" (parseFretCopilot "examples/fret.json" True) @@ -133,7 +127,7 @@ parseFretCopilot file success = do assertBool errorMsg testPass where - args = ["fret-component-spec", "--fret-file-name", file] + args = ["standalone", "--file-name", file] errorMsg = "Parsing file " ++ file ++ " result unexpected." -- | Test FRET CoCoSpec-based parser for a particular file. @@ -155,7 +149,8 @@ parseFretCoCoSpec file = do (ec, _out, _err) <- readProcessWithExitCode "ogma" args "" assertBool errorMsg (ec == ExitSuccess) where - args = ["fret-reqs-db", "--fret-file-name", file, "--cocospec"] + args = [ "standalone", "--file-name", file, "--input-format", "fdb" + , "--prop-format", "cocospec"] errorMsg = "Parsing file " ++ file ++ " failed" -- | Test ogma by running it and checking the error code. From 300d3348d884e69a41c4925c1dd1ab39bae5d631 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 15:03:39 +0000 Subject: [PATCH 29/57] ogma-language-jsonspec: Document changes in CHANGELOG. Refs #170. --- ogma-language-jsonspec/CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ogma-language-jsonspec/CHANGELOG.md b/ogma-language-jsonspec/CHANGELOG.md index 9907db66..5f218eec 100644 --- a/ogma-language-jsonspec/CHANGELOG.md +++ b/ogma-language-jsonspec/CHANGELOG.md @@ -1,5 +1,9 @@ # Revision history for ogma-language-jsonspec +## [1.X.Y] - 2024-11-21 + +* Make JSONFormat readable (#170). + ## [1.4.1] - 2024-09-21 * Version bump 1.4.1 (#155). From 8e7a84195c7dd52218f5d112ef5da1361944b7e4 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 15:10:04 +0000 Subject: [PATCH 30/57] ogma-core: Document changes in CHANGELOG. Refs #170. --- ogma-core/CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/ogma-core/CHANGELOG.md b/ogma-core/CHANGELOG.md index 6c86958b..86183901 100644 --- a/ogma-core/CHANGELOG.md +++ b/ogma-core/CHANGELOG.md @@ -7,6 +7,7 @@ * Use template expansion system to generate ROS monitoring application (#162). * Fix comment in generated Copilot spec (#164). * Add missing notPreviousNot to generated spec (#168). +* Introduce new standalone command (#170). ## [1.4.1] - 2024-09-21 From c7d2dc64561d39adaed9cde0106e0841d11171ca Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 15:11:36 +0000 Subject: [PATCH 31/57] ogma-cli: Document changes in CHANGELOG. Refs #170. --- ogma-cli/CHANGELOG.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ogma-cli/CHANGELOG.md b/ogma-cli/CHANGELOG.md index b0177a40..d3274f58 100644 --- a/ogma-cli/CHANGELOG.md +++ b/ogma-cli/CHANGELOG.md @@ -1,9 +1,10 @@ # Revision history for ogma-cli -## [1.X.Y] - 2024-11-20 +## [1.X.Y] - 2024-11-21 * Provide ability to customize template in cfs command (#157). * Provide ability to customize template in ros command (#162). +* Introduce new standalone command (#170). ## [1.4.1] - 2024-09-21 From bac47eb8d145f5fa12d6fc6c44377174271d6c75 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 19:15:47 +0000 Subject: [PATCH 32/57] ogma-cli: Update README to demonstrate robotics. Refs #172. The README shows an image of a monitor in X-Plane, but nothing related to robotics, even though it is one of the main use cases for Copilot. This should be demonstrated more clearly. This commit updates the README to show a video of Ogma-generated monitors running on a ROS system, integrated into Gazebo. --- ogma-cli/README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/ogma-cli/README.md b/ogma-cli/README.md index 0227b91c..005dd2bc 100644 --- a/ogma-cli/README.md +++ b/ogma-cli/README.md @@ -27,6 +27,12 @@ verification framework that generates hard real-time C99 code. <i>Integration of monitors into larger applications (e.g., simulators).