Added ROS2 serialization tests

.github/workflows/c-tests.yml

@@ -41,21 +41,16 @@ jobs:
           path: org.lflang/src/lib/c/reactor-c
           ref: ${{ inputs.runtime-ref }}
         if: ${{ inputs.runtime-ref }}
-      - name: Install dependencies Ubuntu
-        run: sudo apt-get install libprotobuf-c-dev protobuf-c-compiler protobuf-compiler libprotobuf-dev
-        if: ${{ runner.os == 'Linux' }}
       - name: Install dependencies OS X
         run: |
-          brew install protobuf
-          brew install protobuf-c
           brew install coreutils
         if: ${{ runner.os == 'macOS' }}
       - name: Install RTI
         uses: ./.github/actions/install-rti
         if: ${{ runner.os == 'macOS' || runner.os == 'Linux' }}
       - name: Build RTI docker image
         uses: ./.github/actions/build-rti-docker
-        if: ${{ runner.os == 'Linux' }} 
+        if: ${{ runner.os == 'Linux' }}
       - name: Perform tests for C target with default scheduler
         run: |
           ./gradlew test --tests org.lflang.tests.runtime.CTest.* --tests org.lflang.tests.lsp.LspTests.lspWithDependenciesTestC

.github/workflows/ci.yml

@@ -54,7 +54,7 @@ jobs:
 
   # Run the C integration tests.
   c-tests:
-    uses: lf-lang/lingua-franca/.github/workflows/c-tests.yml@master
+    uses: lf-lang/lingua-franca/.github/workflows/c-tests.yml@ros2-ccpp-tests
     needs: cancel
 
   # Run the CCpp integration tests.
@@ -102,4 +102,9 @@ jobs:
   ts-tests:
     uses: lf-lang/lingua-franca/.github/workflows/ts-tests.yml@master
     needs: cancel
+
+  # Run the serialization tests
+  serialization-tests:
+    uses: lf-lang/lingua-franca/.github/workflows/serialization-tests.yml@ros2-ccpp-tests
+    needs: cancel
 

.github/workflows/py-tests.yml

@@ -26,12 +26,8 @@ jobs:
           java-version: 11
       - name: Setup Python
         uses: actions/setup-python@v2
-      - name: Install dependencies Ubuntu
-        run: sudo apt-get install libprotobuf-dev protobuf-compiler
-        if: ${{ runner.os == 'Linux' }}
       - name: Install dependencies OS X
         run: |
-          brew install protobuf
           brew install coreutils
         if: ${{ runner.os == 'macOS' }}
       - name: Install Google API Python Client

.github/workflows/serialization-tests.yml

@@ -0,0 +1,42 @@
+name: Serialization tests
+
+on:
+  workflow_call:
+    inputs:
+      compiler-ref:
+        required: false
+        type: string
+
+jobs:
+  run:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Setup Java JDK
+        uses: actions/setup-java@v1.4.3
+        with:
+          java-version: 11
+      - name: Check out lingua-franca repository
+        uses: actions/checkout@v2
+        with:
+          repository: lf-lang/lingua-franca
+          submodules: true
+          ref: ${{ inputs.compiler-ref }}
+      - name: Setup ROS2
+        uses: ros-tooling/setup-ros@0.2.2
+        with:
+          required-ros-distributions: rolling
+      - name: Install Protobuf Ubuntu
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libprotobuf-c-dev protobuf-c-compiler protobuf-compiler libprotobuf-dev
+      - name: Run serialization tests;
+        run: |
+          source /opt/ros/*/setup.bash
+          ./gradlew test --tests org.lflang.tests.serialization.SerializationTest.*
+      - name: Report to CodeCov
+        uses: codecov/codecov-action@v2.1.0
+        with:
+          file: org.lflang.tests/build/reports/xml/jacoco
+          fail_ci_if_error: false
+          verbose: true
+        if: ${{ !inputs.runtime-ref }}  # i.e., if this is part of the main repo's CI

