From 0ca3d1bbca065d4497a1ce4e7fa7acbd8413faf5 Mon Sep 17 00:00:00 2001
From: Marten Lohstroh <marten@berkeley.edu>
Date: Sun, 16 Jun 2024 17:52:05 -0700
Subject: [PATCH 01/14] First steps towards Docker support for C++

---
 .../generator/docker/CDockerGenerator.java    |  2 +-
 .../generator/docker/CppDockerGenerator.java  | 48 +++++++++++++++++++
 .../generator/docker/TSDockerGenerator.java   |  1 +
 .../main/java/org/lflang/target/Target.java   |  1 +
 .../org/lflang/generator/cpp/CppGenerator.kt  | 25 ++++++----
 .../Cpp/src/docker/HelloWorldContainerized.lf | 12 +++++
 6 files changed, 78 insertions(+), 11 deletions(-)
 create mode 100644 core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
 create mode 100644 test/Cpp/src/docker/HelloWorldContainerized.lf

diff --git a/core/src/main/java/org/lflang/generator/docker/CDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/CDockerGenerator.java
index afe67d8147..e8c114a98c 100644
--- a/core/src/main/java/org/lflang/generator/docker/CDockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/CDockerGenerator.java
@@ -40,7 +40,7 @@ public List<String> defaultEntryPoint() {
   @Override
   protected String generateRunForInstallingDeps() {
     var config = context.getTargetConfig();
-    var compiler = config.target == Target.CCPP ? "g++" : "gcc";
+    var compiler = config.target == Target.CCPP || config.target == Target.CPP ? "g++" : "gcc";
     if (builderBase().equals(defaultImage())) {
       return "RUN set -ex && apk add --no-cache %s musl-dev cmake make".formatted(compiler);
     } else {
diff --git a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
new file mode 100644
index 0000000000..efe89a78e8
--- /dev/null
+++ b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
@@ -0,0 +1,48 @@
+package org.lflang.generator.docker;
+
+import java.io.IOException;
+import java.nio.file.Path;
+import java.util.List;
+
+import org.lflang.generator.LFGeneratorContext;
+import org.lflang.generator.c.CCompiler;
+import org.lflang.generator.c.CFileConfig;
+import org.lflang.generator.cpp.CppGenerator;
+import org.lflang.generator.cpp.CppPlatformGenerator;
+import org.lflang.target.Target;
+
+/**
+ * Generates the docker file related code for the Typescript target.
+ *
+ * @author Marten Lohstroh
+ */
+public class CppDockerGenerator extends CDockerGenerator {
+
+  private CppPlatformGenerator platformGenerator;
+
+  /** Construct a new Docker generator. */
+  public CppDockerGenerator(LFGeneratorContext context, CppPlatformGenerator platformGenerator) {
+    super(context);
+    this.platformGenerator = platformGenerator;
+  }
+
+  @Override
+  protected List<String> defaultBuildCommands() {
+    try {
+      return List.of(
+          "mkdir -p bin",
+          String.format(
+              "%s -DCMAKE_INSTALL_BINDIR=./bin -S src-gen -B bin", platformGenerator),
+          "cd bin",
+          "make all",
+          "cd ..");
+    } catch (IOException e) {
+      context
+          .getErrorReporter()
+          .nowhere()
+          .error("Unable to create file configuration for Docker container");
+      throw new RuntimeException(e);
+    }
+  }
+
+}
diff --git a/core/src/main/java/org/lflang/generator/docker/TSDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/TSDockerGenerator.java
index d369634fa0..1e81439886 100644
--- a/core/src/main/java/org/lflang/generator/docker/TSDockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/TSDockerGenerator.java
@@ -7,6 +7,7 @@
  * Generates the docker file related code for the Typescript target.
  *
  * @author Hou Seng Wong
+ * @author Marten Lohstroh
  */
 public class TSDockerGenerator extends DockerGenerator {
 
diff --git a/core/src/main/java/org/lflang/target/Target.java b/core/src/main/java/org/lflang/target/Target.java
index d30e7ff982..30048f5a58 100644
--- a/core/src/main/java/org/lflang/target/Target.java
+++ b/core/src/main/java/org/lflang/target/Target.java
@@ -610,6 +610,7 @@ public void initialize(TargetConfig config) {
               BuildTypeProperty.INSTANCE,
               CmakeIncludeProperty.INSTANCE,
               CompilerProperty.INSTANCE,
+              DockerProperty.INSTANCE,
               ExportDependencyGraphProperty.INSTANCE,
               ExportToYamlProperty.INSTANCE,
               ExternalRuntimePathProperty.INSTANCE,
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
index 0f1645b856..afa377f76c 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
@@ -27,13 +27,14 @@
 package org.lflang.generator.cpp
 
 import org.eclipse.emf.ecore.resource.Resource
-import org.lflang.target.Target
 import org.lflang.generator.*
 import org.lflang.generator.GeneratorUtils.canGenerate
 import org.lflang.generator.LFGeneratorContext.Mode
+import org.lflang.generator.docker.CppDockerGenerator
 import org.lflang.generator.docker.DockerGenerator
 import org.lflang.isGeneric
 import org.lflang.scoping.LFGlobalScopeProvider
+import org.lflang.target.Target
 import org.lflang.target.property.*
 import org.lflang.util.FileUtil
 import java.nio.file.Files
@@ -59,6 +60,7 @@ class CppGenerator(
         const val MINIMUM_CMAKE_VERSION = "3.5"
 
         const val CPP_VERSION = "20"
+
     }
 
     override fun doGenerate(resource: Resource, context: LFGeneratorContext) {
@@ -67,8 +69,7 @@ class CppGenerator(
         if (!canGenerate(errorsOccurred(), mainDef, messageReporter, context)) return
 
         // create a platform-specific generator
-        val platformGenerator: CppPlatformGenerator =
-            if (targetConfig.get(Ros2Property.INSTANCE)) CppRos2Generator(this) else CppStandaloneGenerator(this)
+        val platformGenerator: CppPlatformGenerator = getPlatformGenerator()
 
         // generate all core files
         generateFiles(platformGenerator.srcGenPath, getAllImportedResources(resource))
@@ -83,7 +84,6 @@ class CppGenerator(
             context.reportProgress(
                 "Code generation complete. Validating generated code...", IntegratedBuilder.GENERATED_PERCENT_PROGRESS
             )
-
             if (platformGenerator.doCompile(context)) {
                 CppValidator(fileConfig, messageReporter, codeMaps).doValidate(context)
                 context.finish(GeneratorResult.GENERATED_NO_EXECUTABLE.apply(context, codeMaps))
@@ -94,10 +94,14 @@ class CppGenerator(
             context.reportProgress(
                 "Code generation complete. Compiling...", IntegratedBuilder.GENERATED_PERCENT_PROGRESS
             )
-            if (platformGenerator.doCompile(context)) {
-                context.finish(GeneratorResult.Status.COMPILED, codeMaps)
+            if (targetConfig.get(DockerProperty.INSTANCE).enabled) {
+                buildUsingDocker();
             } else {
-                context.unsuccessfulFinish()
+                if (platformGenerator.doCompile(context)) {
+                    context.finish(GeneratorResult.Status.COMPILED, codeMaps)
+                } else {
+                    context.unsuccessfulFinish()
+                }
             }
         }
     }
@@ -184,11 +188,12 @@ class CppGenerator(
         }
     }
 
+    private fun getPlatformGenerator() = if (targetConfig.get(Ros2Property.INSTANCE)) CppRos2Generator(this) else CppStandaloneGenerator(this)
+
     override fun getTarget() = Target.CPP
 
     override fun getTargetTypes(): TargetTypes = CppTypes
-    override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator {
-        TODO("Not yet implemented")
-    }
+
+    override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator = CppDockerGenerator(context, getPlatformGenerator())
 }
 
diff --git a/test/Cpp/src/docker/HelloWorldContainerized.lf b/test/Cpp/src/docker/HelloWorldContainerized.lf
new file mode 100644
index 0000000000..85cdcc195e
--- /dev/null
+++ b/test/Cpp/src/docker/HelloWorldContainerized.lf
@@ -0,0 +1,12 @@
+target Cpp {
+  // To test generating a custom trace file name.
+  logging: error,
+  docker: true,
+  build-type: Debug
+}
+
+import HelloWorld2 from "../HelloWorld.lf"
+
+main reactor {
+  a = new HelloWorld2()
+}

From b58903ffe5d8353d72f66906a12ecbdbd73a2d7c Mon Sep 17 00:00:00 2001
From: Marten Lohstroh <marten@berkeley.edu>
Date: Sun, 16 Jun 2024 18:08:44 -0700
Subject: [PATCH 02/14] Added FIXME

---
 .../generator/docker/CppDockerGenerator.java  | 25 ++-----------------
 1 file changed, 2 insertions(+), 23 deletions(-)

diff --git a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
index efe89a78e8..c445765048 100644
--- a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
@@ -1,15 +1,8 @@
 package org.lflang.generator.docker;
 