</i> </p> +<p align="center"> + <img src="https://raw.githubusercontent.com/nasa/ogma/gh-pages/images/ros.gif" alt="Monitoring within ROS simulation video"> + <br /> + <i>Integration of monitors into robotics applications.</i> +</p> + ## Table of Contents - [Installation](#installation) From 09d471d39db040f93ec92092417060593e3f726c Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 19:17:23 +0000 Subject: [PATCH 33/57] ogma-cli: Document changes in CHANGELOG. Refs #172. --- ogma-cli/CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/ogma-cli/CHANGELOG.md b/ogma-cli/CHANGELOG.md index d3274f58..05d671fe 100644 --- a/ogma-cli/CHANGELOG.md +++ b/ogma-cli/CHANGELOG.md @@ -5,6 +5,7 @@ * Provide ability to customize template in cfs command (#157). * Provide ability to customize template in ros command (#162). * Introduce new standalone command (#170). +* Update README to demonstrate robotics (#172). ## [1.4.1] - 2024-09-21 From 7c0b0ead284e3f515dd38b485c6bfb05ef2a10b1 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 20:46:50 +0000 Subject: [PATCH 34/57] ogma-cli: Remove unused resources. Refs #174. The repository contains unused images under docs, even though the images used are all under a branch gh-pages. 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zIESBpE~!7ApNt2W9AYS|juWcp>&we8zy7wa+vBnS`N!9Nf55m<{Y*WsS09|8?sI4P z^_R}$F_WeVUyScC6qWIl#s9bq{PPD7AATtf`pN~3_Tx+Zd4<jr=JQX-k6+K9cLmPo z&3rE$bCn51Kk;(I2Wq_hN#0}rpJYP1kGX?CbGWV_l^6T`S@@jh#u6hu{pBDdfo03@ zIjoIejaOHM*`^xd%+2Sc_UHA+^QKKb>1!nU@$o&K$}<oRGTY_N{pm7&ZZ7x_=MT@z z-KUGgB^*Xm!>|9=^<p)QK5oemi9-sgUL3ZQFoIa>^2@Kk)n)0efBpUI<MD2;G{Uk! z3#5E_qSx&=OP6s|dmvP&<YP3&5D7VD+g@K^*L4fgOE=&5$L;;L-ydf7VVj)`GpeS4 zc3wU^o8w*lhZp!KKW2uIi`FTj(}%bGEO=gtf!F7GM$iviXvTWHqycf1Mh%&kA2w~G zKiiqtPR@tuar%fL;OEzfUoQ0F=QcCO=coMPe#~lv*v|~g0sX^S@qhh<t}7Oo(-{N& zUp`g*r+4i2g2A%}8ov=n8T0hS@tQ)+(r|cA#GLXu-@b00>wo>ccMv%RT2HeX_~;2U zNtkmTf(F7q+y}?EJfHlT^;~k5c;Y!E8h;F>qNrx!sm*~;;r5K`rxft%R{GgG<7GNN z+2AuX{IQDgnN57s=kOUm$K7!HZ<x+nJ%)40%rTCMVm?h%0f+4YPQSP5y)<u`=p%-^ r-{{_YsJRJ~ATod;GLSeHM|SvsD9chb7DsxJ00000NkvXXu0mjfSsY?Q From 10908fc9e7924c11ede9cdc15eb2b0a8754ca219 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 20:50:09 +0000 Subject: [PATCH 35/57] ogma-cli: Document changes in CHANGELOG. Refs #174. --- ogma-cli/CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/ogma-cli/CHANGELOG.md b/ogma-cli/CHANGELOG.md index 05d671fe..81b9fa40 100644 --- a/ogma-cli/CHANGELOG.md +++ b/ogma-cli/CHANGELOG.md @@ -6,6 +6,7 @@ * Provide ability to customize template in ros command (#162). * Introduce new standalone command (#170). * Update README to demonstrate robotics (#172). +* Remove unused resources (#174). ## [1.4.1] - 2024-09-21 From c068c7cfe242f193072bab0af12fae76d08a4f55 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 21:23:09 +0000 Subject: [PATCH 36/57] ogma-core: Correct name in documentation. Refs #176. The documentation of ogma-core/src/Language/Trans/SMV2Copilot.hs does not refer to the boolean expressions as those in the SMV language, but