.github/workflows/ts-tests.yml

@@ -30,12 +30,8 @@ jobs:
         with:
           path: ~/.pnpm-store
           key: ${{ runner.os }}-node${{ matrix.node-version }}-${{ hashFiles('org.lflang/src/lib/ts/package.json') }}
-      - name: Install Dependencies Ubuntu
-        run: sudo apt-get install libprotobuf-dev protobuf-compiler
-        if: ${{ runner.os == 'Linux' }}
       - name: Install Dependencies OS X
         run: |
-          brew install protobuf
           brew install coreutils
         if: ${{ runner.os == 'macOS' }}
       - name: Check out lingua-franca repository

org.lflang.tests/src/org/lflang/tests/Configurators.java

@@ -80,13 +80,14 @@ public static boolean compatibleWithThreadingOff(TestCategory category) {
         // CONCURRENT, FEDERATED, EXAMPLE, DOCKER_FEDERATED, DOCKER
         // are not compatible with single-threaded execution.
         boolean excluded = category == TestCategory.CONCURRENT
+            || category == TestCategory.SERIALIZATION
             || category == TestCategory.FEDERATED
             || category == TestCategory.EXAMPLE
             || category == TestCategory.DOCKER_FEDERATED
             || category == TestCategory.DOCKER;
 
         // SERIALIZATION and TARGET tests are excluded on Windows.
-        excluded |= TestBase.isWindows() && (category == TestCategory.SERIALIZATION || category == TestCategory.TARGET);
+        excluded |= TestBase.isWindows() && (category == TestCategory.TARGET);
         return !excluded;
     }
 }

org.lflang.tests/src/org/lflang/tests/RuntimeTest.java

@@ -33,13 +33,6 @@ protected RuntimeTest(Target target) {
     protected RuntimeTest(List<Target> targets) {
         super(targets);
     }
-
-    /**
-     * Whether to enable {@link #runWithThreadingOff()}.
-     */
-    protected boolean supportsSingleThreadedExecution() {
-        return false;
-    }
 
     /**
      * Whether to enable {@link #runFederatedTests()}.
@@ -105,14 +98,6 @@ public void runTypeParameterTests() {
                            TestLevel.EXECUTION, false);
     }
 
-
-    @Test
-    public void runSerializationTests() {
-        runTestsForTargets(Message.DESC_SERIALIZATION,
-                           TestCategory.SERIALIZATION::equals, Configurators::noChanges,
-                           TestLevel.EXECUTION, false);
-    }
-
     @Test
     public void runAsFederated() {
         Assumptions.assumeTrue(supportsFederatedExecution(), Message.NO_FEDERATION_SUPPORT);

org.lflang.tests/src/org/lflang/tests/TestBase.java

@@ -232,6 +232,13 @@ protected void runTestsFor(List<Target> subset,
             runTestsAndPrintResults(target, selected, configurator, level, copy);
         }
     }
+
+    /**
+     * Whether to enable {@link #runWithThreadingOff()}.
+     */
+    protected boolean supportsSingleThreadedExecution() {
+        return false;
+    }
 
     /**
      * Determine whether the current platform is Windows.

org.lflang.tests/src/org/lflang/tests/lsp/LspTests.java

@@ -39,7 +39,7 @@ class LspTests {
     private static final Random RANDOM = new Random(2101);
     /** The test categories that should be excluded from LSP tests. */
     private static final TestCategory[] EXCLUDED_CATEGORIES = {
-        TestCategory.EXAMPLE, TestCategory.DOCKER, TestCategory.DOCKER_FEDERATED
+        TestCategory.SERIALIZATION, TestCategory.EXAMPLE, TestCategory.DOCKER, TestCategory.DOCKER_FEDERATED
     };
     private static final Predicate<List<Diagnostic>> NOT_SUPPORTED = diagnosticsHaveKeyword("supported");
     private static final Predicate<List<Diagnostic>> MISSING_DEPENDENCY = diagnosticsHaveKeyword("libprotoc")

