Added the initial autocoder infrastructure and time model

.bazelrc

@@ -1 +1,2 @@
-build --cxxopt=-std=c++14
+build --cxxopt=-std=c++17
+build --python_top=//:venv --incompatible_use_python_toolchains=false

.github/workflows/main.yml → .github/workflows/gnc.yml

@@ -1,4 +1,4 @@
-name: PSim Regression Tests
+name: GNC Regression Tests
 
 on:
   pull_request:
@@ -11,6 +11,7 @@ jobs:
     - uses: actions/checkout@v2
       with:
         submodules: 'recursive'
+
     - uses: actions/setup-python@v1
       with:
         python-version: '3.7'

.github/workflows/psim.yml

@@ -0,0 +1,32 @@
+name: PSim Regression Tests
+
+on:
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: 'recursive'
+
+    - uses: actions/setup-python@v1
+      with:
+        python-version: '3.7'
+        architecture: 'x64'
+
+    - name: Install dependencies
+      run: |
+        sudo apt-get install bazel
+        python -m venv venv
+        source venv/bin/activate
+        pip install --upgrade pip
+        pip install -r requirements.txt
+
+    - name: Build and Test
+      run: |
+        bazel build //:gnc
+        bazel build //:psim
+        bazel test //test/psim:ci 

BUILD

@@ -1,7 +1,7 @@
-# load("@rules_python//python:defs.bzl", "py_runtime", "py_binary")
+load("@rules_python//python:defs.bzl", "py_runtime", "py_binary")
 load("@rules_cc//cc:defs.bzl", "cc_library")
 
-# load("//:tools/psim.bzl", "psim_autocode")
+load("//:tools/psim.bzl", "psim_autocode")
 
 # Build flight software's gnc code as a library.
 cc_library(
@@ -26,33 +26,33 @@ cc_library(
 # virtual environment.
 #
 # TODO : This is a little hacky and could be cleaned up with toolchains.
-# py_runtime(
-#     name = "venv",
-#     files = glob(["venv/**"], exclude=["venv/**/* *"]),
-#     interpreter = "venv/bin/python",
-#     python_version = "PY3",
-#     visibility = ["//visibility:private"],
-# )
+py_runtime(
+    name = "venv",
+    files = glob(["venv/**"], exclude=["venv/**/* *"]),
+    interpreter = "venv/bin/python",
+    python_version = "PY3",
+    visibility = ["//visibility:private"],
+)
 
 # Register the autocoder as an executable.
 #
 # This is later consumed by the autocoder command. See psim.bzl for more
 # information.
-# py_binary(
-#     name = "autocoder",
-#     srcs = ["tools/autocoder.py"],
-#     srcs_version = "PY3",
-#     visibility = ["//visibility:private"],
-# )
+py_binary(
+    name = "autocoder",
+    srcs = ["tools/autocoder.py"],
+    srcs_version = "PY3",
+    visibility = ["//visibility:private"],
+)
 
 # Autocode the model interfaces
-# psim_autocode(
-#     name = "autocode",
-#     srcs = glob(["include/psim/**/*.yml"]),
-#     includes = ["include"],
-#     tool = "//:autocoder",
-#     visibility = ["//visibility:private"],
-# )
+psim_autocode(
+    name = "autocode",
+    srcs = glob(["include/psim/**/*.yml"]),
+    includes = ["include"],
+    tool = "//:autocoder",
+    visibility = ["//visibility:private"],
+)
 
 # Build all PSim models as a library
 #
@@ -61,15 +61,15 @@ cc_library(
     name = "psim",
     srcs = glob([
         "src/psim/**/*.hpp", "src/psim/**/*.inl", "src/psim/**/*.cpp",
-        "include/psim/**/*.inl", # "include/psim/**/*.yml.hpp",
+        "include/psim/**/*.inl", "include/psim/**/*.yml.hpp",
     ]),
     hdrs = glob(
         ["include/psim/**/*.hpp"],
-        #exclude = ["include/psim/**/*.yml.hpp"],
+        exclude = ["include/psim/**/*.yml.hpp"],
     ),
     includes = ["include"],
     copts = ["-Isrc"],
     linkstatic = True,
     visibility = ["//visibility:public"],
-    deps = ["@lin//:lin", "//:gnc"],# "//:autocode"],
+    deps = ["@lin//:lin", "//:gnc", "//:autocode"],
 )