-import java.io.IOException;
-import java.nio.file.Path;
 import java.util.List;
-
 import org.lflang.generator.LFGeneratorContext;
-import org.lflang.generator.c.CCompiler;
-import org.lflang.generator.c.CFileConfig;
-import org.lflang.generator.cpp.CppGenerator;
 import org.lflang.generator.cpp.CppPlatformGenerator;
-import org.lflang.target.Target;
 
 /**
  * Generates the docker file related code for the Typescript target.
@@ -28,21 +21,7 @@ public CppDockerGenerator(LFGeneratorContext context, CppPlatformGenerator platf
 
   @Override
   protected List<String> defaultBuildCommands() {
-    try {
-      return List.of(
-          "mkdir -p bin",
-          String.format(
-              "%s -DCMAKE_INSTALL_BINDIR=./bin -S src-gen -B bin", platformGenerator),
-          "cd bin",
-          "make all",
-          "cd ..");
-    } catch (IOException e) {
-      context
-          .getErrorReporter()
-          .nowhere()
-          .error("Unable to create file configuration for Docker container");
-      throw new RuntimeException(e);
-    }
+    // FIXME
+    return List.of();
   }
-
 }

From 00e4151b04bee0e74861cda1e3944da89a722b98 Mon Sep 17 00:00:00 2001
From: Peter Donovan <peter@xronos.com>
Date: Mon, 17 Jun 2024 18:04:27 -0700
Subject: [PATCH 03/14] CppDockerGenerator.java passes smoke test

---
 .../generator/docker/CppDockerGenerator.java  | 79 ++++++++++++++++++-
 .../org/lflang/generator/cpp/CppGenerator.kt  | 25 +++++-
 .../generator/cpp/CppPlatformGenerator.kt     |  2 +-
 .../cpp/CppStandaloneCmakeGenerator.kt        |  6 ++
 .../generator/cpp/CppStandaloneGenerator.kt   | 12 +--
 .../Cpp/src/docker/HelloWorldContainerized.lf |  3 +-
 6 files changed, 113 insertions(+), 14 deletions(-)

diff --git a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
index c445765048..5bc8f2c31c 100644
--- a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
@@ -1,15 +1,20 @@
 package org.lflang.generator.docker;
 
+import java.util.ArrayList;
 import java.util.List;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
 import org.lflang.generator.LFGeneratorContext;
 import org.lflang.generator.cpp.CppPlatformGenerator;
+import org.lflang.generator.cpp.CppStandaloneGenerator;
+import org.lflang.target.property.BuildTypeProperty;
 
 /**
- * Generates the docker file related code for the Typescript target.
+ * Generates the docker file related code for the C++ target.
  *
  * @author Marten Lohstroh
  */
-public class CppDockerGenerator extends CDockerGenerator {
+public class CppDockerGenerator extends DockerGenerator {
 
   private CppPlatformGenerator platformGenerator;
 
@@ -19,9 +24,75 @@ public CppDockerGenerator(LFGeneratorContext context, CppPlatformGenerator platf
     this.platformGenerator = platformGenerator;
   }
 
+  @Override
+  protected String generateCopyForSources() {
+    return "COPY src-gen src-gen";
+  }
+
+  public static final String DEFAULT_BASE_IMAGE = "alpine:latest";
+
+  @Override
+  public String defaultImage() {
+    return DEFAULT_BASE_IMAGE;
+  }
+
+  @Override
+  protected String generateRunForInstallingDeps() {
+    if (builderBase().equals(defaultImage())) {
+      return "RUN set -ex && apk add --no-cache g++ musl-dev cmake make && apk add --no-cache"
+          + " --update --repository=https://dl-cdn.alpinelinux.org/alpine/v3.16/main/"
+          + " libexecinfo-dev";
+    } else {
+      return "# (Skipping installation of build dependencies; custom base image.)";
+    }
+  }
+
+  @Override
+  public List<String> defaultEntryPoint() {
+    return List.of("./bin/" + context.getFileConfig().name);
+  }
+
   @Override
   protected List<String> defaultBuildCommands() {
-    // FIXME
-    return List.of();
+    var mkdirCommand = List.of("mkdir", "-p", "build", "&&", "mkdir", "-p", "bin");
+    var cmakeCommand = new ArrayList<String>();
+    cmakeCommand.add("cmake");
+    cmakeCommand.addAll(platformGenerator.getCmakeArgs());
+    cmakeCommand.addAll(
+        List.of(
+            "-DCMAKE_INSTALL_BINDIR=bin",
+            "-DCMAKE_INSTALL_PREFIX=.",
+            "-DREACTOR_CPP_LINK_EXECINFO=ON",
+            "-S",
+            "src-gen",
+            "-B",
+            "build"));
+    var makeCommand =
+        List.of(
+            "cmake",
+            "--build",
+            "build",
+            "--target",
+            context.getFileConfig().name,
+            "--config",
+            CppStandaloneGenerator.Companion.buildTypeToCmakeConfig(
+                context.getTargetConfig().get(BuildTypeProperty.INSTANCE)));
+    var installCommand =
+        List.of(
+            "cmake",
+            "--build",
+            "build",
+            "--target",
+            "install",
+            "--config",
+            CppStandaloneGenerator.Companion.buildTypeToCmakeConfig(
+                context.getTargetConfig().get(BuildTypeProperty.INSTANCE)));
+    return Stream.of(mkdirCommand, cmakeCommand, makeCommand, installCommand)
+        .map(CppDockerGenerator::argListToCommand)
+        .toList();
+  }
+
+  static String argListToCommand(List<String> args) {
+    return args.stream().map(it -> "\"" + it + "\"").collect(Collectors.joining(" "));
   }
 }
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
index afa377f76c..9c63a713f6 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
@@ -37,6 +37,8 @@ import org.lflang.scoping.LFGlobalScopeProvider
 import org.lflang.target.Target
 import org.lflang.target.property.*
 import org.lflang.util.FileUtil
+import java.io.File
+import java.io.IOException
 import java.nio.file.Files
 import java.nio.file.Path
 
@@ -95,7 +97,27 @@ class CppGenerator(
                 "Code generation complete. Compiling...", IntegratedBuilder.GENERATED_PERCENT_PROGRESS
             )
             if (targetConfig.get(DockerProperty.INSTANCE).enabled) {
-                buildUsingDocker();
+                FileUtil.deleteDirectory(context.fileConfig.srcGenPath.resolve("src-gen"))
+                try {
+                    val tempDir = Files.createTempDirectory(context.fileConfig.outPath, "src-gen-directory")
+                    try {
+                        FileUtil.copyDirectoryContents(context.fileConfig.srcGenBasePath, tempDir, false)
+                        FileUtil.copyDirectoryContents(tempDir, context.fileConfig.srcGenPath.resolve("src-gen"), false)
+                    } catch (e: IOException) {
+                        context.errorReporter.nowhere()
+                            .error("Failed to copy sources to make them accessible to Docker: " + if (e.message == null) "No cause given" else e.message)
+                        e.printStackTrace()
+                    } finally {
+                        FileUtil.deleteDirectory(tempDir)
+                    }
+                    if (errorsOccurred()) {
+                        return
+                    }
+                } catch (e: IOException) {
+                    context.errorReporter.nowhere().error("Failed to create temporary directory.")
+                    e.printStackTrace()
+                }
+                buildUsingDocker()
             } else {
                 if (platformGenerator.doCompile(context)) {
                     context.finish(GeneratorResult.Status.COMPILED, codeMaps)
@@ -196,4 +218,3 @@ class CppGenerator(
 
     override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator = CppDockerGenerator(context, getPlatformGenerator())
 }
-
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
index 220770b6a9..6f0f295897 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
@@ -28,7 +28,7 @@ abstract class CppPlatformGenerator(protected val generator: CppGenerator) {
 
     abstract fun doCompile(context: LFGeneratorContext, onlyGenerateBuildFiles: Boolean = false): Boolean
 