org.lflang.tests/src/org/lflang/tests/runtime/CCppTest.java

@@ -45,6 +45,7 @@ private static boolean isExcludedFromCCpp(TestCategory category) {
         // be tested when compileExamples is
         // run.
         boolean excluded = category == TestCategory.EXAMPLE;
+        excluded |= category == TestCategory.SERIALIZATION;
         excluded |= isWindows() && category == TestCategory.DOCKER_FEDERATED;
         excluded |= isMac() && (category == TestCategory.DOCKER_FEDERATED || category == TestCategory.DOCKER);
         return !excluded;

org.lflang.tests/src/org/lflang/tests/runtime/CTest.java

@@ -99,13 +99,6 @@ public void runWithThreadingOff() {
         super.runWithThreadingOff();
     }
 
-    @Test
-    @Override
-    public void runSerializationTests() {
-        Assumptions.assumeFalse(isWindows(), Message.NO_WINDOWS_SUPPORT);
-        super.runSerializationTests();
-    }
-
     @Test
     @Disabled("TODO only 27/96 tests pass")
     @Override

org.lflang.tests/src/org/lflang/tests/runtime/CppTest.java

@@ -69,12 +69,6 @@ public void runTargetSpecificTests() {
     public void runMultiportTests() {
         super.runMultiportTests();
     }
-
-    @Test
-    @Override
-    public void runSerializationTests() {
-        super.runSerializationTests();
-    }
 
     @Test
     @Override

org.lflang.tests/src/org/lflang/tests/runtime/PythonTest.java

@@ -79,13 +79,6 @@ public void runTargetSpecificTests() {
     public void runMultiportTests() {
         super.runMultiportTests();
     }
-
-    @Test
-    @Override
-    public void runSerializationTests() {
-        Assumptions.assumeFalse(isWindows(), Message.NO_WINDOWS_SUPPORT);
-        super.runSerializationTests();
-    }
 
     @Test
     @Disabled("TODO")

org.lflang.tests/src/org/lflang/tests/runtime/TypeScriptTest.java

@@ -1,6 +1,5 @@
 package org.lflang.tests.runtime;
 
-import org.junit.jupiter.api.Assumptions;
 import org.junit.jupiter.api.Test;
 import org.lflang.Target;
 import org.lflang.tests.RuntimeTest;
@@ -44,13 +43,6 @@ public void runMultiportTests() {
         super.runMultiportTests();
     }
 
-    @Test
-    @Override
-    public void runSerializationTests() {
-        Assumptions.assumeFalse(isWindows(), Message.NO_WINDOWS_SUPPORT);
-        super.runSerializationTests();
-    }
-
     @Test
     @Override
     public void runConcurrentTests() {

org.lflang.tests/src/org/lflang/tests/serialization/SerializationTest.java

@@ -0,0 +1,31 @@
+package org.lflang.tests.serialization;
+
+import org.junit.jupiter.api.Assumptions;
+import org.junit.jupiter.api.Test;
+import org.lflang.Target;
+import org.lflang.tests.Configurators;
+import org.lflang.tests.TestBase;
+import org.lflang.tests.TestRegistry.TestCategory;
+
+public class SerializationTest extends TestBase {
+
+    protected SerializationTest() {
+        super(Target.ALL);        
+    }
+
+    @Test
+    public void runSerializationTestsWithThreadingOff() {
+        Assumptions.assumeTrue(supportsSingleThreadedExecution(), Message.NO_SINGLE_THREADED_SUPPORT);
+        runTestsForTargets(Message.DESC_SERIALIZATION,
+                TestCategory.SERIALIZATION::equals, Configurators::disableThreading,
+                TestLevel.EXECUTION, false);
+    }
+
+    @Test
+    public void runSerializationTests() {
+        Assumptions.assumeFalse(isWindows(), Message.NO_WINDOWS_SUPPORT);
+        runTestsForTargets(Message.DESC_SERIALIZATION,
+                TestCategory.SERIALIZATION::equals, Configurators::noChanges,
+                TestLevel.EXECUTION, false);
+    }
+}

org.lflang/src/org/lflang/generator/CodeBuilder.java

@@ -1,5 +1,6 @@
 package org.lflang.generator;
 
