Merge branch 'develop-ros-dockerfile' into develop. Close #136.

**Description**

Ogma doesn't currently generate a Dockerfile with the ROS packages. That
makes it harder for users to know how to use the produce of Copilot.

**Type**

- Feature: Complementing new feature.

**Additional context**

None.

**Requester**

- Ivan Perez

**Method to check presence of bug**

Not applicable (not a bug).

**Expected result**

Running the ROS command should produce a Dockerfile with the ROS package
that can be used to compile the package.

**Proposed solution**

Add a dockerfile to the list of files produced.

Modify the README to document how to use the generated file.

Introduce a new CI job that builds a demo using the ros backend and
compiles the result using the generated Dockerfile.

**Further notes**

None.

.github/workflows/repo-ghc-8.6-cabal-2.4-ros.yml

@@ -0,0 +1,54 @@
+name: ros-ghc-8.6-cabal-2.4
+
+# Trigger the workflow on push or pull request
+on:
+  - pull_request
+  - push
+
+jobs:
+  cabal:
+    name: ${{ matrix.os }} / ghc ${{ matrix.ghc }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-latest]
+        cabal: ["2.4"]
+        ghc:
+          - "8.6"
+
+    steps:
+
+    - uses: haskell-actions/setup@main
+      id: setup-haskell-cabal
+      name: Setup Haskell
+      with:
+        ghc-version: ${{ matrix.ghc }}
+        cabal-version: ${{ matrix.cabal }}
+
+    - name: Prepare environment
+      run: |
+        echo "$HOME/.ghcup/bin" >> $GITHUB_PATH
+        echo "$HOME/.cabal/bin" >> $GITHUB_PATH
+
+    - uses: actions/checkout@v4
+
+    - name: Create sandbox
+      run: |
+        echo "$PWD/.cabal-sandbox/bin" >> $GITHUB_PATH
+        cabal v1-sandbox init
+
+    - name: Install dependencies
+      run: |
+        cabal v1-install alex happy
+
+    - name: Install ogma
+      run: |
+        cabal v1-install copilot ogma-**/ --constraint="copilot >= 3.19.1"
+
+    - name: Generate ROS app
+      run: |
+        ogma ros --app-target-dir demo --variable-db ogma-cli/examples/ros-copilot/vars-db --variable-file ogma-cli/examples/ros-copilot/variables --handlers-file ogma-cli/examples/ros-copilot/handlers
+        cabal v1-exec -- runhaskell ogma-cli/examples/ros-copilot/ROS.hs
+        find demo/
+        cd demo/
+        docker build .

ogma-cli/CHANGELOG.md

@@ -1,7 +1,9 @@
 # Revision history for ogma-cli
 
-## [1.X.X] - 2024-05-19
+## [1.X.X] - 2024-05-20
+
 * Introduce CI test job (#139).
+* Introduce test job for ROS package generation (#136).
 
 ## [1.3.0] - 2024-03-21
 

ogma-cli/README.md

@@ -214,11 +214,21 @@ $ ogma ros --handlers filename --variable-file variables --variable-db ros-varia
 
 The application generated by Ogma contains the following files:
 ```
-ros_demo/CMakeLists.txt
-ros_demo/src/copilot_monitor.cpp
-ros_demo/src/copilot_logger.cpp
-ros_demo/src/.keep
-ros_demo/package.xml
+ros_demo/copilot/CMakeLists.txt
+ros_demo/copilot/src/copilot_monitor.cpp
+ros_demo/copilot/src/copilot_logger.cpp
+ros_demo/copilot/src/.keep
+ros_demo/copilot/package.xml
+ros_demo/Dockerfile
+```
+
+The Dockerfile can be used to compile the application inside the base image for
+the Space ROS distribution. To build the image, first place the core
+implementation of the monitors in C inside the directory
+`ros_demo/copilot/src/` (see 'Current limitations' for details). After, you can
+compile the image with:
+```
+docker build .
 ```
 