WORKSPACE

@@ -1,11 +1,11 @@
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
-# load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
+load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
 
-# git_repository(
-#     name = "rules_python",
-#     remote = "https://github.com/bazelbuild/rules_python.git",
-#     commit = "3baa2660569a76898d0f520c73b299ea39b6374d",  # (9-8-2020)
-# )
+git_repository(
+    name = "rules_python",
+    remote = "https://github.com/bazelbuild/rules_python.git",
+    commit = "3baa2660569a76898d0f520c73b299ea39b6374d",  # (9-8-2020)
+)
 
 http_archive(
     name = "gtest",

estimatortest/pythonwrapper/pwrap.cpp

@@ -7,16 +7,17 @@ mypath=Path(filepath)
 psimpath= mypath.parent.parent.parent
 #flightsoftwarepath= psimpath.parent/'FlightSoftware'
 # 'dependencies' controls what get checked for changes before recompile
-cfg['dependencies'] = [str(p) for p in (psimpath/'src').rglob('*') if p.is_file()]
+cfg['dependencies'] = [str(p) for p in (psimpath/'src/gnc').rglob('*') if p.is_file()]
 cfg['dependencies'] += [str(p) for p in (psimpath/'lib').rglob('*') if p.is_file()]
-cfg['dependencies'] += [str(p) for p in (psimpath/'include').rglob('*') if p.is_file()]
+cfg['dependencies'] += [str(p) for p in (psimpath/'include/gnc').rglob('*') if p.is_file()]
+cfg['dependencies'] += [str(p) for p in (psimpath/'include/orb').rglob('*') if p.is_file()]
 cfg['dependencies'] += [str(mypath.parent/'lin_ext.cpp')]
 cfg['dependencies'] += [str(mypath.parent/'orb_ext.cpp')]
 #cfg['dependencies'] += [str(p) for p in (flightsoftwarepath/'src').rglob('*') if p.is_file()]
 #cfg['dependencies'] += [str(p) for p in (flightsoftwarepath/'lib').rglob('*') if p.is_file()]
 
 cfg['sources'] = ['lin_ext.cpp', 'orb_ext.cpp']
-cfg['sources'] += [str(p) for p in (psimpath/'src').rglob('*.cpp') if (p.is_file() and p.parent.name!='targets')]
+cfg['sources'] += [str(p) for p in (psimpath/'src/gnc').rglob('*.cpp') if (p.is_file() and p.parent.name!='targets')]
 #cfg['sources'] += [str(p) for p in (flightsoftwarepath/'src/fsw').rglob('*.cpp') if (p.is_file() and p.parent.name!='targets')]
 #cfg['sources'] += [str(p) for p in (flightsoftwarepath/'src/common').rglob('*.cpp') if (p.is_file() and p.parent.name!='targets')]
 

include/psim/truth/time.hpp

@@ -0,0 +1,53 @@
+//
+// MIT License
+//
+// Copyright (c) 2020 Pathfinder for Autonomous Navigation (PAN)
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+/** @file psim/truth/time.hpp
+ *  @author Kyle Krol
+ */
+
+#ifndef PSIM_TRUTH_TIME_HPP_
+#define PSIM_TRUTH_TIME_HPP_
+
+#include <psim/truth/time.yml.hpp>
+
+namespace psim {
+
+class Time : public TimeInterface<Time> {
+ private:
+  typedef TimeInterface<Time> Super;
+
+ public:
+  Time() = delete;
+  virtual ~Time() = default;
+
+  Time(Configuration const &config, std::string const &prefix);
+
+  virtual void step() override;
+
+  Real prefix_t_s() const;
+  Real prefix_dt_s() const;
+};
+}  // namespace psim
+
+#endif