incorrectly refers to them as FRET expressions, which was old documentation left over after renaming the module. This commit renames all occurrences to SMV in the module documentation. --- ogma-core/src/Language/Trans/SMV2Copilot.hs | 28 ++++++++++----------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/ogma-core/src/Language/Trans/SMV2Copilot.hs b/ogma-core/src/Language/Trans/SMV2Copilot.hs index bdb0c6d7..7e48842c 100644 --- a/ogma-core/src/Language/Trans/SMV2Copilot.hs +++ b/ogma-core/src/Language/Trans/SMV2Copilot.hs @@ -29,7 +29,7 @@ -- AGREEMENT. -- --- | Transform a FRET TL specification into a Copilot specification. +-- | Transform an SMV TL specification into a Copilot specification. -- -- Normally, this module would be implemented as a conversion between ASTs, -- but we want to add comments to the generated code, which are not @@ -40,7 +40,7 @@ import Language.SMV.AbsSMV (AdditiveOp (..), BoolConst (..), BoolSpec (..), Ident (..), MultOp (..), NumExpr (..), Number (..), Op1Name (..), OpOne (..), OpTwo (..), OrdOp (..)) --- | Return the Copilot representation of a FRET BoolSpec. +-- | Return the Copilot representation of an SMV BoolSpec. -- -- This function returns the temporal property only. The string does not -- contain any top-level names, any imports, or auxiliary definitions that may @@ -96,7 +96,7 @@ boolSpec2Copilot b = case b of ++ " " ++ boolSpec2Copilot spec2 ++ ")" --- | Return the Copilot representation of a FRET boolean constant. +-- | Return the Copilot representation of an SMV boolean constant. const2Copilot :: BoolConst -> String const2Copilot BoolConstTrue = "true" const2Copilot BoolConstFalse = "false" @@ -119,17 +119,17 @@ numExpr2Copilot (NumMult x op y) = "(" ++ numExpr2Copilot y ++ ")" --- | Return the Copilot representation of a FRET additive operator. +-- | Return the Copilot representation of an SMV additive operator. additiveOp2Copilot :: AdditiveOp -> String additiveOp2Copilot OpPlus = "+" additiveOp2Copilot OpMinus = "-" --- | Return the Copilot representation of a FRET multiplicative operator. +-- | Return the Copilot representation of an SMV multiplicative operator. multOp2Copilot :: MultOp -> String multOp2Copilot OpTimes = "*" multOp2Copilot OpDiv = "/" --- | Return the Copilot representation of a FRET comparison operator. +-- | Return the Copilot representation of an SMV comparison operator. ordOp2Copilot :: OrdOp -> String ordOp2Copilot OrdOpLT = "<" ordOp2Copilot OrdOpLE = "<=" @@ -138,13 +138,13 @@ ordOp2Copilot OrdOpNE = "/=" ordOp2Copilot OrdOpGT = ">" ordOp2Copilot OrdOpGE = ">=" --- | Return the Copilot representation of a unary logical FRET operator. +-- | Return the Copilot representation of a unary logical SMV operator. opOne2Copilot :: OpOne -> String opOne2Copilot (Op1Alone x) = opOneAlone2Copilot x opOne2Copilot (Op1MTL x op v) = opOneMTL2Copilot x op v opOne2Copilot (Op1MTLRange op mn mx) = opOneMTLRange2Copilot op mn mx --- | Return the Copilot representation of a unary logical non-MTL FRET +-- | Return the Copilot representation of a unary logical non-MTL SMV -- operator. opOneAlone2Copilot :: Op1Name -> String opOneAlone2Copilot Op1Pre = "pre" @@ -156,7 +156,7 @@ opOneAlone2Copilot Op1Z = "notPreviousNot" opOneAlone2Copilot Op1Hist = "PTLTL.alwaysBeen" opOneAlone2Copilot Op1O = "PTLTL.eventuallyPrev" --- | Return the