 ### Current limitations

ogma-cli/examples/ros-copilot/ROS.hs

@@ -0,0 +1,20 @@
+import Copilot.Compile.C99
+import Copilot.Language
+import Language.Copilot    (reify)
+import Prelude             hiding (not, (>=))
+
+inputSignal :: Stream Int64
+inputSignal = extern "input_signal" Nothing
+
+propTestCopilot :: Stream Bool
+propTestCopilot = inputSignal >= 5
+
+spec :: Spec
+spec = do
+  trigger "handlerTestCopilot" (not propTestCopilot) []
+
+main :: IO ()
+main = reify spec >>= compileWith settings "monitor"
+  where
+    settings = mkDefaultCSettings
+                 { cSettingsOutputDirectory = "demo/copilot/src/" }

ogma-cli/examples/ros-copilot/handlers

@@ -0,0 +1 @@
+handlerTestCopilot

ogma-cli/examples/ros-copilot/variables

@@ -0,0 +1 @@
+input_signal

ogma-cli/examples/ros-copilot/vars-db

@@ -0,0 +1 @@
+("input_signal","int64_t","/demo/topic","int64_t")

ogma-core/CHANGELOG.md

@@ -1,5 +1,9 @@
 # Revision history for ogma-core
 
+## [1.X.X] - 2024-05-20
+
+* Make ros command generate dockerfile (#136).
+
 ## [1.3.0] - 2024-03-21
 
 * Version bump 1.3.0 (#133).

ogma-core/ogma-core.cabal

@@ -60,9 +60,10 @@ data-files:          templates/copilot-cfs/CMakeLists.txt
                      templates/copilot-cfs/fsw/src/copilot_cfs_version.h
                      templates/copilot-cfs/fsw/src/copilot_cfs.h
                      templates/copilot-cfs/fsw/src/copilot_cfs_events.h
-                     templates/ros/CMakeLists.txt
-                     templates/ros/src/.keep
-                     templates/ros/package.xml
+                     templates/ros/Dockerfile
+                     templates/ros/copilot/CMakeLists.txt
+                     templates/ros/copilot/src/.keep
+                     templates/ros/copilot/package.xml
                      templates/fprime/CMakeLists.txt
                      templates/fprime/Dockerfile
                      templates/fprime/instance-copilot

ogma-core/src/Command/ROSApp.hs

@@ -136,15 +136,15 @@ rosApp' targetDir varNames varDB monitors =
           foldr f ([], [], [], []) varNames
 
     let rosFileName =
-          targetDir </> "src" </> "copilot_monitor.cpp"
+          targetDir </> "copilot" </> "src" </> "copilot_monitor.cpp"
         rosFileContents =
           unlines $
             rosMonitorContents varNames vars ids infos datas monitors
 
     writeFile rosFileName rosFileContents
 
     let rosFileName =
-          targetDir </> "src" </> "copilot_logger.cpp"
+          targetDir </> "copilot" </> "src" </> "copilot_logger.cpp"
         rosFileContents =
           unlines $
             rosLoggerContents varNames vars ids infos datas monitors

ogma-core/templates/ros/Dockerfile

@@ -0,0 +1,16 @@
+FROM osrf/space-ros:latest
+
+ARG USER=spaceros-user
+ARG PACKAGE_PATH=/home/${USER}/monitors
+ARG ROS_PATH=/home/${USER}/spaceros/
+
+RUN mkdir -p ${PACKAGE_PATH}/src/
+ADD copilot ${PACKAGE_PATH}/src/copilot
+USER root
+RUN chown -R ${USER} ${PACKAGE_PATH}
+USER ${USER}
+
+SHELL ["/bin/bash", "-c"]
+WORKDIR ${PACKAGE_PATH}
+RUN source ${ROS_PATH}/install/setup.bash && \
+    colcon build