include/psim/truth/time.yml

@@ -0,0 +1,27 @@
+
+name: TimeInterface
+type: Model
+comment: >
+    Simple model responsible for stepping the simulation forward in time. Time
+    is counted since the PAN epoch.
+
+args:
+    - prefix
+
+adds:
+    - name: "{prefix}.t.ns"
+      type: Initialized Integer
+      comment: >
+          Current simulation time in nanoseconds since the PAN epoch.
+    - name: "{prefix}.t.s"
+      type: Lazy Real
+      comment: >
+          Current simulation time in seconds since the PAN epoch.
+    - name: "{prefix}.dt.ns"
+      type: Initialized Writable Integer
+      comment: >
+          Current simulation timestep in nanoseconds.
+    - name: "{prefix}.dt.s"
+      type: Lazy Real
+      comment: >
+          Current simulation timestep in seconds.

requirements.txt

@@ -7,4 +7,5 @@ cppimport
 h5py
 dulwich
 ipykernel
-notebook
+notebook
+pyyaml

src/psim/truth/time.cpp

@@ -0,0 +1,45 @@
+//
+// MIT License
+//
+// Copyright (c) 2020 Pathfinder for Autonomous Navigation (PAN)
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#include <psim/truth/time.hpp>
+
+namespace psim {
+
+Time::Time(Configuration const &config, std::string const &prefix)
+  : Super(config, prefix) { }
+
+void Time::step() {
+  this->Super::step();
+
+  this->prefix_t_ns.get() += this->prefix_dt_ns.get();
+}
+
+Real Time::prefix_t_s() const {
+  return ((Real) prefix_t_ns.get()) / 1.0e9;
+}
+
+Real Time::prefix_dt_s() const {
+  return ((Real) prefix_dt_ns.get()) / 1.0e9;
+}
+}  // namespace psim

test/psim/BUILD

@@ -3,3 +3,4 @@ load("//:tools/psim.bzl", "psim_cc_test")
 test_suite(name = "ci", tags = ["ci"])
 
 psim_cc_test(name = "core", tags = ["ci"])
+psim_cc_test(name = "truth", tags = ["ci"])

test/psim/truth/time_test.cpp

@@ -0,0 +1,32 @@
+/** @file test/psim/truth/time_test.cpp
+ *  @author Kyle Krol
+ */
+
+#include <gtest/gtest.h>
+
+#include <psim/core/configuration.hpp>
+#include <psim/core/simulation.hpp>
+#include <psim/truth/time.hpp>
+
+TEST(Time, TestStep) {
+  auto const config = psim::Configuration::make("test/psim/truth/time_test_config.txt");
+  auto sim = psim::Simulation::make<psim::Time>(config, "time");
+
+  // Assert intial conditions
+  ASSERT_EQ(sim["time.dt.ns"].get<psim::Integer>(), 5);
+  ASSERT_EQ(sim["time.t.ns"].get<psim::Integer>(), 0);
+
+  // Check the time.t.ns field is updated
+  sim.step();
+  sim.step();
+  ASSERT_EQ(sim["time.t.ns"].get<psim::Integer>(), 10);
+
+  // Check the lazy evaluated fiels
+  ASSERT_DOUBLE_EQ(sim["time.dt.s"].get<psim::Real>(), 5e-9);
+  ASSERT_DOUBLE_EQ(sim["time.t.s"].get<psim::Real>(), 1e-8);
+
+  // Update time.dt.ns and try stepping again
+  sim.get_writable("time.dt.ns")->get<psim::Integer>() = 4;
+  sim.step();
+  ASSERT_EQ(sim["time.t.ns"].get<psim::Integer>(), 14);
+}

test/psim/truth/time_test_config.txt

@@ -0,0 +1,2 @@
+time.t.ns  0
+time.dt.ns 5