+import java.nio.file.Path;
 import java.io.BufferedWriter;
 import java.io.FileWriter;
 import java.io.IOException;
@@ -10,6 +11,7 @@
 import org.eclipse.emf.ecore.EObject;
 import org.eclipse.xtext.nodemodel.util.NodeModelUtils;
 import org.lflang.lf.Code;
+import org.lflang.util.FileUtil;
 
 /**
  * Helper class for printing code with indentation.
@@ -202,12 +204,10 @@ public void unindent() {
      * Write the text to a file.
      * @param path The file to write the code to.
      */
-    public void writeToFile(String path) throws IOException {
-        try (BufferedWriter writer = new BufferedWriter(new FileWriter(path))) {
-            for (int i = 0; i < code.length(); i++) {
-                writer.write(code.charAt(i));
-            }
-        }
+    public CodeMap writeToFile(String path) throws IOException {
+        CodeMap ret = CodeMap.fromGeneratedCode(code.toString());
+        FileUtil.writeToFile(ret.getGeneratedCode(), Path.of(path), true);
+        return ret;
     }
 
     ////////////////////////////////////////////

org.lflang/src/org/lflang/generator/c/CCmakeGenerator.java

@@ -69,14 +69,16 @@ class CCmakeGenerator {
      * @param CppMode Indicate if the compilation should happen in C++ mode
      * @param hasMain Indicate if the .lf file has a main reactor or not. If not,
      *  a library target will be created instead of an executable.
+     * @param cMakeExtras CMake-specific code that should be appended to the CMakeLists.txt.
      * @return The content of the CMakeLists.txt.
      */
     CodeBuilder generateCMakeCode(
             List<String> sources, 
             String executableName, 
             ErrorReporter errorReporter,
             boolean CppMode,
-            boolean hasMain) {
+            boolean hasMain,
+            String cMakeExtras) {
         CodeBuilder cMakeCode = new CodeBuilder();
 
         List<String> additionalSources = new ArrayList<String>();
@@ -240,6 +242,9 @@ CodeBuilder generateCMakeCode(
         }
         cMakeCode.newLine();
 
+        cMakeCode.pr(cMakeExtras);
+        cMakeCode.newLine();
+
         return cMakeCode;
     }
 }

org.lflang/src/org/lflang/generator/c/CGenerator.xtend

@@ -456,6 +456,9 @@ class CGenerator extends GeneratorBase {
         // Perform distinct code generation into distinct files for each federate.
         val baseFilename = topLevelName
 
+        // Copy the code generated so far.
+        var commonCode = new CodeBuilder(code);
+
         // Keep a separate file config for each federate
         val oldFileConfig = fileConfig;
         val numOfCompileThreads = Math.min(6,
@@ -515,7 +518,7 @@ class CGenerator extends GeneratorBase {
                 copyUserFiles(this.targetConfig, this.fileConfig);
 
                 // Clear out previously generated code.
-                code = new CodeBuilder()
+                code = new CodeBuilder(commonCode)
                 initializeTriggerObjects = new CodeBuilder()
 
                 // Enable clock synchronization if the federate
@@ -777,7 +780,8 @@ class CGenerator extends GeneratorBase {
                         topLevelName, 
                         errorReporter,
                         CCppMode,
-                        mainDef !== null
+                        mainDef !== null,
+                        cMakeExtras
                 )
                 cmakeCode.writeToFile(cmakeFile)
             }