-    protected val cmakeArgs: List<String>
+    val cmakeArgs: List<String>
         get() = listOf(
             "-DCMAKE_BUILD_TYPE=${targetConfig.get(BuildTypeProperty.INSTANCE)}",
             "-DREACTOR_CPP_VALIDATE=${if (targetConfig.get(NoRuntimeValidationProperty.INSTANCE)) "OFF" else "ON"}",
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneCmakeGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneCmakeGenerator.kt
index 2c041fe6d2..5d36e8e327 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneCmakeGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneCmakeGenerator.kt
@@ -153,6 +153,8 @@ class CppStandaloneCmakeGenerator(private val targetConfig: TargetConfig, privat
                 |cmake_minimum_required(VERSION 3.5)
                 |project(${fileConfig.name} VERSION 0.0.0 LANGUAGES CXX)
                 |
+                |option(REACTOR_CPP_LINK_EXECINFO "Link against execinfo" OFF)
+                |
                 |${if (targetConfig.get(ExternalRuntimePathProperty.INSTANCE) != null) "find_package(reactor-cpp PATHS ${targetConfig.get(ExternalRuntimePathProperty.INSTANCE)})" else ""}
                 |
                 |set(LF_MAIN_TARGET ${fileConfig.name})
@@ -167,6 +169,10 @@ class CppStandaloneCmakeGenerator(private val targetConfig: TargetConfig, privat
                 |)
                 |target_link_libraries($S{LF_MAIN_TARGET} $reactorCppTarget)
                 |
+                |if(REACTOR_CPP_LINK_EXECINFO)
+                |  target_link_libraries($S{LF_MAIN_TARGET} execinfo)
+                |endif()
+                |
                 |if(MSVC)
                 |  target_compile_options($S{LF_MAIN_TARGET} PRIVATE /W4)
                 |else()
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
index dd03db376d..1640432fd4 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
@@ -16,6 +16,13 @@ import java.nio.file.Paths
 class CppStandaloneGenerator(generator: CppGenerator) :
     CppPlatformGenerator(generator) {
 
+    companion object {
+        fun buildTypeToCmakeConfig(type: BuildType) = when (type) {
+            BuildType.TEST -> "Debug"
+            else           -> type.toString()
+        }
+    }
+
     override fun generatePlatformFiles() {
 
         // generate the main source file (containing main())
@@ -132,11 +139,6 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         return 0
     }
 
-    private fun buildTypeToCmakeConfig(type: BuildType) = when (type) {
-        BuildType.TEST -> "Debug"
-        else           -> type.toString()
-    }
-
     private fun createMakeCommand(buildPath: Path, version: String, target: String): LFCommand {
         val makeArgs: List<String>
         if (version.compareVersion("3.12.0") < 0) {
diff --git a/test/Cpp/src/docker/HelloWorldContainerized.lf b/test/Cpp/src/docker/HelloWorldContainerized.lf
index 85cdcc195e..a7ddb6205c 100644
--- a/test/Cpp/src/docker/HelloWorldContainerized.lf
+++ b/test/Cpp/src/docker/HelloWorldContainerized.lf
@@ -1,6 +1,5 @@
 target Cpp {
-  // To test generating a custom trace file name.
-  logging: error,
+  logging: error,  // To test generating a custom trace file name.
   docker: true,
   build-type: Debug
 }

From f3f37a82de67eeaf91286829439694c1ca2ad940 Mon Sep 17 00:00:00 2001
From: Peter Donovan <peter@xronos.com>
Date: Mon, 17 Jun 2024 22:43:39 -0700
Subject: [PATCH 04/14] Address comments from code review

---
 .../generator/docker/CppDockerGenerator.java  |  7 +--
 .../generator/docker/DockerGenerator.java     |  8 ++++
 .../org/lflang/generator/cpp/CppGenerator.kt  | 44 ++++++++++---------
 3 files changed, 33 insertions(+), 26 deletions(-)

diff --git a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
index 5bc8f2c31c..db56a682cd 100644
--- a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
@@ -2,7 +2,6 @@
 
 import java.util.ArrayList;
 import java.util.List;
-import java.util.stream.Collectors;
 import java.util.stream.Stream;
 import org.lflang.generator.LFGeneratorContext;
 import org.lflang.generator.cpp.CppPlatformGenerator;
@@ -88,11 +87,7 @@ protected List<String> defaultBuildCommands() {
             CppStandaloneGenerator.Companion.buildTypeToCmakeConfig(
                 context.getTargetConfig().get(BuildTypeProperty.INSTANCE)));
     return Stream.of(mkdirCommand, cmakeCommand, makeCommand, installCommand)
-        .map(CppDockerGenerator::argListToCommand)
+        .map(DockerGenerator::argListToCommand)
         .toList();
   }
-
-  static String argListToCommand(List<String> args) {
-    return args.stream().map(it -> "\"" + it + "\"").collect(Collectors.joining(" "));
-  }
 }
diff --git a/core/src/main/java/org/lflang/generator/docker/DockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/DockerGenerator.java
index 6ee2847ead..59bc91b9e8 100644
--- a/core/src/main/java/org/lflang/generator/docker/DockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/DockerGenerator.java
@@ -233,4 +233,12 @@ public static DockerGenerator dockerGeneratorFactory(LFGeneratorContext context)
           throw new IllegalArgumentException("No Docker support for " + target + " yet.");
     };
   }
+
+  /**
+   * Convert an argument list, starting with the command to execute, into a string that can be
+   * executed by a POSIX-compliant shell.
+   */
+  public static String argListToCommand(List<String> args) {
+    return args.stream().map(it -> "\"" + it + "\"").collect(Collectors.joining(" "));
+  }
 }
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
index 9c63a713f6..4fd410d73d 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
@@ -97,26 +97,7 @@ class CppGenerator(
                 "Code generation complete. Compiling...", IntegratedBuilder.GENERATED_PERCENT_PROGRESS
             )
             if (targetConfig.get(DockerProperty.INSTANCE).enabled) {
-                FileUtil.deleteDirectory(context.fileConfig.srcGenPath.resolve("src-gen"))
-                try {
-                    val tempDir = Files.createTempDirectory(context.fileConfig.outPath, "src-gen-directory")
-                    try {
-                        FileUtil.copyDirectoryContents(context.fileConfig.srcGenBasePath, tempDir, false)
-                        FileUtil.copyDirectoryContents(tempDir, context.fileConfig.srcGenPath.resolve("src-gen"), false)
-                    } catch (e: IOException) {
-                        context.errorReporter.nowhere()
-                            .error("Failed to copy sources to make them accessible to Docker: " + if (e.message == null) "No cause given" else e.message)
-                        e.printStackTrace()
-                    } finally {
-                        FileUtil.deleteDirectory(tempDir)
-                    }
-                    if (errorsOccurred()) {
-                        return
-                    }
-                } catch (e: IOException) {
-                    context.errorReporter.nowhere().error("Failed to create temporary directory.")
-                    e.printStackTrace()
-                }
+                copySrcGenBaseDirIntoSrcGenDir()
                 buildUsingDocker()
             } else {
                 if (platformGenerator.doCompile(context)) {
@@ -128,6 +109,29 @@ class CppGenerator(
         }
     }
 
+    private fun copySrcGenBaseDirIntoSrcGenDir() {
+        FileUtil.deleteDirectory(context.fileConfig.srcGenPath.resolve("src-gen"))
+        try {
+            val tempDir = Files.createTempDirectory(context.fileConfig.outPath, "src-gen-directory")
+            try {
+                FileUtil.copyDirectoryContents(context.fileConfig.srcGenBasePath, tempDir, false)
+                FileUtil.copyDirectoryContents(tempDir, context.fileConfig.srcGenPath.resolve("src-gen"), false)
+            } catch (e: IOException) {
+                context.errorReporter.nowhere()
+                    .error("Failed to copy sources to make them accessible to Docker: " + if (e.message == null) "No cause given" else e.message)
+                e.printStackTrace()
+            } finally {
+                FileUtil.deleteDirectory(tempDir)
+            }
+            if (errorsOccurred()) {
+                return
+            }
+        } catch (e: IOException) {
+            context.errorReporter.nowhere().error("Failed to create temporary directory.")
+            e.printStackTrace()
+        }
+    }
+
     private fun fetchReactorCpp(version: String) {
         val libPath = fileConfig.srcGenBasePath.resolve("reactor-cpp-$version")
         // abort if the directory already exists

From e7d510ec05b07dac411f2e68a7c6d783a9b8018f Mon Sep 17 00:00:00 2001
From: Marten Lohstroh <marten@berkeley.edu>
Date: Mon, 17 Jun 2024 22:51:00 -0700
Subject: [PATCH 05/14] Update
 core/src/main/java/org/lflang/generator/docker/CDockerGenerator.java

---
 .../main/java/org/lflang/generator/docker/CDockerGenerator.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/core/src/main/java/org/lflang/generator/docker/CDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/CDockerGenerator.java
index e8c114a98c..afe67d8147 100644
--- a/core/src/main/java/org/lflang/generator/docker/CDockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/CDockerGenerator.java
@@ -40,7 +40,7 @@ public List<String> defaultEntryPoint() {
   @Override
   protected String generateRunForInstallingDeps() {
     var config = context.getTargetConfig();
-    var compiler = config.target == Target.CCPP || config.target == Target.CPP ? "g++" : "gcc";
+    var compiler = config.target == Target.CCPP ? "g++" : "gcc";
     if (builderBase().equals(defaultImage())) {
       return "RUN set -ex && apk add --no-cache %s musl-dev cmake make".formatted(compiler);
     } else {

From 7c98324450bb1555ae86e4802757be52e1a7f26c Mon Sep 17 00:00:00 2001
From: Peter Donovan <peter@xronos.com>
Date: Tue, 18 Jun 2024 22:14:58 -0700
Subject: [PATCH 06/14] Address failure to load dynamic libraries