Copilot representation of a unary logical MTL FRET operator. +-- | Return the Copilot representation of a unary logical MTL SMV operator. opOneMTL2Copilot :: Op1Name -> OrdOp -> Number -> String opOneMTL2Copilot operator _comparison number = opOneMTL2Copilot' operator ++ " " ++ show (0 :: Int) @@ -164,7 +164,7 @@ opOneMTL2Copilot operator _comparison number = ++ " " ++ "clock" ++ " " ++ show (1 :: Int) --- | Return the Copilot representation of a unary logical MTL FRET operator +-- | Return the Copilot representation of a unary logical MTL SMV operator -- that uses an explicit range. opOneMTLRange2Copilot :: Op1Name -> Number -> Number -> String opOneMTLRange2Copilot operator mn mx = @@ -173,7 +173,7 @@ opOneMTLRange2Copilot operator mn mx = ++ " " ++ "clock" ++ " " ++ show (1 :: Int) --- | Return the Copilot representation of a unary logical possibly MTL FRET +-- | Return the Copilot representation of a unary logical possibly MTL SMV -- operator. opOneMTL2Copilot' :: Op1Name -> String opOneMTL2Copilot' Op1Pre = "pre" @@ -185,11 +185,11 @@ opOneMTL2Copilot' Op1Z = "notPreviousNot" opOneMTL2Copilot' Op1Hist = "MTL.alwaysBeen" opOneMTL2Copilot' Op1O = "MTL.eventuallyPrev" --- | Return the Copilot representation of a FRET number. +-- | Return the Copilot representation of an SMV number. number2Copilot :: Number -> String number2Copilot (NumberInt n) = show n --- | Return the Copilot representation of a binary logical non-MTL FRET +-- | Return the Copilot representation of a binary logical non-MTL SMV -- operator. opTwo2Copilot :: OpTwo -> String opTwo2Copilot Op2S = "`since`" @@ -197,7 +197,7 @@ opTwo2Copilot Op2T = "`triggers`" opTwo2Copilot Op2V = "`releases`" opTwo2Copilot Op2U = "`until`" --- | Return the Copilot representation of a FRET identifier. +-- | Return the Copilot representation of an SMV identifier. ident2Copilot :: Ident -> String ident2Copilot (Ident i) = i From 5092faf6fbf346b9d5ad59aa0c9c7553f76c1410 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 21:24:39 +0000 Subject: [PATCH 37/57] ogma-core: Document changes in CHANGELOG. Refs #176. --- ogma-core/CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/ogma-core/CHANGELOG.md b/ogma-core/CHANGELOG.md index 86183901..e398703b 100644 --- a/ogma-core/CHANGELOG.md +++ b/ogma-core/CHANGELOG.md @@ -8,6 +8,7 @@ * Fix comment in generated Copilot spec (#164). * Add missing notPreviousNot to generated spec (#168). * Introduce new standalone command (#170). +* Correct name in documentation (#176). ## [1.4.1] - 2024-09-21 From 4b6e96d8def3b428ab790b72e4fa6f7808607f23 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:48:39 +0000 Subject: [PATCH 38/57] ogma-cli: Add version bounds to base. Refs #180. The cabal file for ogma-cli does not specify version bounds on base, which makes hackage reject the package. This commit adds version bounds to base in all components in the cabal package description. --- ogma-cli/ogma-cli.cabal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ogma-cli/ogma-cli.cabal b/ogma-cli/ogma-cli.cabal index 0ffa1f9a..e577d895 100644 --- a/ogma-cli/ogma-cli.cabal +++ b/ogma-cli/ogma-cli.cabal @@ -153,7 +153,7 @@ test-suite test-ogma Main.hs build-depends: - base + base >= 4.11.0.0 && < 5 , HUnit , process , test-framework From a94046e26dc97cb91d92547b4754fe6f27d14568 