Observation: this will not work well with cross-compilation. It will not
really make sense for the two base images to differ.
---
 .../lflang/generator/docker/CppDockerGenerator.java   | 11 +++++++++++
 .../generator/docker/PythonDockerGenerator.java       |  2 +-
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
index db56a682cd..471f6f9ce6 100644
--- a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
@@ -51,6 +51,17 @@ public List<String> defaultEntryPoint() {
     return List.of("./bin/" + context.getFileConfig().name);
   }
 
+
+  @Override
+  protected String generateCopyOfExecutable() {
+    return String.join(
+        "\n",
+        super.generateCopyOfExecutable(),
+        "COPY --from=builder /usr/local/lib /usr/local/lib",
+        "COPY --from=builder /usr/lib /usr/lib",
+        "COPY --from=builder /lingua-franca .");
+  }
+
   @Override
   protected List<String> defaultBuildCommands() {
     var mkdirCommand = List.of("mkdir", "-p", "build", "&&", "mkdir", "-p", "bin");
diff --git a/core/src/main/java/org/lflang/generator/docker/PythonDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/PythonDockerGenerator.java
index 9ad1081bca..046b60fbdb 100644
--- a/core/src/main/java/org/lflang/generator/docker/PythonDockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/PythonDockerGenerator.java
@@ -36,7 +36,7 @@ protected String generateCopyOfExecutable() {
         "\n",
         super.generateCopyOfExecutable(),
         "COPY --from=builder /lingua-franca/%s/src-gen ./src-gen"
-            .formatted(lfModuleName, lfModuleName, lfModuleName));
+            .formatted(lfModuleName));
   }
 
   @Override

From 227c29f5565738687e14b80b825ccfa4922c1d21 Mon Sep 17 00:00:00 2001
From: Peter Donovan <peter@xronos.com>
Date: Tue, 18 Jun 2024 23:44:38 -0700
Subject: [PATCH 07/14] Refactor according to code review

---
 .../org/lflang/tests/runtime/CppRos2Test.java |  2 +
 .../generator/docker/CppDockerGenerator.java  | 44 +++---------------
 .../docker/PythonDockerGenerator.java         |  3 +-
 .../generator/cpp/CppPlatformGenerator.kt     |  2 +
 .../lflang/generator/cpp/CppRos2Generator.kt  | 30 +++++++-----
 .../generator/cpp/CppStandaloneGenerator.kt   | 46 ++++++++++++++-----
 6 files changed, 65 insertions(+), 62 deletions(-)

diff --git a/core/src/integrationTest/java/org/lflang/tests/runtime/CppRos2Test.java b/core/src/integrationTest/java/org/lflang/tests/runtime/CppRos2Test.java
index 334f9ef7aa..9ddae14d32 100644
--- a/core/src/integrationTest/java/org/lflang/tests/runtime/CppRos2Test.java
+++ b/core/src/integrationTest/java/org/lflang/tests/runtime/CppRos2Test.java
@@ -5,6 +5,7 @@
 import org.lflang.lf.Element;
 import org.lflang.lf.LfFactory;
 import org.lflang.target.Target;
+import org.lflang.target.property.DockerProperty;
 import org.lflang.target.property.Ros2Property;
 import org.lflang.tests.TestBase;
 import org.lflang.tests.Transformers;
@@ -33,6 +34,7 @@ public void runWithRos2() {
         it -> true,
         Transformers::noChanges,
         config -> {
+          if (config.get(DockerProperty.INSTANCE) != null) return false;
           Ros2Property.INSTANCE.override(config, true);
           return true;
         },
diff --git a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
index 471f6f9ce6..149d9e1c76 100644
--- a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
@@ -1,12 +1,9 @@
 package org.lflang.generator.docker;
 
-import java.util.ArrayList;
 import java.util.List;
 import java.util.stream.Stream;
 import org.lflang.generator.LFGeneratorContext;
 import org.lflang.generator.cpp.CppPlatformGenerator;
-import org.lflang.generator.cpp.CppStandaloneGenerator;
-import org.lflang.target.property.BuildTypeProperty;
 
 /**
  * Generates the docker file related code for the C++ target.
@@ -51,7 +48,6 @@ public List<String> defaultEntryPoint() {
     return List.of("./bin/" + context.getFileConfig().name);
   }
 
-
   @Override
   protected String generateCopyOfExecutable() {
     return String.join(
@@ -64,40 +60,12 @@ protected String generateCopyOfExecutable() {
 
   @Override
   protected List<String> defaultBuildCommands() {
-    var mkdirCommand = List.of("mkdir", "-p", "build", "&&", "mkdir", "-p", "bin");
-    var cmakeCommand = new ArrayList<String>();
-    cmakeCommand.add("cmake");
-    cmakeCommand.addAll(platformGenerator.getCmakeArgs());
-    cmakeCommand.addAll(
-        List.of(
-            "-DCMAKE_INSTALL_BINDIR=bin",
-            "-DCMAKE_INSTALL_PREFIX=.",
-            "-DREACTOR_CPP_LINK_EXECINFO=ON",
-            "-S",
-            "src-gen",
-            "-B",
-            "build"));
-    var makeCommand =
-        List.of(
-            "cmake",
-            "--build",
-            "build",
-            "--target",
-            context.getFileConfig().name,
-            "--config",
-            CppStandaloneGenerator.Companion.buildTypeToCmakeConfig(
-                context.getTargetConfig().get(BuildTypeProperty.INSTANCE)));
-    var installCommand =
-        List.of(
-            "cmake",
-            "--build",
-            "build",
-            "--target",
-            "install",
-            "--config",
-            CppStandaloneGenerator.Companion.buildTypeToCmakeConfig(
-                context.getTargetConfig().get(BuildTypeProperty.INSTANCE)));
-    return Stream.of(mkdirCommand, cmakeCommand, makeCommand, installCommand)
+    var mkdirCommand = List.of("mkdir", "-p", "build");
+    return Stream.concat(
+            Stream.of(mkdirCommand),
+            platformGenerator
+                .getBuildCommands(List.of("-DREACTOR_CPP_LINK_EXECINFO=ON"), false)
+                .stream())
         .map(DockerGenerator::argListToCommand)
         .toList();
   }
diff --git a/core/src/main/java/org/lflang/generator/docker/PythonDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/PythonDockerGenerator.java
index 046b60fbdb..6a55669752 100644
--- a/core/src/main/java/org/lflang/generator/docker/PythonDockerGenerator.java
+++ b/core/src/main/java/org/lflang/generator/docker/PythonDockerGenerator.java
@@ -35,8 +35,7 @@ protected String generateCopyOfExecutable() {
     return String.join(
         "\n",
         super.generateCopyOfExecutable(),
-        "COPY --from=builder /lingua-franca/%s/src-gen ./src-gen"
-            .formatted(lfModuleName));
+        "COPY --from=builder /lingua-franca/%s/src-gen ./src-gen".formatted(lfModuleName));
   }
 
   @Override
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
index 6f0f295897..e193b45deb 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
@@ -37,4 +37,6 @@ abstract class CppPlatformGenerator(protected val generator: CppGenerator) {
             "-DREACTOR_CPP_LOG_LEVEL=${targetConfig.get(LoggingProperty.INSTANCE).severity}",
             "-DLF_SRC_PKG_PATH=${fileConfig.srcPkgPath}",
         )
+
+    abstract fun getBuildCommands(additionalCmakeArgs: List<String>, parallelize: Boolean = true): List<List<String>>
 }
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
index 76969269c0..a2a75471b7 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
@@ -1,7 +1,9 @@
 package org.lflang.generator.cpp
 
+import jakarta.ws.rs.NotSupportedException
 import org.lflang.generator.LFGeneratorContext
 import org.lflang.util.FileUtil
+import org.lflang.util.LFCommand
 import java.nio.file.Path
 
 /** C++ platform generator for the ROS2 platform.*/
@@ -46,24 +48,30 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
             )
             return false
         }
-
         val colconCommand = commandFactory.createCommand(
-            "colcon", listOf(
+            "colcon", colconArgs(), fileConfig.outPath)
+            val returnCode = colconCommand?.run(context.cancelIndicator)
+        if (returnCode != 0 && !messageReporter.errorsOccurred) {
+            // If errors occurred but none were reported, then the following message is the best we can do.
+            messageReporter.nowhere().error("colcon failed with error code $returnCode")
+        }
+
+        return !messageReporter.errorsOccurred
+    }
+
+    private fun colconArgs(additionalCmakeArgs: List<String> = listOf()): List<String> {
+        return listOf(
                 "build",
                 "--packages-select",
                 fileConfig.name,
                 packageGenerator.reactorCppName,
                 "--cmake-args",
                 "-DLF_REACTOR_CPP_SUFFIX=${packageGenerator.reactorCppSuffix}",
-            ) + cmakeArgs,
-            fileConfig.outPath
-        )
-        val returnCode = colconCommand?.run(context.cancelIndicator);
-        if (returnCode != 0 && !messageReporter.errorsOccurred) {
-            // If errors occurred but none were reported, then the following message is the best we can do.
-            messageReporter.nowhere().error("colcon failed with error code $returnCode")
-        }
+            ) + cmakeArgs + additionalCmakeArgs
+    }
 