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:49:32 +0000 Subject: [PATCH 39/57] ogma-cli: Document changes in CHANGELOG. Refs #180. --- ogma-cli/CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/ogma-cli/CHANGELOG.md b/ogma-cli/CHANGELOG.md index 81b9fa40..e35c6e02 100644 --- a/ogma-cli/CHANGELOG.md +++ b/ogma-cli/CHANGELOG.md @@ -7,6 +7,7 @@ * Introduce new standalone command (#170). * Update README to demonstrate robotics (#172). * Remove unused resources (#174). +* Add version bounds to base (#180). ## [1.4.1] - 2024-09-21 From 512d478d77013ed4a11535d0eedf8307b9b15d26 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:23:08 +0000 Subject: [PATCH 40/57] ogma-extra: Version bump (1.5.0). Refs #178. --- ogma-extra/ogma-extra.cabal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ogma-extra/ogma-extra.cabal b/ogma-extra/ogma-extra.cabal index 0c7c9b19..3388b999 100644 --- a/ogma-extra/ogma-extra.cabal +++ b/ogma-extra/ogma-extra.cabal @@ -32,7 +32,7 @@ cabal-version: 2.0 build-type: Simple name: ogma-extra -version: 1.4.1 +version: 1.5.0 homepage: https://github.com/nasa/ogma license: OtherLicense license-file: LICENSE.pdf From b89f427cd541ccd91f1dc9d999d2a027735e2965 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:23:08 +0000 Subject: [PATCH 41/57] ogma-spec: Version bump (1.5.0). Refs #178. --- ogma-spec/ogma-spec.cabal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ogma-spec/ogma-spec.cabal b/ogma-spec/ogma-spec.cabal index 0e89ebf4..ec171fe9 100644 --- a/ogma-spec/ogma-spec.cabal +++ b/ogma-spec/ogma-spec.cabal @@ -32,7 +32,7 @@ cabal-version: 2.0 build-type: Simple name: ogma-spec -version: 1.4.1 +version: 1.5.0 homepage: https://github.com/nasa/ogma license: OtherLicense license-file: LICENSE.pdf From 978822874a52c48eec3788cb52cb9e6128cb22d2 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:23:08 +0000 Subject: [PATCH 42/57] ogma-language-smv: Version bump (1.5.0). Refs #178. --- ogma-language-smv/ogma-language-smv.cabal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ogma-language-smv/ogma-language-smv.cabal b/ogma-language-smv/ogma-language-smv.cabal index 2cfb5c4c..5b7bc35f 100644 --- a/ogma-language-smv/ogma-language-smv.cabal +++ b/ogma-language-smv/ogma-language-smv.cabal @@ -32,7 +32,7 @@ cabal-version: 2.0 build-type: Custom name: ogma-language-smv -version: 1.4.1 +version: 1.5.0 homepage: https://github.com/nasa/ogma license: OtherLicense license-file: LICENSE.pdf From d07e7f26a933208485634acc4b4bf2e156c0e547 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:23:08 +0000 Subject: [PATCH 43/57] ogma-language-jsonspec: Version bump (1.5.0). Refs #178. --- ogma-language-jsonspec/ogma-language-jsonspec.cabal | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ogma-language-jsonspec/ogma-language-jsonspec.cabal b/ogma-language-jsonspec/ogma-language-jsonspec.cabal index a31a5783..d6c77881 100644 --- a/ogma-language-jsonspec/ogma-language-jsonspec.cabal +++ b/ogma-language-jsonspec/ogma-language-jsonspec.cabal @@ -32,7 +32,7 @@ cabal-version: 2.0 build-type: Simple name: ogma-language-jsonspec -version: 1.4.1 +version: 1.5.0 homepage: https://github.com/nasa/ogma license: OtherLicense license-file: LICENSE.pdf @@ -70,7 +70,7 @@ library , megaparsec , bytestring - , ogma-spec >= 1.4.1 && < 1.5 + , ogma-spec >= 1.5.0 && < 1.6 hs-source-dirs: src From e946ed866740bd93cd1a5f3f94f0a8b47327c77d Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:23:08 +0000 Subject: [PATCH 44/57] ogma-language-copilot: Version bump (1.5.0). Refs #178. --- ogma-language-copilot/ogma-language-copilot.cabal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ogma-language-copilot/ogma-language-copilot.cabal b/ogma-language-copilot/ogma-language-copilot.cabal index ee0fefe7..0db0e6dd 100644 --- a/ogma-language-copilot/ogma-language-copilot.cabal +++ b/ogma-language-copilot/ogma-language-copilot.cabal @@ -32,7 +32,7 @@ cabal-version: 2.0 build-type: Simple name: ogma-language-copilot -version: 1.4.1 +version: 1.5.0 homepage: https://github.com/nasa/ogma license: OtherLicense license-file: LICENSE.pdf From bb47924d7edea21f2a391e2ded1c95831d806354 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:23:08 +0000 Subject: [PATCH 45/57] ogma-language-cocospec: Version bump (1.5.0). Refs #178. --- ogma-language-cocospec/ogma-language-cocospec.cabal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ogma-language-cocospec/ogma-language-cocospec.cabal b/ogma-language-cocospec/ogma-language-cocospec.cabal index 23000570..d201c865 100644 --- a/ogma-language-cocospec/ogma-language-cocospec.cabal +++ b/ogma-language-cocospec/ogma-language-cocospec.cabal @@ -32,7 +32,7 @@ cabal-version: 2.0 build-type: Custom name: ogma-language-cocospec -version: 1.4.1 +version: 1.5.0 homepage: https://github.com/nasa/ogma license: OtherLicense license-file: LICENSE.pdf From c69e55f484a6513effbf4e3cd87fa62b3e633de8 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:23:08 +0000 Subject: [PATCH 46/57] ogma-language-c: Version bump (1.5.0). Refs #178. --- ogma-language-c/ogma-language-c.cabal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ogma-language-c/ogma-language-c.cabal b/ogma-language-c/ogma-language-c.cabal index 54c62152..d29072a3 100644 --- a/ogma-language-c/ogma-language-c.cabal +++ b/ogma-language-c/ogma-language-c.cabal @@ -32,7 +32,7 @@ cabal-version: 2.0 build-type: Custom name: ogma-language-c -version: 1.4.1 +version: 1.5.0 homepage: https://github.com/nasa/ogma license: OtherLicense license-file: LICENSE.pdf From e3d7c607a58eea1bb4701139addbbe3d1f569fd3 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:23:08 +0000 Subject: [PATCH 47/57] ogma-core: Version bump (1.5.0). Refs #178. --- ogma-core/ogma-core.cabal | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/ogma-core/ogma-core.cabal b/ogma-core/ogma-core.cabal index d53dada6..97743b34 100644 --- a/ogma-core/ogma-core.cabal +++ b/ogma-core/ogma-core.cabal @@ -32,7 +32,7 @@ cabal-version: 2.0 build-type: Simple name: ogma-core -version: 1.4.1 +version: 1.5.0 homepage: https://github.com/nasa/ogma license: OtherLicense license-file: LICENSE.pdf @@ -114,13 +114,13 @@ library , mtl , text >= 1.2.3.1 && < 2.1 - , ogma-extra >= 1.4.1 && < 1.5 - , ogma-language-c >= 1.4.1 && < 1.5 - , ogma-language-cocospec >= 1.4.1 && < 1.5 - , ogma-language-copilot >= 1.4.1 && < 1.5 - , ogma-language-jsonspec >= 1.4.1 && < 1.5 - , ogma-language-smv >= 1.4.1 && < 1.5 - , ogma-spec >= 1.4.1 && < 1.5 + , ogma-extra >= 1.5.0 && < 1.6 + , ogma-language-c >= 1.5.0 && < 1.6 + , ogma-language-cocospec >= 1.5.0 && < 1.6 + , ogma-language-copilot >= 1.5.0 && < 1.6 + , ogma-language-jsonspec >= 1.5.0 && < 1.6 + , ogma-language-smv >= 1.5.0 && < 1.6 + , ogma-spec >= 1.5.0 && < 1.6 hs-source-dirs: src From 6181af08360627e7407c96200a89e8f38d1ed0ad Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:23:08 +0000 Subject: [PATCH 48/57] ogma-cli: Version bump (1.5.0). Refs #178. --- ogma-cli/ogma-cli.cabal | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ogma-cli/ogma-cli.cabal b/ogma-cli/ogma-cli.cabal index e577d895..7665eeec 100644 --- a/ogma-cli/ogma-cli.cabal +++ b/ogma-cli/ogma-cli.cabal @@ -32,7 +32,7 @@ cabal-version: 2.0 build-type: Simple name: ogma-cli -version: 1.4.1 +version: 1.5.0 homepage: https://github.com/nasa/ogma license: OtherLicense license-file: LICENSE.pdf @@ -134,7 +134,7 @@ executable ogma build-depends: base >= 4.11.0.0 && < 5 , optparse-applicative - , ogma-core >= 1.4.1 && < 1.5 + , ogma-core >= 1.5.0 && < 1.6 hs-source-dirs: src From aed8ce7af1366486930a62f935a311e37e048087 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:24:52 +0000 Subject: [PATCH 49/57] ogma-extra: Document changes in CHANGELOG. Refs #178. --- ogma-extra/CHANGELOG.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ogma-extra/CHANGELOG.md b/ogma-extra/CHANGELOG.md index dcc31e24..8d4d22ce 100644 --- a/ogma-extra/CHANGELOG.md +++ b/ogma-extra/CHANGELOG.md @@ -1,7 +1,8 @@ # Revision history for ogma-extra -## [1.X.Y] - 2024-11-20 +## [1.5.0] - 2024-11-21 +* Version bump 1.5.0 (#178). * Introduce template expansion functionality (#162). ## [1.4.1] - 2024-09-21 From f779bb095ba085e3fa13fd2bb5566919e39cd08a Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:24:52 +0000 Subject: [PATCH 50/57] ogma-spec: Document changes in CHANGELOG. Refs #178. --- ogma-spec/CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ogma-spec/CHANGELOG.md b/ogma-spec/CHANGELOG.md index 2ba4bcf0..36f9bdc5 100644 --- a/ogma-spec/CHANGELOG.md +++ b/ogma-spec/CHANGELOG.md @@ -1,5 +1,9 @@ # Revision history for ogma-spec +## [1.5.0] - 2024-11-21 + +* Version bump 1.5.0 (#178). + ## [1.4.1] - 2024-09-21 * Version bump 1.4.1 (#155). From 167121c3b8f11893d25cb2738811796c948c46c2 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:24:52 +0000 Subject: [PATCH 51/57] ogma-language-smv: Document changes in CHANGELOG. Refs #178. --- ogma-language-smv/CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ogma-language-smv/CHANGELOG.md b/ogma-language-smv/CHANGELOG.md index cc75e126..3b71957c 100644 --- a/ogma-language-smv/CHANGELOG.md +++ b/ogma-language-smv/CHANGELOG.md @@ -1,5 +1,9 @@ # Revision history for ogma-language-smv +## [1.5.0] - 2024-11-21 + +* Version bump 1.5.0 (#178). + ## [1.4.1] - 2024-09-21 * Version bump 1.4.1 (#155). From 2dea6cfe2c1bc498f604b40ae4a9f936b20ca9b3 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:24:52 +0000 Subject: [PATCH 52/57] ogma-language-jsonspec: Document changes in CHANGELOG. Refs #178. --- ogma-language-jsonspec/CHANGELOG.