-        return !messageReporter.errorsOccurred
+    override fun getBuildCommands(additionalCmakeArgs: List<String>, parallelize: Boolean): List<List<String>> {
+//        return listOf(listOf("colcon") + colconArgs(additionalCmakeArgs))
+        throw NotImplementedError("Docker file generation for ROS 2 interoperability is not supported")
     }
 }
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
index 1640432fd4..d27763bde4 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
@@ -2,8 +2,10 @@ package org.lflang.generator.cpp
 
 import org.lflang.generator.CodeMap
 import org.lflang.generator.LFGeneratorContext
+import org.lflang.generator.docker.DockerGenerator
 import org.lflang.target.property.BuildTypeProperty
 import org.lflang.target.property.CompilerProperty
+import org.lflang.target.property.type.BuildTypeType
 import org.lflang.target.property.type.BuildTypeType.BuildType
 import org.lflang.toUnixString
 import org.lflang.util.FileUtil
@@ -11,6 +13,8 @@ import org.lflang.util.LFCommand
 import java.nio.file.Files
 import java.nio.file.Path
 import java.nio.file.Paths
+import java.util.stream.Stream
+import kotlin.io.path.name
 
 /** C++ platform generator for the default native platform  without additional dependencies.*/
 class CppStandaloneGenerator(generator: CppGenerator) :
@@ -98,6 +102,13 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         return !messageReporter.errorsOccurred
     }
 
+    override fun getBuildCommands(additionalCmakeArgs: List<String>, parallelize: Boolean): List<List<String>> {
+        val cmakeCommand = createCmakeCommand(Path.of("./build"), Path.of("."), additionalCmakeArgs, "src-gen")
+        val makeCommand = createMakeCommand(fileConfig.buildPath, "3.12.0", fileConfig.name)
+        val installCommand = createMakeCommand(Path.of("./build"), "3.12.0", "install")
+        return listOf(cmakeCommand, makeCommand, installCommand).map { it.command() }
+    }
+
     private fun checkCmakeVersion(): String? {
         // get the installed cmake version and make sure it is at least 3.5
         val cmd = commandFactory.createCommand("cmake", listOf("--version"), fileConfig.buildPath)
@@ -139,38 +150,51 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         return 0
     }
 
-    private fun createMakeCommand(buildPath: Path, version: String, target: String): LFCommand {
+    private fun createMakeCommand(buildPath: Path, version: String, target: String, parallelize: Boolean = false): LFCommand {
         val makeArgs: List<String>
+        val cmakeConfig = buildTypeToCmakeConfig(targetConfig.get(BuildTypeProperty.INSTANCE))
         if (version.compareVersion("3.12.0") < 0) {
             messageReporter.nowhere().warning("CMAKE is older than version 3.12. Parallel building is not supported.")
             makeArgs =
-                listOf("--build", ".", "--target", target, "--config", buildTypeToCmakeConfig(targetConfig.get(BuildTypeProperty.INSTANCE)))
-        } else {
+                listOf("--build", buildPath.name, "--target", target, "--config", cmakeConfig)
+        } else if (parallelize) {
             val cores = Runtime.getRuntime().availableProcessors()
             makeArgs = listOf(
                 "--build",
-                ".",
+                buildPath.name,
                 "--target",
                 target,
                 "--parallel",
                 cores.toString(),
                 "--config",
-                buildTypeToCmakeConfig(targetConfig.get(BuildTypeProperty.INSTANCE))
+                cmakeConfig
+            )
+        } else {
+            makeArgs = listOf(
+                "--build",
+                buildPath.name,
+                "--target",
+                target,
+                "--config",
+                cmakeConfig
             )
         }
 
-        return commandFactory.createCommand("cmake", makeArgs, buildPath)
+        return commandFactory.createCommand("cmake", makeArgs, buildPath.parent)
     }
 
-    private fun createCmakeCommand(buildPath: Path, outPath: Path): LFCommand {
+    private fun createCmakeCommand(buildPath: Path, outPath: Path, additionalCmakeArgs: List<String> = listOf(), sourcesRoot: String? = null): LFCommand {
         val cmd = commandFactory.createCommand(
             "cmake",
-            cmakeArgs + listOf(
+            cmakeArgs + additionalCmakeArgs + listOf(
                 "-DCMAKE_INSTALL_PREFIX=${outPath.toUnixString()}",
-                "-DCMAKE_INSTALL_BINDIR=${outPath.relativize(fileConfig.binPath).toUnixString()}",
-                fileConfig.srcGenBasePath.toUnixString()
+                "-DCMAKE_INSTALL_BINDIR=${if (outPath.isAbsolute) outPath.relativize(fileConfig.binPath).toUnixString() else fileConfig.binPath.name}",
+                "-S",
+                sourcesRoot ?: fileConfig.srcGenBasePath.toUnixString(),
+                "-B",
+                buildPath.name
             ),
-            buildPath
+            buildPath.parent
         )
 
         // prepare cmake

From 75cfbaf2542f79252bdabf9102ea33a7cdcaacd7 Mon Sep 17 00:00:00 2001
From: Christian Menard <christian.menard@gmx.de>
Date: Wed, 19 Jun 2024 13:07:01 +0200
Subject: [PATCH 08/14] clean up code for parallel builds

---
 .../generator/cpp/CppStandaloneGenerator.kt   | 56 ++++++++-----------
 1 file changed, 22 insertions(+), 34 deletions(-)

diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
index d27763bde4..2e97831d5e 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
@@ -2,10 +2,8 @@ package org.lflang.generator.cpp
 
 import org.lflang.generator.CodeMap
 import org.lflang.generator.LFGeneratorContext
-import org.lflang.generator.docker.DockerGenerator
 import org.lflang.target.property.BuildTypeProperty
 import org.lflang.target.property.CompilerProperty
-import org.lflang.target.property.type.BuildTypeType
 import org.lflang.target.property.type.BuildTypeType.BuildType
 import org.lflang.toUnixString
 import org.lflang.util.FileUtil
@@ -13,7 +11,6 @@ import org.lflang.util.LFCommand
 import java.nio.file.Files
 import java.nio.file.Path
 import java.nio.file.Paths
-import java.util.stream.Stream
 import kotlin.io.path.name
 
 /** C++ platform generator for the default native platform  without additional dependencies.*/
@@ -73,16 +70,22 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         Files.createDirectories(fileConfig.buildPath)
 
         val version = checkCmakeVersion()
+        var parallelize = true
+        if (version != null && version.compareVersion("3.12.0") < 0) {
+            messageReporter.nowhere().warning("CMAKE is older than version 3.12. Parallel building is not supported.")
+            parallelize = false
+        }
+
         if (version != null) {
             val cmakeReturnCode = runCmake(context)
 
             if (cmakeReturnCode == 0 && runMake) {
                 // If cmake succeeded, run make
-                val makeCommand = createMakeCommand(fileConfig.buildPath, version, fileConfig.name)
+                val makeCommand = createMakeCommand(fileConfig.buildPath, parallelize, fileConfig.name)
                 val makeReturnCode = CppValidator(fileConfig, messageReporter, codeMaps).run(makeCommand, context.cancelIndicator)
                 var installReturnCode = 0
                 if (makeReturnCode == 0) {
-                    val installCommand = createMakeCommand(fileConfig.buildPath, version, "install")
+                    val installCommand = createMakeCommand(fileConfig.buildPath, parallelize, "install")
                     installReturnCode = installCommand.run(context.cancelIndicator)
                     if (installReturnCode == 0) {
                         println("SUCCESS (compiling generated C++ code)")
@@ -104,8 +107,8 @@ class CppStandaloneGenerator(generator: CppGenerator) :
 
     override fun getBuildCommands(additionalCmakeArgs: List<String>, parallelize: Boolean): List<List<String>> {
         val cmakeCommand = createCmakeCommand(Path.of("./build"), Path.of("."), additionalCmakeArgs, "src-gen")
-        val makeCommand = createMakeCommand(fileConfig.buildPath, "3.12.0", fileConfig.name)
-        val installCommand = createMakeCommand(Path.of("./build"), "3.12.0", "install")
+        val makeCommand = createMakeCommand(fileConfig.buildPath, true, fileConfig.name)
+        val installCommand = createMakeCommand(Path.of("./build"), true, "install")
         return listOf(cmakeCommand, makeCommand, installCommand).map { it.command() }
     }
 
@@ -150,34 +153,19 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         return 0
     }
 
-    private fun createMakeCommand(buildPath: Path, version: String, target: String, parallelize: Boolean = false): LFCommand {
-        val makeArgs: List<String>
+    private fun createMakeCommand(buildPath: Path, parallelize: Boolean, target: String, ): LFCommand {
         val cmakeConfig = buildTypeToCmakeConfig(targetConfig.get(BuildTypeProperty.INSTANCE))
-        if (version.compareVersion("3.12.0") < 0) {
-            messageReporter.nowhere().warning("CMAKE is older than version 3.12. Parallel building is not supported.")
-            makeArgs =
-                listOf("--build", buildPath.name, "--target", target, "--config", cmakeConfig)
-        } else if (parallelize) {
-            val cores = Runtime.getRuntime().availableProcessors()
-            makeArgs = listOf(
-                "--build",
-                buildPath.name,
-                "--target",
-                target,
-                "--parallel",
-                cores.toString(),
-                "--config",
-                cmakeConfig
-            )
-        } else {
-            makeArgs = listOf(
-                "--build",
-                buildPath.name,
-                "--target",
-                target,
-                "--config",
-                cmakeConfig
-            )
+        val makeArgs: MutableList<String> = listOf(
+            "--build",
+            buildPath.name,
+            "--target",
+            target,
+            "--config",
+            cmakeConfig
+        ).toMutableList()
+
+        if (parallelize) {
+            makeArgs.addAll(listOf("--parallel", Runtime.getRuntime().availableProcessors().toString()))
         }
 
         return commandFactory.createCommand("cmake", makeArgs, buildPath.parent)

From 4ba586988bf3baac8722ad58e60566b1131d334a Mon Sep 17 00:00:00 2001
From: Christian Menard <christian.menard@gmx.de>
Date: Wed, 19 Jun 2024 13:29:27 +0200
Subject: [PATCH 09/14] keep all build information in a single place

---
 .../generator/docker/CppDockerGenerator.java  | 72 -----------------
 .../org/lflang/generator/cpp/CppGenerator.kt  |  4 +-
 .../generator/cpp/CppPlatformGenerator.kt     |  3 +-
 .../lflang/generator/cpp/CppRos2Generator.kt  | 10 ++-
 .../generator/cpp/CppStandaloneGenerator.kt   | 77 ++++++++++++++++---
 5 files changed, 76 insertions(+), 90 deletions(-)
 delete mode 100644 core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java

diff --git a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java b/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
deleted file mode 100644
index 149d9e1c76..0000000000
--- a/core/src/main/java/org/lflang/generator/docker/CppDockerGenerator.java
+++ /dev/null
@@ -1,72 +0,0 @@
-package org.lflang.generator.docker;
-
-import java.util.List;
-import java.util.stream.Stream;
-import org.lflang.generator.LFGeneratorContext;
-import org.lflang.generator.cpp.CppPlatformGenerator;
-
-/**
- * Generates the docker file related code for the C++ target.
- *
- * @author Marten Lohstroh
- */
-public class CppDockerGenerator extends DockerGenerator {
-
-  private CppPlatformGenerator platformGenerator;
-
-  /** Construct a new Docker generator. */
-  public CppDockerGenerator(LFGeneratorContext context, CppPlatformGenerator platformGenerator) {
-    super(context);
-    this.platformGenerator = platformGenerator;
-  }
-
-  @Override
-  protected String generateCopyForSources() {
-    return "COPY src-gen src-gen";
-  }
-
-  public static final String DEFAULT_BASE_IMAGE = "alpine:latest";
-
-  @Override
-  public String defaultImage() {
-    return DEFAULT_BASE_IMAGE;
-  }
-
-  @Override
-  protected String generateRunForInstallingDeps() {
-    if (builderBase().equals(defaultImage())) {
-      return "RUN set -ex && apk add --no-cache g++ musl-dev cmake make && apk add --no-cache"
-          + " --update --repository=https://dl-cdn.alpinelinux.org/alpine/v3.16/main/"
-          + " libexecinfo-dev";
-    } else {
-      return "# (Skipping installation of build dependencies; custom base image.)";
-    }
-  }
-
-  @Override
-  public List<String> defaultEntryPoint() {
-    return List.of("./bin/" + context.getFileConfig().name);
-  }
-
-  @Override
-  protected String generateCopyOfExecutable() {
-    return String.join(
-        "\n",
-        super.generateCopyOfExecutable(),
-        "COPY --from=builder /usr/local/lib /usr/local/lib",
-        "COPY --from=builder /usr/lib /usr/lib",
-        "COPY --from=builder /lingua-franca .");
-  }
-
-  @Override
-  protected List<String> defaultBuildCommands() {
-    var mkdirCommand = List.of("mkdir", "-p", "build");
-    return Stream.concat(
-            Stream.of(mkdirCommand),
-            platformGenerator
-                .getBuildCommands(List.of("-DREACTOR_CPP_LINK_EXECINFO=ON"), false)
-                .stream())
-        .map(DockerGenerator::argListToCommand)
-        .toList();
-  }
-}
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
index 4fd410d73d..d64afb4d01 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
@@ -30,14 +30,12 @@ import org.eclipse.emf.ecore.resource.Resource
 import org.lflang.generator.*
 import org.lflang.generator.GeneratorUtils.canGenerate
 import org.lflang.generator.LFGeneratorContext.Mode
-import org.lflang.generator.docker.CppDockerGenerator
 import org.lflang.generator.docker.DockerGenerator
 import org.lflang.isGeneric
 import org.lflang.scoping.LFGlobalScopeProvider
 import org.lflang.target.Target
 import org.lflang.target.property.*
 import org.lflang.util.FileUtil
-import java.io.File
 import java.io.IOException
 import java.nio.file.Files
 import java.nio.file.Path
@@ -220,5 +218,5 @@ class CppGenerator(
 
     override fun getTargetTypes(): TargetTypes = CppTypes
 
-    override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator = CppDockerGenerator(context, getPlatformGenerator())
+    override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator = getPlatformGenerator().getDockerGenerator(context)
 }
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
index e193b45deb..30b9a78d6e 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
@@ -4,6 +4,7 @@ import org.lflang.MessageReporter
 import org.lflang.target.TargetConfig
 import org.lflang.generator.GeneratorCommandFactory
 import org.lflang.generator.LFGeneratorContext
+import org.lflang.generator.docker.DockerGenerator
 import org.lflang.target.property.BuildTypeProperty
 import org.lflang.target.property.LoggingProperty
 import org.lflang.target.property.NoRuntimeValidationProperty
@@ -38,5 +39,5 @@ abstract class CppPlatformGenerator(protected val generator: CppGenerator) {
             "-DLF_SRC_PKG_PATH=${fileConfig.srcPkgPath}",
         )
 
-    abstract fun getBuildCommands(additionalCmakeArgs: List<String>, parallelize: Boolean = true): List<List<String>>
+    abstract fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator
 }
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
index a2a75471b7..06bfadc98e 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
@@ -2,6 +2,7 @@ package org.lflang.generator.cpp
 
 import jakarta.ws.rs.NotSupportedException
 import org.lflang.generator.LFGeneratorContext
+import org.lflang.generator.docker.DockerGenerator
 import org.lflang.util.FileUtil
 import org.lflang.util.LFCommand
 import java.nio.file.Path
@@ -59,6 +60,10 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
         return !messageReporter.errorsOccurred
     }
 
+    override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator {
+        TODO("Not yet implemented")
+    }
+
     private fun colconArgs(additionalCmakeArgs: List<String> = listOf()): List<String> {
         return listOf(
                 "build",
@@ -70,8 +75,5 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
             ) + cmakeArgs + additionalCmakeArgs
     }
 
-    override fun getBuildCommands(additionalCmakeArgs: List<String>, parallelize: Boolean): List<List<String>> {
-//        return listOf(listOf("colcon") + colconArgs(additionalCmakeArgs))
-        throw NotImplementedError("Docker file generation for ROS 2 interoperability is not supported")
-    }
+
 }
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
index 2e97831d5e..fda17fb0c4 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
@@ -2,6 +2,7 @@ package org.lflang.generator.cpp
 
 import org.lflang.generator.CodeMap
 import org.lflang.generator.LFGeneratorContext
+import org.lflang.generator.docker.DockerGenerator
 import org.lflang.target.property.BuildTypeProperty
 import org.lflang.target.property.CompilerProperty
 import org.lflang.target.property.type.BuildTypeType.BuildType
@@ -22,6 +23,8 @@ class CppStandaloneGenerator(generator: CppGenerator) :
             BuildType.TEST -> "Debug"
             else           -> type.toString()
         }
+
+        const val DEFAULT_BASE_IMAGE: String = "alpine:latest"
     }
 
     override fun generatePlatformFiles() {
@@ -105,13 +108,6 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         return !messageReporter.errorsOccurred
     }
 
-    override fun getBuildCommands(additionalCmakeArgs: List<String>, parallelize: Boolean): List<List<String>> {
-        val cmakeCommand = createCmakeCommand(Path.of("./build"), Path.of("."), additionalCmakeArgs, "src-gen")
-        val makeCommand = createMakeCommand(fileConfig.buildPath, true, fileConfig.name)
-        val installCommand = createMakeCommand(Path.of("./build"), true, "install")
-        return listOf(cmakeCommand, makeCommand, installCommand).map { it.command() }
-    }
-
     private fun checkCmakeVersion(): String? {
         // get the installed cmake version and make sure it is at least 3.5
         val cmd = commandFactory.createCommand("cmake", listOf("--version"), fileConfig.buildPath)
@@ -153,7 +149,7 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         return 0
     }
 