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ogma-language-jsonspec/CHANGELOG.md b/ogma-language-jsonspec/CHANGELOG.md index 5f218eec..944adb82 100644 --- a/ogma-language-jsonspec/CHANGELOG.md +++ b/ogma-language-jsonspec/CHANGELOG.md @@ -1,7 +1,8 @@ # Revision history for ogma-language-jsonspec -## [1.X.Y] - 2024-11-21 +## [1.5.0] - 2024-11-21 +* Version bump 1.5.0 (#178). * Make JSONFormat readable (#170). ## [1.4.1] - 2024-09-21 From aa099885d65ae0481d2d4aebb92fde5385388e1d Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:24:52 +0000 Subject: [PATCH 53/57] ogma-language-copilot: Document changes in CHANGELOG. Refs #178. --- ogma-language-copilot/CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ogma-language-copilot/CHANGELOG.md b/ogma-language-copilot/CHANGELOG.md index ff2a5f85..6c944cd2 100644 --- a/ogma-language-copilot/CHANGELOG.md +++ b/ogma-language-copilot/CHANGELOG.md @@ -1,5 +1,9 @@ # Revision history for ogma-language-copilot +## [1.5.0] - 2024-11-21 + +* Version bump 1.5.0 (#178). + ## [1.4.1] - 2024-09-21 * Version bump 1.4.1 (#155). From 3bd47936d4f4a0829ffb690ed25e9ca8e66669f0 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:24:52 +0000 Subject: [PATCH 54/57] ogma-language-cocospec: Document changes in CHANGELOG. Refs #178. --- ogma-language-cocospec/CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ogma-language-cocospec/CHANGELOG.md b/ogma-language-cocospec/CHANGELOG.md index d886d2ba..540fa36e 100644 --- a/ogma-language-cocospec/CHANGELOG.md +++ b/ogma-language-cocospec/CHANGELOG.md @@ -1,5 +1,9 @@ # Revision history for ogma-language-cocospec +## [1.5.0] - 2024-11-21 + +* Version bump 1.5.0 (#178). + ## [1.4.1] - 2024-09-21 * Version bump 1.4.1 (#155). From 4b16de6f2bc13a5ed103d6d2e16c91d5826cc656 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:24:52 +0000 Subject: [PATCH 55/57] ogma-language-c: Document changes in CHANGELOG. Refs #178. --- ogma-language-c/CHANGELOG.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ogma-language-c/CHANGELOG.md b/ogma-language-c/CHANGELOG.md index a5dbee56..209fcd31 100644 --- a/ogma-language-c/CHANGELOG.md +++ b/ogma-language-c/CHANGELOG.md @@ -1,5 +1,9 @@ # Revision history for ogma-language-c +## [1.5.0] - 2024-11-21 + +* Version bump 1.5.0 (#178). + ## [1.4.1] - 2024-09-21 * Version bump 1.4.1 (#155). From 056b3742aa1904848015e6652fd8f26958757948 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:24:52 +0000 Subject: [PATCH 56/57] ogma-core: Document changes in CHANGELOG. Refs #178. --- ogma-core/CHANGELOG.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ogma-core/CHANGELOG.md b/ogma-core/CHANGELOG.md index e398703b..3955b267 100644 --- a/ogma-core/CHANGELOG.md +++ b/ogma-core/CHANGELOG.md @@ -1,7 +1,8 @@ # Revision history for ogma-core -## [1.X.Y] - 2024-11-21 +## [1.5.0] - 2024-11-21 +* Version bump 1.5.0 (#178). * Fix incorrect path when using Space ROS humble-2024.10.0 (#158). * Use template expansion system to generate cFS monitoring application (#157). * Use template expansion system to generate ROS monitoring application (#162). From 53df5633c09696137eb16352f49889cd7cbfa1a9 Mon Sep 17 00:00:00 2001 From: Ivan Perez <ivan.perezdominguez@nasa.gov> Date: Fri, 22 Nov 2024 22:24:52 +0000 Subject: [PATCH 57/57] ogma-cli: Document changes in CHANGELOG. Refs #178. --- ogma-cli/CHANGELOG.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ogma-cli/CHANGELOG.md b/ogma-cli/CHANGELOG.md index e35c6e02..b30fceb3 100644 --- a/ogma-cli/CHANGELOG.md +++ b/ogma-cli/CHANGELOG.md @@ -1,7 +1,8 @@ # Revision history for ogma-cli -## [1.X.Y] - 2024-11-21 +## [1.5.0] - 2024-11-21 +* Version bump 1.5.0 (#178). * Provide ability to customize template in cfs command (#157). * Provide ability to customize template in ros command (#162). * Introduce new standalone command (#170).