-    private fun createMakeCommand(buildPath: Path, parallelize: Boolean, target: String, ): LFCommand {
+    private fun createMakeCommand(buildPath: Path, parallelize: Boolean, target: String): LFCommand {
         val cmakeConfig = buildTypeToCmakeConfig(targetConfig.get(BuildTypeProperty.INSTANCE))
         val makeArgs: MutableList<String> = listOf(
             "--build",
@@ -171,12 +167,19 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         return commandFactory.createCommand("cmake", makeArgs, buildPath.parent)
     }
 
-    private fun createCmakeCommand(buildPath: Path, outPath: Path, additionalCmakeArgs: List<String> = listOf(), sourcesRoot: String? = null): LFCommand {
+    private fun createCmakeCommand(
+        buildPath: Path,
+        outPath: Path,
+        additionalCmakeArgs: List<String> = listOf(),
+        sourcesRoot: String? = null
+    ): LFCommand {
         val cmd = commandFactory.createCommand(
             "cmake",
             cmakeArgs + additionalCmakeArgs + listOf(
                 "-DCMAKE_INSTALL_PREFIX=${outPath.toUnixString()}",
-                "-DCMAKE_INSTALL_BINDIR=${if (outPath.isAbsolute) outPath.relativize(fileConfig.binPath).toUnixString() else fileConfig.binPath.name}",
+                "-DCMAKE_INSTALL_BINDIR=${
+                    if (outPath.isAbsolute) outPath.relativize(fileConfig.binPath).toUnixString() else fileConfig.binPath.name
+                }",
                 "-S",
                 sourcesRoot ?: fileConfig.srcGenBasePath.toUnixString(),
                 "-B",
@@ -191,4 +194,58 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         }
         return cmd
     }
+
+    inner class CppDockerGenerator(context: LFGeneratorContext?) : DockerGenerator(context) {
+        override fun generateCopyForSources(): String {
+            return "COPY src-gen src-gen"
+        }
+
+        override fun defaultImage(): String {
+            return DEFAULT_BASE_IMAGE
+        }
+
+        override fun generateRunForInstallingDeps(): String {
+            return if (builderBase() == defaultImage()) {
+                ("RUN set -ex && apk add --no-cache g++ musl-dev cmake make && apk add --no-cache"
+                        + " --update --repository=https://dl-cdn.alpinelinux.org/alpine/v3.16/main/"
+                        + " libexecinfo-dev")
+            } else {
+                "# (Skipping installation of build dependencies; custom base image.)"
+            }
+        }
+
+        override fun defaultEntryPoint(): List<String> {
+            return listOf("./bin/" + context.fileConfig.name)
+        }
+
+        override fun generateCopyOfExecutable(): String {
+            return java.lang.String.join(
+                "\n",
+                super.generateCopyOfExecutable(),
+                "COPY --from=builder /usr/local/lib /usr/local/lib",
+                "COPY --from=builder /usr/lib /usr/lib",
+                "COPY --from=builder /lingua-franca ."
+            )
+        }
+
+        override fun defaultBuildCommands(): List<String> {
+            val mkdirCommand = listOf("mkdir", "-p", "build")
+            val commands = listOf(
+                mkdirCommand,
+                createCmakeCommand(
+                    Path.of("./build"),
+                    Path.of("."),
+                    listOf("-DREACTOR_CPP_LINK_EXECINFO=ON"),
+                    "src-gen"
+                ).command(),
+                createMakeCommand(fileConfig.buildPath, true, fileConfig.name).command(),
+                createMakeCommand(Path.of("./build"), true, "install").command()
+            )
+            return commands.map { argListToCommand(it) }
+        }
+    }
+
+    override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator = CppDockerGenerator(context)
 }
+
+

From 64d9be7ace72bd56b9aaa847028215b5ed18b452 Mon Sep 17 00:00:00 2001
From: Christian Menard <christian.menard@gmx.de>
Date: Wed, 19 Jun 2024 16:13:33 +0200
Subject: [PATCH 10/14] ros2 support for docker generation

---
 .../generator/cpp/CppPlatformGenerator.kt     |  2 +-
 .../lflang/generator/cpp/CppRos2Generator.kt  | 49 ++++++++++++++++---
 .../generator/cpp/CppRos2PackageGenerator.kt  |  2 +-
 .../generator/cpp/CppStandaloneGenerator.kt   |  4 +-
 4 files changed, 45 insertions(+), 12 deletions(-)

diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
index 30b9a78d6e..799d0125c2 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppPlatformGenerator.kt
@@ -29,7 +29,7 @@ abstract class CppPlatformGenerator(protected val generator: CppGenerator) {
 
     abstract fun doCompile(context: LFGeneratorContext, onlyGenerateBuildFiles: Boolean = false): Boolean
 
-    val cmakeArgs: List<String>
+    protected val cmakeArgs: List<String>
         get() = listOf(
             "-DCMAKE_BUILD_TYPE=${targetConfig.get(BuildTypeProperty.INSTANCE)}",
             "-DREACTOR_CPP_VALIDATE=${if (targetConfig.get(NoRuntimeValidationProperty.INSTANCE)) "OFF" else "ON"}",
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
index 06bfadc98e..70aa9cdb4a 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
@@ -1,10 +1,9 @@
 package org.lflang.generator.cpp
 
-import jakarta.ws.rs.NotSupportedException
 import org.lflang.generator.LFGeneratorContext
 import org.lflang.generator.docker.DockerGenerator
+import org.lflang.target.property.DockerProperty
 import org.lflang.util.FileUtil
-import org.lflang.util.LFCommand
 import java.nio.file.Path
 
 /** C++ platform generator for the ROS2 platform.*/
@@ -15,6 +14,10 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
     private val nodeGenerator = CppRos2NodeGenerator(mainReactor, targetConfig, fileConfig);
     private val packageGenerator = CppRos2PackageGenerator(generator, nodeGenerator.nodeName)
 
+    companion object {
+        const val DEFAULT_BASE_IMAGE: String = "ros:rolling-ros-base"
+    }
+
     override fun generatePlatformFiles() {
         FileUtil.writeToFile(
             nodeGenerator.generateHeader(),
@@ -33,7 +36,11 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
             packagePath.resolve("CMakeLists.txt"),
             true
         )
-        val scriptPath = fileConfig.binPath.resolve(fileConfig.name);
+        val scriptPath =
+            if (targetConfig.get(DockerProperty.INSTANCE).enabled)
+                fileConfig.srcGenPath.resolve("bin").resolve(fileConfig.name)
+            else
+                fileConfig.binPath.resolve(fileConfig.name)
         FileUtil.writeToFile(packageGenerator.generateBinScript(), scriptPath)
         scriptPath.toFile().setExecutable(true);
     }
@@ -51,7 +58,7 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
         }
         val colconCommand = commandFactory.createCommand(
             "colcon", colconArgs(), fileConfig.outPath)
-            val returnCode = colconCommand?.run(context.cancelIndicator)
+        val returnCode = colconCommand?.run(context.cancelIndicator)
         if (returnCode != 0 && !messageReporter.errorsOccurred) {
             // If errors occurred but none were reported, then the following message is the best we can do.
             messageReporter.nowhere().error("colcon failed with error code $returnCode")
@@ -60,10 +67,6 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
         return !messageReporter.errorsOccurred
     }
 
-    override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator {
-        TODO("Not yet implemented")
-    }
-
     private fun colconArgs(additionalCmakeArgs: List<String> = listOf()): List<String> {
         return listOf(
                 "build",
@@ -75,5 +78,35 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
             ) + cmakeArgs + additionalCmakeArgs
     }
 
+    inner class CppDockerGenerator(context: LFGeneratorContext?) : DockerGenerator(context) {
+        override fun generateCopyForSources() =
+            """
+                COPY src-gen src-gen
+                COPY bin bin
+            """.trimIndent()
+
+        override fun defaultImage(): String = DEFAULT_BASE_IMAGE
+
+        override fun generateRunForInstallingDeps(): String = ""
+
+        override fun defaultEntryPoint(): List<String> = listOf("./bin/" + fileConfig.name)
+
+        override fun generateCopyOfExecutable(): String =
+            """
+                ${super.generateCopyOfExecutable()}
+                COPY --from=builder lingua-franca/${fileConfig.name}/install install
+            """.trimIndent()
+
+        override fun defaultBuildCommands(): List<String> {
+            val commands = listOf(
+                listOf(".", "/opt/ros/rolling/setup.sh"),
+                listOf("mkdir", "-p", "build"),
+                listOf("colcon") + colconArgs(listOf("-DREACTOR_CPP_LINK_EXECINFO=ON")),
+            )
+            return commands.map { argListToCommand(it) }
+        }
+    }
+
+    override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator = CppDockerGenerator(context)
 
 }
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2PackageGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2PackageGenerator.kt
index ea7568e2c4..c3ce84c747 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2PackageGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2PackageGenerator.kt
@@ -113,7 +113,7 @@ class CppRos2PackageGenerator(generator: CppGenerator, private val nodeName: Str
         return """
             |#!/bin/bash
             |script_dir="$S(dirname -- "$S(readlink -f -- "${S}0")")"
-            |source "$S{script_dir}/$relPath/install/setup.sh"
+            |source "$S{script_dir}/$relPath/install/setup.bash"
             |ros2 run ${fileConfig.name} ${fileConfig.name}_exe
         """.trimMargin()
     }
diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
index fda17fb0c4..1dddb69bd1 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
@@ -195,7 +195,7 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         return cmd
     }
 
-    inner class CppDockerGenerator(context: LFGeneratorContext?) : DockerGenerator(context) {
+    inner class StandaloneDockerGenerator(context: LFGeneratorContext?) : DockerGenerator(context) {
         override fun generateCopyForSources(): String {
             return "COPY src-gen src-gen"
         }
@@ -245,7 +245,7 @@ class CppStandaloneGenerator(generator: CppGenerator) :
         }
     }
 
-    override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator = CppDockerGenerator(context)
+    override fun getDockerGenerator(context: LFGeneratorContext?): DockerGenerator = StandaloneDockerGenerator(context)
 }
 
 

From 647c8ebb780d137a0aa902c25f9823da606e8b07 Mon Sep 17 00:00:00 2001
From: Christian Menard <christian.menard@gmx.de>
Date: Wed, 19 Jun 2024 16:17:24 +0200
Subject: [PATCH 11/14] use more Kotlin

---
 .../generator/cpp/CppStandaloneGenerator.kt   | 29 +++++++------------
 1 file changed, 11 insertions(+), 18 deletions(-)

diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
index 1dddb69bd1..3e52038193 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppStandaloneGenerator.kt
@@ -196,13 +196,10 @@ class CppStandaloneGenerator(generator: CppGenerator) :
     }
 
     inner class StandaloneDockerGenerator(context: LFGeneratorContext?) : DockerGenerator(context) {
-        override fun generateCopyForSources(): String {
-            return "COPY src-gen src-gen"
-        }
 
-        override fun defaultImage(): String {
-            return DEFAULT_BASE_IMAGE
-        }
+        override fun generateCopyForSources(): String = "COPY src-gen src-gen"
+
+        override fun defaultImage(): String = DEFAULT_BASE_IMAGE
 
         override fun generateRunForInstallingDeps(): String {
             return if (builderBase() == defaultImage()) {
@@ -214,19 +211,15 @@ class CppStandaloneGenerator(generator: CppGenerator) :
             }
         }
 
-        override fun defaultEntryPoint(): List<String> {
-            return listOf("./bin/" + context.fileConfig.name)
-        }
+        override fun defaultEntryPoint(): List<String> = listOf("./bin/" + context.fileConfig.name)
 
-        override fun generateCopyOfExecutable(): String {
-            return java.lang.String.join(
-                "\n",
-                super.generateCopyOfExecutable(),
-                "COPY --from=builder /usr/local/lib /usr/local/lib",
-                "COPY --from=builder /usr/lib /usr/lib",
-                "COPY --from=builder /lingua-franca ."
-            )
-        }
+        override fun generateCopyOfExecutable(): String =
+            """
+                ${super.generateCopyOfExecutable()}
+                COPY --from=builder /usr/local/lib /usr/local/lib
+                COPY --from=builder /usr/lib /usr/lib
+                COPY --from=builder /lingua-franca .
+            """.trimIndent()
 
         override fun defaultBuildCommands(): List<String> {
             val mkdirCommand = listOf("mkdir", "-p", "build")

From c1f4502f92d583951b065c1d5a53f70bfdcbb063 Mon Sep 17 00:00:00 2001
From: Christian Menard <christian.menard@gmx.de>
Date: Wed, 19 Jun 2024 16:25:11 +0200
Subject: [PATCH 12/14] run ros2 tests also with docker

---
 .../java/org/lflang/tests/runtime/CppRos2Test.java              | 2 --
 1 file changed, 2 deletions(-)

diff --git a/core/src/integrationTest/java/org/lflang/tests/runtime/CppRos2Test.java b/core/src/integrationTest/java/org/lflang/tests/runtime/CppRos2Test.java
index 9ddae14d32..334f9ef7aa 100644
--- a/core/src/integrationTest/java/org/lflang/tests/runtime/CppRos2Test.java
+++ b/core/src/integrationTest/java/org/lflang/tests/runtime/CppRos2Test.java
@@ -5,7 +5,6 @@
 import org.lflang.lf.Element;
 import org.lflang.lf.LfFactory;
 import org.lflang.target.Target;
-import org.lflang.target.property.DockerProperty;
 import org.lflang.target.property.Ros2Property;
 import org.lflang.tests.TestBase;
 import org.lflang.tests.Transformers;
@@ -34,7 +33,6 @@ public void runWithRos2() {
         it -> true,
         Transformers::noChanges,
         config -> {
-          if (config.get(DockerProperty.INSTANCE) != null) return false;
           Ros2Property.INSTANCE.override(config, true);
           return true;
         },

From e5cfc623f9ec81aa6b8a241147977fbf0adaa5d2 Mon Sep 17 00:00:00 2001
From: Christian Menard <christian.menard@gmx.de>
Date: Wed, 19 Jun 2024 16:28:39 +0200
Subject: [PATCH 13/14] no need to link to execinfo in ros2

---
 .../kotlin/org/lflang/generator/cpp/CppRos2Generator.kt     | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
index 70aa9cdb4a..2df1fdaa92 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppRos2Generator.kt
@@ -67,7 +67,7 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
         return !messageReporter.errorsOccurred
     }
 
-    private fun colconArgs(additionalCmakeArgs: List<String> = listOf()): List<String> {
+    private fun colconArgs(): List<String> {
         return listOf(
                 "build",
                 "--packages-select",
@@ -75,7 +75,7 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
                 packageGenerator.reactorCppName,
                 "--cmake-args",
                 "-DLF_REACTOR_CPP_SUFFIX=${packageGenerator.reactorCppSuffix}",
-            ) + cmakeArgs + additionalCmakeArgs
+            ) + cmakeArgs
     }
 
     inner class CppDockerGenerator(context: LFGeneratorContext?) : DockerGenerator(context) {
@@ -101,7 +101,7 @@ class CppRos2Generator(generator: CppGenerator) : CppPlatformGenerator(generator
             val commands = listOf(
                 listOf(".", "/opt/ros/rolling/setup.sh"),
                 listOf("mkdir", "-p", "build"),
-                listOf("colcon") + colconArgs(listOf("-DREACTOR_CPP_LINK_EXECINFO=ON")),
+                listOf("colcon") + colconArgs(),
             )
             return commands.map { argListToCommand(it) }
         }

From c5f50f310d14f4e772104c93749c519feb84f31a Mon Sep 17 00:00:00 2001
From: Christian Menard <christian.menard@gmx.de>
Date: Wed, 19 Jun 2024 16:36:16 +0200
Subject: [PATCH 14/14] comment and function rename

---
 .../kotlin/org/lflang/generator/cpp/CppGenerator.kt    | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt b/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
index d64afb4d01..adfbbb9dda 100644
--- a/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
+++ b/core/src/main/kotlin/org/lflang/generator/cpp/CppGenerator.kt
@@ -95,7 +95,7 @@ class CppGenerator(
                 "Code generation complete. Compiling...", IntegratedBuilder.GENERATED_PERCENT_PROGRESS
             )
             if (targetConfig.get(DockerProperty.INSTANCE).enabled) {
-                copySrcGenBaseDirIntoSrcGenDir()
+                copySrcGenBaseDirIntoDockerDir()
                 buildUsingDocker()
             } else {
                 if (platformGenerator.doCompile(context)) {
@@ -107,9 +107,15 @@ class CppGenerator(
         }
     }
 
-    private fun copySrcGenBaseDirIntoSrcGenDir() {
+    /**
+     * Copy the contents of the entire src-gen directory to a nested src-gen directory next to the generated Dockerfile.
+     */
+    private fun copySrcGenBaseDirIntoDockerDir() {
         FileUtil.deleteDirectory(context.fileConfig.srcGenPath.resolve("src-gen"))
         try {
+            // We need to copy in two steps via a temporary directory, as the target directory
+            // is located within the source directory. Without the temporary directory, copying
+            // fails as we modify the source while writing the target.
             val tempDir = Files.createTempDirectory(context.fileConfig.outPath, "src-gen-directory")
             try {
                 FileUtil.copyDirectoryContents(context.fileConfig.srcGenBasePath, tempDir, false)